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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> |
693 | holgerb | 59 | #include <string.h> |
41 | ingob | 60 | #include "91x_lib.h" |
61 | #include "led.h" |
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62 | #include "uart0.h" |
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63 | #include "uart1.h" |
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64 | #include "uart2.h" |
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215 | killagreg | 65 | #include "gps.h" |
489 | killagreg | 66 | #include "i2c.h" |
242 | killagreg | 67 | #include "compass.h" |
426 | holgerb | 68 | #include "ncmag.h" |
119 | killagreg | 69 | #include "timer1.h" |
70 | #include "timer2.h" |
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134 | killagreg | 71 | #include "analog.h" |
41 | ingob | 72 | #include "spi_slave.h" |
73 | #include "fat16.h" |
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74 | #include "sdc.h" |
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82 | killagreg | 75 | #include "logging.h" |
156 | killagreg | 76 | #include "params.h" |
88 | killagreg | 77 | #include "settings.h" |
154 | killagreg | 78 | #include "config.h" |
1 | ingob | 79 | #include "main.h" |
250 | ingob | 80 | #include "debug.h" |
254 | killagreg | 81 | #include "eeprom.h" |
350 | holgerb | 82 | #include "ssc.h" |
362 | holgerb | 83 | #include "sdc.h" |
380 | holgerb | 84 | #include "uart1.h" |
688 | holgerb | 85 | #include "canbus.h" |
706 | holgerb | 86 | #include "triggerlog.h" |
254 | killagreg | 87 | |
427 | killagreg | 88 | |
314 | killagreg | 89 | #ifdef FOLLOW_ME |
90 | u8 TransmitAlsoToFC = 0; |
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91 | #endif |
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41 | ingob | 92 | u32 TimerCheckError; |
489 | killagreg | 93 | u8 ErrorCode = 0; |
41 | ingob | 94 | u16 BeepTime; |
92 | killagreg | 95 | u8 NCFlags = 0; |
153 | killagreg | 96 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 97 | u8 ErrorGpsFixLost = 0; |
513 | killagreg | 98 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
531 | holgerb | 99 | u8 ToFC_MaxWpListIndex = 4; |
255 | killagreg | 100 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 101 | u8 StopNavigation = 0; |
378 | holgerb | 102 | volatile u32 PollingTimeout = 10000; |
41 | ingob | 103 | Param_t Parameter; |
699 | holgerb | 104 | Partner_t Partner; |
78 | holgerb | 105 | volatile FC_t FC; |
378 | holgerb | 106 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
400 | holgerb | 107 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
663 | holgerb | 108 | u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0; |
504 | holgerb | 109 | u8 NewWPL_Name = 0; |
532 | holgerb | 110 | u32 MaxWP_Radius_in_m = 0; |
41 | ingob | 111 | s8 ErrorMSG[25]; |
699 | holgerb | 112 | s8 PartnerErrorMSG[25] = " --- \0"; |
533 | holgerb | 113 | u32 TimeSinceMotorStart = 0; |
699 | holgerb | 114 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
41 | ingob | 115 | |
1 | ingob | 116 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 117 | void SCU_Config(void) |
1 | ingob | 118 | { |
41 | ingob | 119 | /* configure PLL and set it as master clock source */ |
120 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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121 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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122 | #ifdef MCLK96MHZ |
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123 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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124 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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125 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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126 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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127 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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128 | #else |
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129 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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130 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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131 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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132 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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133 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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134 | #endif |
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135 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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136 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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137 | } |
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1 | ingob | 138 | |
41 | ingob | 139 | //---------------------------------------------------------------------------------------------------- |
140 | void GetNaviCtrlVersion(void) |
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1 | ingob | 141 | { |
41 | ingob | 142 | u8 msg[25]; |
270 | killagreg | 143 | |
530 | holgerb | 144 | 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 | 145 | UART1_PutString(msg); |
1 | ingob | 146 | } |
147 | |||
