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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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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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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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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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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 - |
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 |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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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; |
41 | ingob | 58 | #include <stdio.h> |
59 | #include "91x_lib.h" |
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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" |
41 | ingob | 65 | #include "i2c.h" |
242 | killagreg | 66 | #include "compass.h" |
119 | killagreg | 67 | #include "timer1.h" |
68 | #include "timer2.h" |
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134 | killagreg | 69 | #include "analog.h" |
41 | ingob | 70 | #include "spi_slave.h" |
71 | #include "fat16.h" |
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72 | #include "usb.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" |
254 | killagreg | 83 | |
314 | killagreg | 84 | #ifdef FOLLOW_ME |
85 | u8 TransmitAlsoToFC = 0; |
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86 | #endif |
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41 | ingob | 87 | u32 TimerCheckError; |
234 | killagreg | 88 | u8 ErrorCode = 0; |
41 | ingob | 89 | u16 BeepTime; |
92 | killagreg | 90 | u8 NCFlags = 0; |
153 | killagreg | 91 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 92 | u8 ErrorGpsFixLost = 0; |
1 | ingob | 93 | |
255 | killagreg | 94 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 95 | u8 StopNavigation = 0; |
96 | Param_t Parameter; |
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78 | holgerb | 97 | volatile FC_t FC; |
362 | holgerb | 98 | volatile u32 MainWatchDog = 15000; // stop Navigation if this goes to zero |
99 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
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1 | ingob | 100 | |
41 | ingob | 101 | s8 ErrorMSG[25]; |
102 | |||
1 | ingob | 103 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 104 | void SCU_Config(void) |
1 | ingob | 105 | { |
41 | ingob | 106 | /* configure PLL and set it as master clock source */ |
107 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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108 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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109 | #ifdef MCLK96MHZ |
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110 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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111 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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112 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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113 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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114 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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115 | #else |
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116 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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117 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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118 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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119 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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120 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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121 | #endif |
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122 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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123 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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124 | } |
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1 | ingob | 125 | |
41 | ingob | 126 | //---------------------------------------------------------------------------------------------------- |
127 | void GetNaviCtrlVersion(void) |
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1 | ingob | 128 | { |
41 | ingob | 129 | u8 msg[25]; |
270 | killagreg | 130 | |
264 | killagreg | 131 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 132 | UART1_PutString(msg); |
1 | ingob | 133 | } |
134 | |||
135 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 136 | |
41 | ingob | 137 | void CheckErrors(void) |
138 | { |
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329 | holgerb | 139 | static s32 no_error_delay = 0; |
328 | holgerb | 140 | s32 newErrorCode = 0; |
232 | killagreg | 141 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 142 | |
338 | holgerb | 143 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
144 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
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231 | holgerb | 145 | |
338 | holgerb | 146 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
147 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 148 | |
338 | holgerb | 149 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
150 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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151 | |||
146 | killagreg | 152 | if(CheckDelay(SPI0_Timeout)) |
41 | ingob | 153 | { |
154 | LED_RED_ON; |
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155 | sprintf(ErrorMSG,"no FC communication "); |
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328 | holgerb | 156 | newErrorCode = 3; |
41 | ingob | 157 | StopNavigation = 1; |
338 | holgerb | 158 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
159 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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256 | killagreg | 160 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
41 | ingob | 161 | } |
229 | holgerb | 162 | else if(CheckDelay(I2C1_Timeout)) |
41 | ingob | 163 | { |
368 | holgerb | 164 | LED_RED_ON; |
165 | sprintf(ErrorMSG,"no compass communication"); |
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149 | killagreg | 166 | //Reset I2CBus |
167 | I2C1_Deinit(); |
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168 | I2C1_Init(); |
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328 | holgerb | 169 | newErrorCode = 4; |
41 | ingob | 170 | StopNavigation = 1; |
256 | killagreg | 171 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
338 | holgerb | 172 | DebugOut.StatusRed |= AMPEL_COMPASS; |
41 | ingob | 173 | } |
174 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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175 | { |
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176 | LED_RED_ON; |
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318 | holgerb | 177 | #ifndef FOLLOW_ME |
41 | ingob | 178 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 179 | #else |
180 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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181 | #endif |
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328 | holgerb | 182 | newErrorCode = 1; |
