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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
489 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 56 | //#define MCLK96MHZ |
1 | ingob | 57 | const unsigned long _Main_Crystal = 25000; |
491 | killagreg | 58 | //#include <stdio.h> |
41 | ingob | 59 | #include "91x_lib.h" |
60 | #include "led.h" |
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61 | #include "uart0.h" |
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62 | #include "uart1.h" |
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63 | #include "uart2.h" |
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215 | killagreg | 64 | #include "gps.h" |
489 | killagreg | 65 | #include "i2c.h" |
242 | killagreg | 66 | #include "compass.h" |
426 | holgerb | 67 | #include "ncmag.h" |
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 "sdc.h" |
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82 | killagreg | 74 | #include "logging.h" |
156 | killagreg | 75 | #include "params.h" |
88 | killagreg | 76 | #include "settings.h" |
154 | killagreg | 77 | #include "config.h" |
1 | ingob | 78 | #include "main.h" |
250 | ingob | 79 | #include "debug.h" |
254 | killagreg | 80 | #include "eeprom.h" |
350 | holgerb | 81 | #include "ssc.h" |
362 | holgerb | 82 | #include "sdc.h" |
380 | holgerb | 83 | #include "uart1.h" |
254 | killagreg | 84 | |
427 | killagreg | 85 | |
489 | killagreg | 86 | |
314 | killagreg | 87 | #ifdef FOLLOW_ME |
88 | u8 TransmitAlsoToFC = 0; |
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89 | #endif |
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41 | ingob | 90 | u32 TimerCheckError; |
489 | killagreg | 91 | u8 ErrorCode = 0; |
41 | ingob | 92 | u16 BeepTime; |
92 | killagreg | 93 | u8 NCFlags = 0; |
153 | killagreg | 94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 95 | u8 ErrorGpsFixLost = 0; |
513 | killagreg | 96 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
503 | holgerb | 97 | u8 ToFC_MaxWpListIndex = 3; |
255 | killagreg | 98 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 99 | u8 StopNavigation = 0; |
378 | holgerb | 100 | volatile u32 PollingTimeout = 10000; |
41 | ingob | 101 | Param_t Parameter; |
78 | holgerb | 102 | volatile FC_t FC; |
378 | holgerb | 103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
400 | holgerb | 104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
457 | holgerb | 105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
504 | holgerb | 106 | u8 NewWPL_Name = 0; |
516 | holgerb | 107 | u32 MaxRadius_in_m = 0; |
41 | ingob | 108 | s8 ErrorMSG[25]; |
109 | |||
517 | holgerb | 110 | |
1 | ingob | 111 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 112 | void SCU_Config(void) |
1 | ingob | 113 | { |
41 | ingob | 114 | /* configure PLL and set it as master clock source */ |
115 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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116 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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117 | #ifdef MCLK96MHZ |
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118 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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119 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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120 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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121 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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122 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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123 | #else |
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124 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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125 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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126 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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127 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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128 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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129 | #endif |
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130 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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131 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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132 | } |
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1 | ingob | 133 | |
41 | ingob | 134 | //---------------------------------------------------------------------------------------------------- |
135 | void GetNaviCtrlVersion(void) |
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1 | ingob | 136 | { |
41 | ingob | 137 | u8 msg[25]; |
270 | killagreg | 138 | |
530 | holgerb | 139 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 140 | UART1_PutString(msg); |
1 | ingob | 141 | } |
142 | |||
143 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 144 | |
41 | ingob | 145 | void CheckErrors(void) |
146 | { |