148 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 149 | |
41 | ingob | 150 | void CheckErrors(void) |
151 | { |
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516 | holgerb | 152 | static s32 no_error_delay = 0; |
328 | holgerb | 153 | s32 newErrorCode = 0; |
232 | killagreg | 154 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 155 | |
489 | killagreg | 156 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
338 | holgerb | 157 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
231 | holgerb | 158 | |
338 | holgerb | 159 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
160 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 161 | |
338 | holgerb | 162 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
163 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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164 | |||
489 | killagreg | 165 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
41 | ingob | 166 | { |
489 | killagreg | 167 | LED_RED_ON; |
472 | holgerb | 168 | sprintf(ErrorMSG,"no compass communica"); |
489 | killagreg | 169 | //Reset Compass communication |
501 | holgerb | 170 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 171 | Compass_Init(); |
472 | holgerb | 172 | newErrorCode = 4; |
41 | ingob | 173 | StopNavigation = 1; |
472 | holgerb | 174 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
175 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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41 | ingob | 176 | } |
488 | holgerb | 177 | else if(CompassValueErrorCount > 30) |
178 | { |
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179 | LED_RED_ON; |
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180 | sprintf(ErrorMSG,"compass sensor error"); |
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181 | newErrorCode = 34; |
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182 | StopNavigation = 1; |
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183 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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501 | holgerb | 184 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 185 | Compass_Init(); |
488 | holgerb | 186 | } |
489 | killagreg | 187 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
188 | { |
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488 | holgerb | 189 | sprintf(ErrorMSG,"Calibrate... "); |
489 | killagreg | 190 | newErrorCode = 0; |
488 | holgerb | 191 | ErrorCode = 0; |
192 | no_error_delay = 1; |
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489 | killagreg | 193 | } |
194 | else if(CheckDelay(SPI0_Timeout)) |
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483 | holgerb | 195 | { |
489 | killagreg | 196 | LED_RED_ON; |
472 | holgerb | 197 | sprintf(ErrorMSG,"no FC communication "); |
198 | newErrorCode = 3; |
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199 | StopNavigation = 1; |
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200 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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201 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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202 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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203 | } |
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41 | ingob | 204 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
205 | { |
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206 | LED_RED_ON; |
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318 | holgerb | 207 | #ifndef FOLLOW_ME |
41 | ingob | 208 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 209 | #else |
210 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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211 | #endif |
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328 | holgerb | 212 | newErrorCode = 1; |
41 | ingob | 213 | StopNavigation = 1; |
256 | killagreg | 214 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 215 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 216 | } |
255 | killagreg | 217 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 218 | { |
219 | LED_RED_ON; |
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220 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 221 | newErrorCode = 10; |
232 | killagreg | 222 | } |
255 | killagreg | 223 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 224 | { |
225 | LED_RED_ON; |
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226 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 227 | newErrorCode = 11; |
232 | killagreg | 228 | } |
255 | killagreg | 229 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 230 | { |
231 | LED_RED_ON; |
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232 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 233 | newErrorCode = 12; |
232 | killagreg | 234 | } |
255 | killagreg | 235 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 236 | { |
237 | LED_RED_ON; |
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238 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 239 | newErrorCode = 13; |
232 | killagreg | 240 | } |
255 | killagreg | 241 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 242 | { |
243 | LED_RED_ON; |
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244 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 245 | newErrorCode = 14; |
232 | killagreg | 246 | } |
255 | killagreg | 247 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 248 | { |