41 | ingob | 183 | StopNavigation = 1; |
256 | killagreg | 184 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 185 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 186 | } |
231 | holgerb | 187 | |
255 | killagreg | 188 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 189 | { |
190 | LED_RED_ON; |
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191 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 192 | newErrorCode = 10; |
232 | killagreg | 193 | } |
255 | killagreg | 194 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 195 | { |
196 | LED_RED_ON; |
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197 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 198 | newErrorCode = 11; |
232 | killagreg | 199 | } |
255 | killagreg | 200 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 201 | { |
202 | LED_RED_ON; |
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203 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 204 | newErrorCode = 12; |
232 | killagreg | 205 | } |
255 | killagreg | 206 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 207 | { |
208 | LED_RED_ON; |
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209 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 210 | newErrorCode = 13; |
232 | killagreg | 211 | } |
255 | killagreg | 212 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 213 | { |
214 | LED_RED_ON; |
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215 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 216 | newErrorCode = 14; |
232 | killagreg | 217 | } |
255 | killagreg | 218 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 219 | { |
220 | LED_RED_ON; |
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327 | holgerb | 221 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 222 | newErrorCode = 15; |
232 | killagreg | 223 | } |
351 | holgerb | 224 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
225 | { |
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226 | LED_RED_ON; |
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227 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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228 | newErrorCode = 28; |
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229 | } |
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255 | killagreg | 230 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 231 | { |
232 | LED_RED_ON; |
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327 | holgerb | 233 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 234 | newErrorCode = 16; |
232 | killagreg | 235 | } |
255 | killagreg | 236 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 237 | { |
238 | LED_RED_ON; |
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327 | holgerb | 239 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 240 | newErrorCode = 17; |
232 | killagreg | 241 | } |
255 | killagreg | 242 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 243 | { |
244 | LED_RED_ON; |
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245 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 246 | newErrorCode = 18; |
232 | killagreg | 247 | } |
255 | killagreg | 248 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 249 | { |
250 | LED_RED_ON; |
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251 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 252 | newErrorCode = 19; |
232 | killagreg | 253 | } |
350 | holgerb | 254 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 255 | { |
256 | LED_RED_ON; |
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350 | holgerb | 257 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
258 | // else |
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320 | holgerb | 259 | { |
260 | sprintf(ErrorMSG,"no GPS communication "); |
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261 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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328 | holgerb | 262 | newErrorCode = 5; |
320 | holgerb | 263 | } |
41 | ingob | 264 | StopNavigation = 1; |
320 | holgerb | 265 | // UBX_Timeout = SetDelay(500); |
41 | ingob | 266 | } |
254 | killagreg | 267 | else if(Compass_Heading < 0) |
41 | ingob | 268 | { |
269 | LED_RED_ON; |
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270 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 271 | newErrorCode = 6; |
41 | ingob | 272 | StopNavigation = 1; |
256 | killagreg | 273 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 274 | } |
255 | killagreg | 275 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 276 | { |
277 | LED_RED_ON; |
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278 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 279 | newErrorCode = 8; |
213 | killagreg | 280 | StopNavigation = 1; |
199 | killagreg | 281 | } |
255 | killagreg | 282 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 283 | { |
284 | LED_RED_ON; |
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285 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 286 | newErrorCode = 20; |
232 | killagreg | 287 | } |
255 | killagreg | 288 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 289 | { |
290 | LED_RED_ON; |
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291 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 292 | newErrorCode = 7; |
41 | ingob | 293 | } |
328 | holgerb | 294 | else if(ErrorGpsFixLost) |
295 | { |
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296 | LED_RED_ON; |
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297 | sprintf(ErrorMSG,"GPS Fix lost "); |
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298 | newErrorCode = 21; |
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299 | } |
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330 | holgerb | 300 | else if(ErrorDisturbedEarthMagnetField) |
301 | { |
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302 | LED_RED_ON; |
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303 | sprintf(ErrorMSG,"Magnet error "); |
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304 | newErrorCode = 22; |
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338 | holgerb | 305 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 307 | } |
338 | holgerb | 308 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
309 | { |
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310 | LED_RED_ON; |
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311 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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312 | newErrorCode = 23; |
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313 | DebugOut.StatusRed |= AMPEL_BL; |
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314 | } |
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315 | else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
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316 | { |
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317 | LED_RED_ON; |
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318 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
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319 | newErrorCode = 24; |
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320 | DebugOut.StatusRed |= AMPEL_BL; |
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321 | } |
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348 | holgerb | 322 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
323 | { |