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516 | holgerb | 147 | static s32 no_error_delay = 0; |
328 | holgerb | 148 | s32 newErrorCode = 0; |
232 | killagreg | 149 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 150 | |
489 | killagreg | 151 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
338 | holgerb | 152 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
231 | holgerb | 153 | |
338 | holgerb | 154 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
155 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 156 | |
338 | holgerb | 157 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
158 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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159 | |||
483 | holgerb | 160 | |
489 | killagreg | 161 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
41 | ingob | 162 | { |
489 | killagreg | 163 | LED_RED_ON; |
472 | holgerb | 164 | sprintf(ErrorMSG,"no compass communica"); |
489 | killagreg | 165 | //Reset Compass communication |
501 | holgerb | 166 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 167 | Compass_Init(); |
472 | holgerb | 168 | newErrorCode = 4; |
41 | ingob | 169 | StopNavigation = 1; |
472 | holgerb | 170 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
171 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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41 | ingob | 172 | } |
488 | holgerb | 173 | else if(CompassValueErrorCount > 30) |
174 | { |
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175 | LED_RED_ON; |
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176 | sprintf(ErrorMSG,"compass sensor error"); |
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177 | newErrorCode = 34; |
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178 | StopNavigation = 1; |
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179 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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501 | holgerb | 180 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 181 | Compass_Init(); |
488 | holgerb | 182 | } |
489 | killagreg | 183 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
184 | { |
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488 | holgerb | 185 | sprintf(ErrorMSG,"Calibrate... "); |
489 | killagreg | 186 | newErrorCode = 0; |
488 | holgerb | 187 | ErrorCode = 0; |
188 | no_error_delay = 1; |
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489 | killagreg | 189 | } |
190 | else if(CheckDelay(SPI0_Timeout)) |
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483 | holgerb | 191 | { |
489 | killagreg | 192 | LED_RED_ON; |
472 | holgerb | 193 | sprintf(ErrorMSG,"no FC communication "); |
194 | newErrorCode = 3; |
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195 | StopNavigation = 1; |
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196 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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197 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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198 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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199 | } |
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41 | ingob | 200 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
201 | { |
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202 | LED_RED_ON; |
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318 | holgerb | 203 | #ifndef FOLLOW_ME |
41 | ingob | 204 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 205 | #else |
206 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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207 | #endif |
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328 | holgerb | 208 | newErrorCode = 1; |
41 | ingob | 209 | StopNavigation = 1; |
256 | killagreg | 210 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 211 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 212 | } |
255 | killagreg | 213 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 214 | { |
215 | LED_RED_ON; |
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216 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 217 | newErrorCode = 10; |
232 | killagreg | 218 | } |
255 | killagreg | 219 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 220 | { |
221 | LED_RED_ON; |
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222 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 223 | newErrorCode = 11; |
232 | killagreg | 224 | } |
255 | killagreg | 225 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 226 | { |
227 | LED_RED_ON; |
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228 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 229 | newErrorCode = 12; |
232 | killagreg | 230 | } |
255 | killagreg | 231 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 232 | { |
233 | LED_RED_ON; |
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234 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 235 | newErrorCode = 13; |
232 | killagreg | 236 | } |
255 | killagreg | 237 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 238 | { |
239 | LED_RED_ON; |