249 | LED_RED_ON; |
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327 | holgerb | 250 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 251 | newErrorCode = 15; |
232 | killagreg | 252 | } |
351 | holgerb | 253 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
254 | { |
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255 | LED_RED_ON; |
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256 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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257 | newErrorCode = 28; |
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258 | } |
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255 | killagreg | 259 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 260 | { |
489 | killagreg | 261 | LED_RED_ON; |
327 | holgerb | 262 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 263 | newErrorCode = 16; |
232 | killagreg | 264 | } |
255 | killagreg | 265 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 266 | { |
267 | LED_RED_ON; |
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327 | holgerb | 268 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 269 | newErrorCode = 17; |
232 | killagreg | 270 | } |
255 | killagreg | 271 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 272 | { |
273 | LED_RED_ON; |
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274 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 275 | newErrorCode = 18; |
232 | killagreg | 276 | } |
255 | killagreg | 277 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 278 | { |
279 | LED_RED_ON; |
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280 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 281 | newErrorCode = 19; |
232 | killagreg | 282 | } |
350 | holgerb | 283 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 284 | { |
285 | LED_RED_ON; |
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548 | holgerb | 286 | sprintf(ErrorMSG,"no GPS communication"); |
287 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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288 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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289 | newErrorCode = 5; |
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41 | ingob | 290 | StopNavigation = 1; |
291 | } |
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426 | holgerb | 292 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
293 | { |
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294 | LED_RED_ON; |
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295 | sprintf(ErrorMSG,"compass not calibr."); |
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296 | newErrorCode = 31; |
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297 | StopNavigation = 1; |
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298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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299 | } |
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254 | killagreg | 300 | else if(Compass_Heading < 0) |
41 | ingob | 301 | { |
302 | LED_RED_ON; |
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303 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 304 | newErrorCode = 6; |
41 | ingob | 305 | StopNavigation = 1; |
256 | killagreg | 306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 307 | } |
255 | killagreg | 308 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 309 | { |
310 | LED_RED_ON; |
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311 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 312 | newErrorCode = 8; |
213 | killagreg | 313 | StopNavigation = 1; |
199 | killagreg | 314 | } |
255 | killagreg | 315 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 316 | { |
317 | LED_RED_ON; |
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318 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 319 | newErrorCode = 20; |
232 | killagreg | 320 | } |
706 | holgerb | 321 | else if(FC.BAT_Voltage < 45) |
322 | { |
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323 | LED_RED_ON; |
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324 | sprintf(ErrorMSG,"ERR:Power Supply"); |
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325 | newErrorCode = 41; |
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326 | } |
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327 | else |
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328 | if(FC.Error[1] & FC_ERROR1_RC_VOLTAGE) |
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329 | { |
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330 | LED_RED_ON; |
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331 | sprintf(ErrorMSG,"ERR: 5V RC-Supply"); |
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332 | newErrorCode = 40; |
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333 | } |
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255 | killagreg | 334 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 335 | { |
336 | LED_RED_ON; |
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337 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 338 | newErrorCode = 7; |
41 | ingob | 339 | } |
489 | killagreg | 340 | else if(ErrorGpsFixLost) |
328 | holgerb | 341 | { |
489 | killagreg | 342 | LED_RED_ON; |
343 | sprintf(ErrorMSG,"GPS Fix lost "); |
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344 | newErrorCode = 21; |
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328 | holgerb | 345 | } |