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324 | LED_RED_ON; |
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351 | holgerb | 325 | sprintf(ErrorMSG,"ERR:GPS range "); |
348 | holgerb | 326 | newErrorCode = 25; |
327 | DebugOut.StatusRed |= AMPEL_NC; |
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328 | } |
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350 | holgerb | 329 | else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
330 | { |
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331 | LED_RED_ON; |
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332 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
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333 | newErrorCode = 26; |
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334 | DebugOut.StatusRed |= AMPEL_NC; |
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335 | } |
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362 | holgerb | 336 | else if((SD_LoggingError || (SD_WatchDog == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START ) |
351 | holgerb | 337 | { |
368 | holgerb | 338 | LED_RED_ON; |
351 | holgerb | 339 | sprintf(ErrorMSG,"ERR:SD Logging aborted"); |
340 | newErrorCode = 27; |
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341 | DebugOut.StatusRed |= AMPEL_NC; |
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342 | SD_LoggingError = 0; |
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343 | } |
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355 | holgerb | 344 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
345 | { |
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346 | LED_RED_ON; |
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347 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
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348 | newErrorCode = 29; |
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349 | DebugOut.StatusRed |= AMPEL_NC; |
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350 | } |
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41 | ingob | 351 | else // no error occured |
352 | { |
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353 | StopNavigation = 0; |
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354 | LED_RED_OFF; |
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328 | holgerb | 355 | if(no_error_delay) { no_error_delay--; } |
356 | else |
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357 | { |
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358 | sprintf(ErrorMSG,"No Error "); |
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359 | ErrorCode = 0; |
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360 | } |
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41 | ingob | 361 | } |
328 | holgerb | 362 | |
363 | if(newErrorCode) |
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364 | { |
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339 | holgerb | 365 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
328 | holgerb | 366 | ErrorCode = newErrorCode; |
367 | } |
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368 | FC.Error[0] = 0; |
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369 | FC.Error[1] = 0; |
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370 | FC.Error[2] = 0; |
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371 | FC.Error[3] = 0; |
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372 | FC.Error[4] = 0; |
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373 | ErrorGpsFixLost = 0; |
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41 | ingob | 374 | } |
24 | StephanB | 375 | |
154 | killagreg | 376 | // the handler will be cyclic called by the timer 1 ISR |
213 | killagreg | 377 | // used is for critical timing parts that normaly would handled |
154 | killagreg | 378 | // within the main loop that could block longer at logging activities |
379 | void EXTIT3_IRQHandler(void) |
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380 | { |
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195 | killagreg | 381 | IENABLE; |
382 | |||
154 | killagreg | 383 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
195 | killagreg | 384 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
292 | killagreg | 385 | Compass_Update(); // update compass communication |
154 | killagreg | 386 | Analog_Update(); // get new ADC values |
195 | killagreg | 387 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
154 | killagreg | 388 | |
195 | killagreg | 389 | IDISABLE; |
154 | killagreg | 390 | } |
391 | |||
41 | ingob | 392 | //---------------------------------------------------------------------------------------------------- |
393 | int main(void) |
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394 | { |
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324 | killagreg | 395 | /* |
396 | static u32 ftimer =0; |
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397 | static u8 fstate = 0; |
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398 | static File_t* f = NULL; |
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399 | */ |
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400 | |||
41 | ingob | 401 | /* Configure the system clocks */ |
402 | SCU_Config(); |
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403 | /* init VIC (Vectored Interrupt Controller) */ |
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404 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
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405 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
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406 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
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196 | killagreg | 407 | VIC_InitDefaultVectors(); |
408 | |||
119 | killagreg | 409 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 410 | TIMER1_Init(); |
411 | // initialize the LEDs (needs Timer 1) |
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412 | Led_Init(); |
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413 | // initialize the debug UART1 |
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414 | UART1_Init(); |
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110 | killagreg | 415 | UART1_PutString("\r\n---------------------------------------------"); |
275 | killagreg | 416 | // initialize usb |
417 | USB_ConfigInit(); |
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120 | killagreg | 418 | // initialize timer 2 for servo outputs |
180 | killagreg | 419 | //TIMER2_Init(); |
41 | ingob | 420 | // initialize UART2 to FLIGHTCTRL |
421 | UART2_Init(); |
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422 | // initialize UART0 (to MKGPS or MK3MAG) |
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423 | UART0_Init(); |
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134 | killagreg | 424 | // initialize adc |
425 | Analog_Init(); |
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41 | ingob | 426 | // initialize SPI0 to FC |
427 | SPI0_Init(); |
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242 | killagreg | 428 | // initialize i2c bus (needs Timer 1) |
41 | ingob | 429 | I2C1_Init(); |
247 | killagreg | 430 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 431 | Fat16_Init(); |
156 | killagreg | 432 | // initialize NC params |
433 | NCParams_Init(); |
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88 | killagreg | 434 | // initialize the settings |
435 | Settings_Init(); |
