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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
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41 | ingob | 32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 35 | // + this list of conditions and the following disclaimer. |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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37 | // + from this software without specific prior written permission. |
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41 | ingob | 38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 39 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 41 | // + with our written permission |
41 | ingob | 42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
43 | // + clearly linked as origin |
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1 | ingob | 44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
45 | // |
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46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 56 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 58 | //#define MCLK96MHZ |
1 | ingob | 59 | const unsigned long _Main_Crystal = 25000; |
41 | ingob | 60 | #include <stdio.h> |
61 | #include "91x_lib.h" |
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62 | #include "led.h" |
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63 | #include "uart0.h" |
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64 | #include "uart1.h" |
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65 | #include "uart2.h" |
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66 | #include "GPS.h" |
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67 | #include "i2c.h" |
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119 | killagreg | 68 | #include "timer1.h" |
69 | #include "timer2.h" |
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134 | killagreg | 70 | #include "analog.h" |
41 | ingob | 71 | #include "spi_slave.h" |
72 | #include "fat16.h" |
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73 | #include "usb.h" |
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74 | #include "sdc.h" |
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82 | killagreg | 75 | #include "logging.h" |
88 | killagreg | 76 | #include "settings.h" |
1 | ingob | 77 | #include "main.h" |
78 | |||
79 | u32 TimerCompassUpdate; |
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41 | ingob | 80 | u32 TimerCheckError; |
81 | u32 ErrorCode = 0; |
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82 | u16 BeepTime; |
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92 | killagreg | 83 | u8 NCFlags = 0; |
1 | ingob | 84 | |
41 | ingob | 85 | u8 ClearMKFlags = 0; |
86 | u8 StopNavigation = 0; |
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87 | Param_t Parameter; |
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78 | holgerb | 88 | volatile FC_t FC; |
1 | ingob | 89 | |
41 | ingob | 90 | s8 ErrorMSG[25]; |
91 | |||
1 | ingob | 92 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 93 | void SCU_Config(void) |
1 | ingob | 94 | { |
41 | ingob | 95 | /* configure PLL and set it as master clock source */ |
96 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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97 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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98 | #ifdef MCLK96MHZ |
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99 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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100 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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101 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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102 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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103 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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104 | #else |
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105 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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106 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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107 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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108 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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109 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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110 | #endif |
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111 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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112 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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113 | } |
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1 | ingob | 114 | |
41 | ingob | 115 | //---------------------------------------------------------------------------------------------------- |
116 | void GetNaviCtrlVersion(void) |
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1 | ingob | 117 | { |
41 | ingob | 118 | u8 msg[25]; |
1 | ingob | 119 | |
41 | ingob | 120 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 121 | UART1_PutString(msg); |
1 | ingob | 122 | } |
123 | |||
124 | //---------------------------------------------------------------------------------------------------- |
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41 | ingob | 125 | void CheckErrors(void) |
126 | { |
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127 | if(!CheckSPIOkay) |
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128 | { |
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129 | LED_RED_ON; |
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130 | sprintf(ErrorMSG,"no FC communication "); |
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131 | ErrorCode = 3; |
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132 | StopNavigation = 1; |
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133 | } |
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134 | else if(!CheckI2COkay) |
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135 | { |
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136 | LED_RED_ON; |
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137 | sprintf(ErrorMSG,"no MK3Mag communication "); |
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138 | ErrorCode = 4; |
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139 | StopNavigation = 1; |
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140 | } |
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141 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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142 | { |
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143 | LED_RED_ON; |
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144 | sprintf(ErrorMSG,"FC not compatible "); |
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145 | ErrorCode = 1; |
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146 | StopNavigation = 1; |
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147 | } |
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148 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
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149 | { |
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150 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
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151 | LED_RED_ON; |
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152 | ErrorCode = 2; |
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153 | StopNavigation = 1; |
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154 | } |
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155 | else if(!CheckGPSOkay) |
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156 | { |
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157 | LED_RED_ON; |
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158 | sprintf(ErrorMSG,"no GPS communication "); |
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159 | ErrorCode = 5; |
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160 | StopNavigation = 1; |
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161 | } |
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162 | else if(I2C_Heading.Heading < 0) |
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163 | { |
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164 | LED_RED_ON; |
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165 | sprintf(ErrorMSG,"bad compass value "); |
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166 | ErrorCode = 6; |
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167 | StopNavigation = 1; |
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168 | } |
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169 | else if(FC.RC_Quality < 100) |
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170 | { |
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171 | LED_RED_ON; |
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172 | sprintf(ErrorMSG,"RC Signal lost "); |
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173 | ErrorCode = 7; |
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174 | } |
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175 | else // no error occured |
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176 | { |
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177 | sprintf(ErrorMSG,"No Error "); |
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178 | ErrorCode = 0; |