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240 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 241 | newErrorCode = 14; |
232 | killagreg | 242 | } |
255 | killagreg | 243 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 244 | { |
245 | LED_RED_ON; |
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327 | holgerb | 246 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 247 | newErrorCode = 15; |
232 | killagreg | 248 | } |
351 | holgerb | 249 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
250 | { |
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251 | LED_RED_ON; |
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252 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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253 | newErrorCode = 28; |
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254 | } |
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255 | killagreg | 255 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 256 | { |
489 | killagreg | 257 | LED_RED_ON; |
327 | holgerb | 258 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 259 | newErrorCode = 16; |
232 | killagreg | 260 | } |
255 | killagreg | 261 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 262 | { |
263 | LED_RED_ON; |
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327 | holgerb | 264 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 265 | newErrorCode = 17; |
232 | killagreg | 266 | } |
255 | killagreg | 267 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 268 | { |
269 | LED_RED_ON; |
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270 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 271 | newErrorCode = 18; |
232 | killagreg | 272 | } |
255 | killagreg | 273 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 274 | { |
275 | LED_RED_ON; |
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276 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 277 | newErrorCode = 19; |
232 | killagreg | 278 | } |
350 | holgerb | 279 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 280 | { |
281 | LED_RED_ON; |
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516 | holgerb | 282 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
489 | killagreg | 283 | // else |
284 | { |
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285 | sprintf(ErrorMSG,"no GPS communication"); |
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286 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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287 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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288 | newErrorCode = 5; |
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289 | } |
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41 | ingob | 290 | StopNavigation = 1; |
320 | holgerb | 291 | // UBX_Timeout = SetDelay(500); |
41 | ingob | 292 | } |
426 | holgerb | 293 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
294 | { |
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295 | LED_RED_ON; |
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296 | sprintf(ErrorMSG,"compass not calibr."); |
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297 | newErrorCode = 31; |
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298 | StopNavigation = 1; |
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299 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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300 | } |
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254 | killagreg | 301 | else if(Compass_Heading < 0) |
41 | ingob | 302 | { |
303 | LED_RED_ON; |
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304 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 305 | newErrorCode = 6; |
41 | ingob | 306 | StopNavigation = 1; |
256 | killagreg | 307 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 308 | } |
255 | killagreg | 309 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 310 | { |
311 | LED_RED_ON; |
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312 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 313 | newErrorCode = 8; |
213 | killagreg | 314 | StopNavigation = 1; |
199 | killagreg | 315 | } |
255 | killagreg | 316 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 317 | { |
318 | LED_RED_ON; |
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319 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 320 | newErrorCode = 20; |
232 | killagreg | 321 | } |
255 | killagreg | 322 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 323 | { |
324 | LED_RED_ON; |
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325 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 326 | newErrorCode = 7; |
41 | ingob | 327 | } |
489 | killagreg | 328 | else if(ErrorGpsFixLost) |
328 | holgerb | 329 | { |
489 | killagreg | 330 | LED_RED_ON; |
331 | sprintf(ErrorMSG,"GPS Fix lost "); |
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332 | newErrorCode = 21; |
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328 | holgerb | 333 | } |
330 | holgerb | 334 | else if(ErrorDisturbedEarthMagnetField) |
335 | { |
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489 | killagreg | 336 | LED_RED_ON; |
337 | sprintf(ErrorMSG,"Magnet error "); |