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92 | killagreg | 436 | // initialize logging (needs settings) |
82 | killagreg | 437 | Logging_Init(); |
1 | ingob | 438 | |
362 | holgerb | 439 | LED_GRN_ON; |
41 | ingob | 440 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 441 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 442 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 443 | |
41 | ingob | 444 | GetNaviCtrlVersion(); |
338 | holgerb | 445 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
446 | DebugOut.StatusRed = 0x00; |
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149 | killagreg | 447 | |
242 | killagreg | 448 | Compass_Init(); |
270 | killagreg | 449 | |
314 | killagreg | 450 | #ifdef FOLLOW_ME |
451 | TransmitAlsoToFC = 1; |
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452 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
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453 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
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454 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
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455 | TransmitAlsoToFC = 0; |
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456 | #else |
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150 | killagreg | 457 | SPI0_GetFlightCtrlVersion(); |
458 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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41 | ingob | 459 | { |
150 | killagreg | 460 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
41 | ingob | 461 | LED_RED_ON; |
462 | } |
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314 | killagreg | 463 | #endif |
270 | killagreg | 464 | GPS_Init(); |
213 | killagreg | 465 | // ---------- Prepare the isr driven |
154 | killagreg | 466 | // set to absolute lowest priority |
467 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
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195 | killagreg | 468 | // enable interrupts |
154 | killagreg | 469 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 470 | |
250 | ingob | 471 | Debug_OK("START"); |
362 | holgerb | 472 | UART1_PutString("\r\n"); |
270 | killagreg | 473 | |
154 | killagreg | 474 | for (;;) // the endless main loop |
41 | ingob | 475 | { |
362 | holgerb | 476 | MainWatchDog = 3500; // stop communication to FC after this timeout |
155 | killagreg | 477 | UART0_ProcessRxData(); // process request |
478 | UART1_ProcessRxData(); // process request |
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254 | killagreg | 479 | USB_ProcessRxData(); // process request |
154 | killagreg | 480 | UART0_TransmitTxData(); // send answer |
146 | killagreg | 481 | UART1_TransmitTxData(); // send answer |
190 | killagreg | 482 | UART2_TransmitTxData(); // send answer |
254 | killagreg | 483 | USB_TransmitTxData(); // send answer |
155 | killagreg | 484 | SPI0_UpdateBuffer(); // handle new SPI Data |
327 | holgerb | 485 | |
41 | ingob | 486 | // ---------------- Error Check Timing ---------------------------- |
487 | if(CheckDelay(TimerCheckError)) |
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1 | ingob | 488 | { |
114 | killagreg | 489 | TimerCheckError = SetDelay(1000); |
327 | holgerb | 490 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
491 | |||
492 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
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493 | |||
255 | killagreg | 494 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
146 | killagreg | 495 | // else NaviData.FlyingTime = 0; // not the time per flight |
92 | killagreg | 496 | if(SerialLinkOkay) SerialLinkOkay--; |
497 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
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498 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
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320 | holgerb | 499 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
1 | ingob | 500 | } |
82 | killagreg | 501 | // ---------------- Logging --------------------------------------- |
362 | holgerb | 502 | if(SD_WatchDog) |
503 | { |
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504 | SD_WatchDog = 3000; |
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505 | 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 |
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506 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
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507 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
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508 | } |
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324 | killagreg | 509 | /* |
510 | // test |
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511 | if(CheckDelay(ftimer)) |
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512 | { |
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513 | |||
514 | s8* filename = "test.txt"; |
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515 | |||
516 | ftimer = SetDelay(100); |
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517 | if(FC.Poti[3]>100 && fstate == 0) |
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518 | { |
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519 | fstate = 1; |
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520 | } |
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521 | else if(FC.Poti[3]<100 && fstate == 2) |
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522 | { |
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523 | fstate = 3; |
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524 | } |
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525 | |||
526 | switch(fstate) |
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527 | { |
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528 | case 1: |
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529 | sprintf(text,"\r\nStart writing file: %s", filename); |
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530 | UART1_PutString(text); |
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531 | f = fopen_(filename, 'a'); |
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532 | if(f== NULL) Fat16_Init(); |
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533 | fstate = 2; |
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534 | break; |
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535 | |||
536 | case 2: |
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537 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
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538 | break; |
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539 | |||
540 | case 3: |
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541 | sprintf(text,"\r\nClosing file: %s", filename); |
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542 | UART1_PutString(text); |
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543 | fclose_(f); |
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544 | fstate = 0; |
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545 | break; |
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546 | |||
547 | default: |
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548 | break; |
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549 | } |
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550 | } |
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551 | */ |
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24 | StephanB | 552 | } |
1 | ingob | 553 | } |
554 | |||
342 | holgerb | 555 | // DebugOut.Analog[] |