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179 | StopNavigation = 0; |
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180 | LED_RED_OFF; |
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181 | } |
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182 | CheckSPIOkay = 0; |
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183 | CheckGPSOkay = 0; |
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184 | CheckI2COkay = 0; |
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185 | } |
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24 | StephanB | 186 | |
187 | |||
1 | ingob | 188 | |
41 | ingob | 189 | //---------------------------------------------------------------------------------------------------- |
190 | int main(void) |
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191 | { |
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192 | /* Configure the system clocks */ |
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193 | SCU_Config(); |
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194 | /* init VIC (Vectored Interrupt Controller) */ |
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195 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
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196 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
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197 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
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198 | // initialize the interrupt handler |
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199 | Interrupt_Init(); |
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119 | killagreg | 200 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 201 | TIMER1_Init(); |
202 | // initialize the LEDs (needs Timer 1) |
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203 | Led_Init(); |
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204 | // initialize the debug UART1 |
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205 | UART1_Init(); |
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110 | killagreg | 206 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 207 | // initialize timer 2 for servo outputs |
208 | TIMER2_Init(); |
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41 | ingob | 209 | // initialize UART2 to FLIGHTCTRL |
210 | UART2_Init(); |
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211 | // initialize UART0 (to MKGPS or MK3MAG) |
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212 | UART0_Init(); |
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134 | killagreg | 213 | // initialize adc |
214 | Analog_Init(); |
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41 | ingob | 215 | // initialize usb |
216 | USB_ConfigInit(); |
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217 | // initialize SPI0 to FC |
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218 | SPI0_Init(); |
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219 | // initialize i2c bus to MK3MAG (needs Timer 1) |
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220 | I2C1_Init(); |
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221 | // initialize the gps position controller (needs Timer 1) |
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222 | GPS_Init(); |
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223 | // initialize fat16 partition on sd card (needs Timer 1) |
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224 | Fat16_Init(); |
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88 | killagreg | 225 | // initialize the settings |
226 | Settings_Init(); |
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92 | killagreg | 227 | // initialize logging (needs settings) |
82 | killagreg | 228 | Logging_Init(); |
1 | ingob | 229 | |
41 | ingob | 230 | TimerCompassUpdate = SetDelay(5); |
231 | TimerCheckError = SetDelay(3000); |
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110 | killagreg | 232 | UART1_PutString("\r\n---------------------------------------------"); |
233 | UART1_PutString("\n\r Version information:"); |
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116 | killagreg | 234 | |
41 | ingob | 235 | GetNaviCtrlVersion(); |
116 | killagreg | 236 | |
41 | ingob | 237 | SPI0_GetFlightCtrlVersion(); |
238 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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239 | { |
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240 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
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110 | killagreg | 241 | //UART1_PutString(ErrorMSG); |
242 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
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41 | ingob | 243 | LED_RED_ON; |
244 | } |
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78 | holgerb | 245 | |
41 | ingob | 246 | I2C1_GetMK3MagVersion(); |
247 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
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248 | { |
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110 | killagreg | 249 | UART1_PutString("\n\r MK3Mag not compatible"); |
41 | ingob | 250 | LED_RED_ON; |
251 | } |
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1 | ingob | 252 | |
116 | killagreg | 253 | UART0_GetMKOSDVersion(); |
254 | |||
110 | killagreg | 255 | UART1_PutString("\r\n---------------------------------------------\r\n\r\n"); |
24 | StephanB | 256 | |
41 | ingob | 257 | for (;;) |
258 | { |
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92 | killagreg | 259 | UART1_ProcessRxData(); // process request |
41 | ingob | 260 | UART1_TransmitTxData(); // send answer |
24 | StephanB | 261 | |
111 | killagreg | 262 | UART0_ProcessRxData(); // process request |
263 | UART0_TransmitTxData(); // send answer |
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264 | |||
112 | killagreg | 265 | USB_ProcessRxData(); // process request |
266 | USB_TransmitTxData(); // send answer |
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267 | |||
41 | ingob | 268 | SPI0_UpdateBuffer(); |
269 | // ------------------------- I2C Timing -------------------------------- |
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270 | if(I2C_State != I2C_OFF) |
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271 | { |
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272 | if (CheckDelay(TimerCompassUpdate)) |
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273 | { |
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274 | // check for hanging I2C bus |
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275 | if(CheckDelay(I2C1_Timeout)) |
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276 | { // reset I2C |
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110 | killagreg | 277 | UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r"); |
41 | ingob | 278 | I2C1_Deinit(); |
279 | I2C1_Init(); |
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280 | } |
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281 | else |
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282 | { // check for incomming compass calibration request |
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283 | // update CalByte from spi input queue |
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284 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
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285 | // send new calstate |
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286 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
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287 | { |
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288 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
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289 | } |
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290 | else // request current heading |
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291 | { |
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292 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
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293 | } |
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294 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
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295 | } |
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24 | StephanB | 296 | |
41 | ingob | 297 | } |
298 | } |
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1 | ingob | 299 | |
41 | ingob | 300 | // ---------------- Error Check Timing ---------------------------- |
301 | if(CheckDelay(TimerCheckError)) |
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1 | ingob | 302 | { |
114 | killagreg | 303 | TimerCheckError = SetDelay(1000); |
41 | ingob | 304 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
305 | CheckErrors(); |
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77 | holgerb | 306 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
307 | // else NaviData.FlyingTime = 0; |
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110 | killagreg | 308 | UART1_Request_SendFollowMe = TRUE; |
92 | killagreg | 309 | if(SerialLinkOkay) SerialLinkOkay--; |
310 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
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311 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
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1 | ingob | 312 | } |
82 | killagreg | 313 | // ---------------- Logging --------------------------------------- |
314 | Logging_Update(); |
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24 | StephanB | 315 | } |
1 | ingob | 316 | } |
317 | |||
24 | StephanB | 318 |