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338 | newErrorCode = 22; |
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339 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
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340 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 341 | } |
530 | holgerb | 342 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || ErrorCheck_BL_MinOfMaxPWM == 39) && !ErrorCode) |
338 | holgerb | 343 | { |
489 | killagreg | 344 | LED_RED_ON; |
345 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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346 | newErrorCode = 23; |
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347 | DebugOut.StatusRed |= AMPEL_BL; |
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338 | holgerb | 348 | } |
472 | holgerb | 349 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
338 | holgerb | 350 | { |
489 | killagreg | 351 | u16 i; |
516 | holgerb | 352 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
489 | killagreg | 353 | LED_RED_ON; |
354 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
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516 | holgerb | 355 | newErrorCode = 32; |
356 | DebugOut.StatusRed |= AMPEL_BL; |
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472 | holgerb | 357 | } |
530 | holgerb | 358 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
472 | holgerb | 359 | { |
489 | killagreg | 360 | LED_RED_ON; |
361 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
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362 | newErrorCode = 24; |
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363 | DebugOut.StatusRed |= AMPEL_BL; |
||
338 | holgerb | 364 | } |
491 | killagreg | 365 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | holgerb | 366 | { |
489 | killagreg | 367 | LED_RED_ON; |
368 | sprintf(ErrorMSG,"ERR:GPS range "); |
||
369 | newErrorCode = 25; |
||
370 | DebugOut.StatusRed |= AMPEL_NC; |
||
348 | holgerb | 371 | } |
397 | holgerb | 372 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 373 | { |
489 | killagreg | 374 | LED_RED_ON; |
375 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
376 | newErrorCode = 26; |
||
377 | DebugOut.StatusRed |= AMPEL_NC; |
||
350 | holgerb | 378 | } |
383 | holgerb | 379 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 380 | { |
489 | killagreg | 381 | LED_RED_ON; |
382 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
383 | newErrorCode = 27; |
||
384 | DebugOut.StatusRed |= AMPEL_NC; |
||
385 | SD_LoggingError = 0; |
||
351 | holgerb | 386 | } |
355 | holgerb | 387 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
388 | { |
||
489 | killagreg | 389 | LED_RED_ON; |
390 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
391 | newErrorCode = 29; |
||
392 | DebugOut.StatusRed |= AMPEL_NC; |
||
355 | holgerb | 393 | } |
516 | holgerb | 394 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
489 | killagreg | 395 | { |
396 | LED_RED_ON; |
||
397 | sprintf(ErrorMSG,"No GPS Fix "); |
||
398 | newErrorCode = 30; |
||
398 | holgerb | 399 | } |
41 | ingob | 400 | else // no error occured |
401 | { |
||
402 | StopNavigation = 0; |
||
403 | LED_RED_OFF; |
||
489 | killagreg | 404 | if(no_error_delay) { no_error_delay--; } |
405 | else |
||
406 | { |
||
407 | sprintf(ErrorMSG,"No Error "); |
||
408 | ErrorCode = 0; |
||
409 | } |
||
41 | ingob | 410 | } |
328 | holgerb | 411 | |
516 | holgerb | 412 | if(newErrorCode) |
413 | { |
||
414 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
||
415 | ErrorCode = newErrorCode; |
||
416 | } |
||
417 | FC.Error[0] = 0; |
||
418 | FC.Error[1] = 0; |
||
419 | FC.Error[2] = 0; |
||
420 | FC.Error[3] = 0; |
||
421 | FC.Error[4] = 0; |
||
422 | ErrorGpsFixLost = 0; |
||
530 | holgerb | 423 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
41 | ingob | 424 | } |
24 | StephanB | 425 | |
378 | holgerb | 426 | |
427 | |||
484 | holgerb | 428 | u8 Polling(void) |
378 | holgerb | 429 | { |
489 | killagreg | 430 | static u8 running = 0, oldFcFlags = 0, count5sec; |
431 | static u32 old_ms = 0; |
||
432 | |||
516 | holgerb | 433 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
489 | killagreg | 434 | running = 1; |
435 | |||
436 | if(CountMilliseconds != old_ms) // 1 ms |
||
437 | { |
||
483 | holgerb | 438 | old_ms = CountMilliseconds; |
439 | Compass_Update(); // update compass communication |
||
440 | Analog_Update(); // get new ADC values |
||
441 | CalcHeadFree(); |
||
442 | } |
||
488 | holgerb | 443 | |
489 | killagreg | 444 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
445 | UART0_ProcessRxData(); // GPS process request |
||
446 | UART0_TransmitTxData(); // GPS send answer |
||
447 | UART1_ProcessRxData(); // PC process request |
||
448 | UART1_TransmitTxData(); // PC send answer |
||
449 | UART2_TransmitTxData(); // FC send answer |
||
450 | |||
451 | // ---------------- Error Check Timing ---------------------------- |
||
452 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
453 | { |
||
454 | if(CheckDelay(TimerCheckError)) |
||
380 | holgerb | 455 | { |
489 | killagreg | 456 | TimerCheckError = SetDelay(1000); |
457 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
458 | if(++count5sec == 5) |
||
459 | { |
||
453 | holgerb | 460 | count5sec = 0; |
457 | holgerb | 461 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
462 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
||
489 | killagreg | 463 | CountGpsProcessedIn5Sec = 0; |
464 | CountNewGpsDataIn5Sec = 0; |
||
465 | } |
||
380 | holgerb | 466 | } |
489 | killagreg | 467 | oldFcFlags = FC.StatusFlags; |
468 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
469 | |||
470 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
471 | |||
472 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
||
473 | if(SerialLinkOkay) SerialLinkOkay--; |
||
474 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
475 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
||
476 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
477 | } |
||
478 | running = 0; |
||
514 | holgerb | 479 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
489 | killagreg | 480 | return(0); |
378 | holgerb | 481 | } |
482 | |||
380 | holgerb | 483 | // the handler will be cyclic called by the timer 1 ISR |
484 | // used is for critical timing parts that normaly would handled |
||
485 | // within the main loop that could block longer at logging activities |
||
483 | holgerb | 486 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
154 | killagreg | 487 | { |
195 | killagreg | 488 | IENABLE; |
154 | killagreg | 489 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
489 | killagreg | 490 | |
516 | holgerb | 491 | if(PollingTimeout == 0) |
492 | { |
||
493 | PollingTimeout = 5; |
||
494 | //if(Polling() == 0) DebugOut.Analog[]++; |
||
495 | Polling(); |
||
380 | holgerb | 496 | } |
378 | holgerb | 497 | |
498 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 499 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
500 | IDISABLE; |
||
378 | holgerb | 501 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 502 | } |
503 | |||
41 | ingob | 504 | //---------------------------------------------------------------------------------------------------- |
505 | int main(void) |
||
506 | { |
||
489 | killagreg | 507 | |
508 | // static u32 ftimer =0; |
||
509 | // static u8 fstate = 0; |
||
456 | holgerb | 510 | // static File_t* f = NULL; |
489 | killagreg | 511 | |
512 | |||
41 | ingob | 513 | /* Configure the system clocks */ |
514 | SCU_Config(); |
||
515 | /* init VIC (Vectored Interrupt Controller) */ |
||
516 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
517 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
518 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 519 | VIC_InitDefaultVectors(); |
520 | |||
119 | killagreg | 521 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 522 | TIMER1_Init(); |
523 | // initialize the LEDs (needs Timer 1) |
||
524 | Led_Init(); |
||
525 | // initialize the debug UART1 |
||
526 | UART1_Init(); |
||
110 | killagreg | 527 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 528 | // initialize timer 2 for servo outputs |
180 | killagreg | 529 | //TIMER2_Init(); |
41 | ingob | 530 | // initialize UART2 to FLIGHTCTRL |
531 | UART2_Init(); |
||
532 | // initialize UART0 (to MKGPS or MK3MAG) |
||
533 | UART0_Init(); |
||
134 | killagreg | 534 | // initialize adc |
535 | Analog_Init(); |
||
41 | ingob | 536 | // initialize SPI0 to FC |
537 | SPI0_Init(); |
||
469 | killagreg | 538 | // initialize i2c busses (needs Timer 1) |
489 | killagreg | 539 | I2CBus_Init(I2C0); |
540 | I2CBus_Init(I2C1); |
||
247 | killagreg | 541 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 542 | Fat16_Init(); |
156 | killagreg | 543 | // initialize NC params |
544 | NCParams_Init(); |
||
88 | killagreg | 545 | // initialize the settings |
546 | Settings_Init(); |
||
92 | killagreg | 547 | // initialize logging (needs settings) |
82 | killagreg | 548 | Logging_Init(); |
1 | ingob | 549 | |
362 | holgerb | 550 | LED_GRN_ON; |
41 | ingob | 551 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 552 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 553 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 554 | |
41 | ingob | 555 | GetNaviCtrlVersion(); |
338 | holgerb | 556 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
557 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 558 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
149 | killagreg | 559 | |
516 | holgerb | 560 | Compass_Init(); |
270 | killagreg | 561 | |
400 | holgerb | 562 | GPS_Init(); |
563 | |||
528 | holgerb | 564 | |
314 | killagreg | 565 | #ifdef FOLLOW_ME |
566 | TransmitAlsoToFC = 1; |
||
567 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
568 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
||
569 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
||
570 | TransmitAlsoToFC = 0; |
||
571 | #else |
||
150 | killagreg | 572 | SPI0_GetFlightCtrlVersion(); |
573 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
41 | ingob | 574 | { |
461 | holgerb | 575 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
41 | ingob | 576 | LED_RED_ON; |
577 | } |
||
314 | killagreg | 578 | #endif |
528 | holgerb | 579 | |
213 | killagreg | 580 | // ---------- Prepare the isr driven |
154 | killagreg | 581 | // set to absolute lowest priority |
516 | holgerb | 582 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
195 | killagreg | 583 | // enable interrupts |
516 | holgerb | 584 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 585 | |
250 | ingob | 586 | Debug_OK("START"); |
362 | holgerb | 587 | UART1_PutString("\r\n"); |
380 | holgerb | 588 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
589 | LED_GRN_ON; |
||
590 | LED_RED_OFF; |
||
530 | holgerb | 591 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
461 | holgerb | 592 | UART1_PutString("\r\n"); |
528 | holgerb | 593 | |
487 | holgerb | 594 | CompassValueErrorCount = 0; |
503 | holgerb | 595 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
528 | holgerb | 596 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
154 | killagreg | 597 | for (;;) // the endless main loop |
41 | ingob | 598 | { |
484 | holgerb | 599 | PollingTimeout = 5; |
431 | killagreg | 600 | Polling(); |
500 | holgerb | 601 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
602 | if(FromFC_LoadWP_List) |
||
516 | holgerb | 603 | { |
604 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
||
605 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
606 | { |
||
513 | killagreg | 607 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
608 | { |
||
609 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
||
516 | holgerb | 610 | { |
513 | killagreg | 611 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
516 | holgerb | 612 | { // take actual position |
613 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
||
614 | } |
||
615 | else |
||
513 | killagreg | 616 | { // take last target position |
516 | holgerb | 617 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
513 | killagreg | 618 | } |
619 | } |
||
620 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
621 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
519 | holgerb | 622 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
623 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
624 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
513 | killagreg | 625 | BeepTime = 150; |
626 | } |
||
627 | } |
||
628 | FromFC_LoadWP_List = 0; |
||
629 | } |
||
630 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
631 | if(FromFC_Save_SinglePoint) |
||
632 | { |
||
633 | WPL_Store.Index = FromFC_Save_SinglePoint; |
||
516 | holgerb | 634 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
513 | killagreg | 635 | FromFC_Save_SinglePoint = 0; |
636 | } |
||
637 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
638 | if(FromFC_Load_SinglePoint) |
||
639 | { |
||
516 | holgerb | 640 | WPL_Store.Index = FromFC_Load_SinglePoint; |
641 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
642 | { |
||
513 | killagreg | 643 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
502 | killagreg | 644 | { |
645 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
646 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
519 | holgerb | 647 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
648 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
649 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
502 | killagreg | 650 | BeepTime = 150; |
651 | } |
||
516 | holgerb | 652 | } |
513 | killagreg | 653 | FromFC_Load_SinglePoint = 0; |
504 | holgerb | 654 | } |
500 | holgerb | 655 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
431 | killagreg | 656 | // ---------------- Logging --------------------------------------- |
489 | killagreg | 657 | if(SD_WatchDog) |
431 | killagreg | 658 | { |
659 | SD_WatchDog = 30000; |
||
660 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
||
516 | holgerb | 661 | else |
662 | { |
||
663 | ToFC_MaxWpListIndex = 0; |
||
664 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
503 | holgerb | 665 | } |
431 | killagreg | 666 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
667 | } |
||
489 | killagreg | 668 | |
669 | /* |
||
324 | killagreg | 670 | if(CheckDelay(ftimer)) |
671 | { |
||
672 | |||
431 | killagreg | 673 | static s8 filename[35]; |
674 | static u8 i = 0; |
||
675 | s8 dbgmsg[40]; |
||
324 | killagreg | 676 | |
489 | killagreg | 677 | |
678 | |||
324 | killagreg | 679 | ftimer = SetDelay(100); |
680 | if(FC.Poti[3]>100 && fstate == 0) |
||
681 | { |
||
682 | fstate = 1; |
||
431 | killagreg | 683 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 684 | } |
685 | else if(FC.Poti[3]<100 && fstate == 2) |
||
686 | { |
||
687 | fstate = 3; |
||
688 | } |
||
689 | |||
690 | switch(fstate) |
||
691 | { |
||
692 | case 1: |
||
431 | killagreg | 693 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
694 | Debug(dbgmsg); |
||
324 | killagreg | 695 | f = fopen_(filename, 'a'); |
696 | if(f== NULL) Fat16_Init(); |
||
697 | fstate = 2; |
||
698 | break; |
||
699 | |||
700 | case 2: |
||
701 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
702 | break; |
||
489 | killagreg | 703 | |
324 | killagreg | 704 | case 3: |
431 | killagreg | 705 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
706 | Debug(dbgmsg); |
||
324 | killagreg | 707 | fclose_(f); |
708 | fstate = 0; |
||
709 | break; |
||
710 | |||
711 | default: |
||
712 | break; |
||
713 | } |
||
714 | } |
||
489 | killagreg | 715 | */ |
24 | StephanB | 716 | } |
1 | ingob | 717 | } |
516 | holgerb | 718 | //DebugOut.Analog[] |