330 | holgerb | 346 | else if(ErrorDisturbedEarthMagnetField) |
347 | { |
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489 | killagreg | 348 | LED_RED_ON; |
349 | sprintf(ErrorMSG,"Magnet error "); |
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350 | newErrorCode = 22; |
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351 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
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352 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 353 | } |
533 | holgerb | 354 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
338 | holgerb | 355 | { |
489 | killagreg | 356 | LED_RED_ON; |
357 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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358 | newErrorCode = 23; |
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359 | DebugOut.StatusRed |= AMPEL_BL; |
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338 | holgerb | 360 | } |
472 | holgerb | 361 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
338 | holgerb | 362 | { |
489 | killagreg | 363 | u16 i; |
516 | holgerb | 364 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
489 | killagreg | 365 | LED_RED_ON; |
366 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
||
516 | holgerb | 367 | newErrorCode = 32; |
368 | DebugOut.StatusRed |= AMPEL_BL; |
||
472 | holgerb | 369 | } |
533 | holgerb | 370 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
472 | holgerb | 371 | { |
489 | killagreg | 372 | LED_RED_ON; |
373 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
||
374 | newErrorCode = 24; |
||
375 | DebugOut.StatusRed |= AMPEL_BL; |
||
338 | holgerb | 376 | } |
491 | killagreg | 377 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | holgerb | 378 | { |
489 | killagreg | 379 | LED_RED_ON; |
532 | holgerb | 380 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
489 | killagreg | 381 | newErrorCode = 25; |
382 | DebugOut.StatusRed |= AMPEL_NC; |
||
348 | holgerb | 383 | } |
397 | holgerb | 384 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 385 | { |
489 | killagreg | 386 | LED_RED_ON; |
387 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
388 | newErrorCode = 26; |
||
389 | DebugOut.StatusRed |= AMPEL_NC; |
||
350 | holgerb | 390 | } |
383 | holgerb | 391 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 392 | { |
489 | killagreg | 393 | LED_RED_ON; |
394 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
395 | newErrorCode = 27; |
||
396 | DebugOut.StatusRed |= AMPEL_NC; |
||
397 | SD_LoggingError = 0; |
||
351 | holgerb | 398 | } |
355 | holgerb | 399 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
400 | { |
||
489 | killagreg | 401 | LED_RED_ON; |
402 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
403 | newErrorCode = 29; |
||
404 | DebugOut.StatusRed |= AMPEL_NC; |
||
355 | holgerb | 405 | } |
516 | holgerb | 406 | 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 | 407 | { |
408 | LED_RED_ON; |
||
409 | sprintf(ErrorMSG,"No GPS Fix "); |
||
410 | newErrorCode = 30; |
||
398 | holgerb | 411 | } |
663 | holgerb | 412 | else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15) |
646 | holgerb | 413 | { |
414 | LED_RED_ON; |
||
659 | holgerb | 415 | sprintf(ErrorMSG,"GPS Update rate "); |
416 | newErrorCode = 38; |
||
646 | holgerb | 417 | } |
615 | holgerb | 418 | else if(NC_GPS_ModeCharacter == 'F') |
419 | { |
||
420 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
||
421 | newErrorCode = 35; |
||
422 | } |
||
423 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
||
424 | { |
||
425 | sprintf(ErrorMSG,"ERR:Redundancy "); |
||
426 | newErrorCode = 36; |
||
427 | } |
||
428 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
||
429 | { |
||
430 | sprintf(ErrorMSG,"Redundancy test "); |
||
431 | newErrorCode = 37; |
||
432 | } |
||
699 | holgerb | 433 | else if(CanbusTimeOut == 1) |
434 | { |
||
435 | sprintf(ErrorMSG,"ERR: Canbus"); |
||
715 | holgerb | 436 | CanbusInit(); |
699 | holgerb | 437 | newErrorCode = 39; |
438 | } |
||
706 | holgerb | 439 | else |
440 | if(FC.Error[1] & FC_ERROR1_ACC_NOT_CAL) |
||
441 | { |
||
442 | LED_RED_ON; |
||
443 | sprintf(ErrorMSG,"ACC not calib."); |
||
444 | newErrorCode = 42; |
||
445 | } |
||
41 | ingob | 446 | else // no error occured |
447 | { |
||
448 | StopNavigation = 0; |
||
449 | LED_RED_OFF; |
||
489 | killagreg | 450 | if(no_error_delay) { no_error_delay--; } |
451 | else |
||
452 | { |
||
453 | sprintf(ErrorMSG,"No Error "); |
||
454 | ErrorCode = 0; |
||
455 | } |
||
41 | ingob | 456 | } |
328 | holgerb | 457 | |
516 | holgerb | 458 | if(newErrorCode) |
459 | { |
||
460 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
||
461 | ErrorCode = newErrorCode; |
||
462 | } |
||
463 | FC.Error[0] = 0; |
||
464 | FC.Error[1] = 0; |
||
465 | FC.Error[2] = 0; |
||
466 | FC.Error[3] = 0; |
||
467 | FC.Error[4] = 0; |
||
468 | ErrorGpsFixLost = 0; |
||
530 | holgerb | 469 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
41 | ingob | 470 | } |
24 | StephanB | 471 | |
693 | holgerb | 472 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
473 | { |
||
474 | u8 crc = 0xAA; |
||
475 | u16 i; |
||
476 | for(i=0; i<len; i++) crc += pBuffer[i]; |
||
477 | return crc; |
||
478 | } |
||
378 | holgerb | 479 | |
480 | |||
484 | holgerb | 481 | u8 Polling(void) |
378 | holgerb | 482 | { |
564 | holgerb | 483 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
489 | killagreg | 484 | static u32 old_ms = 0; |
485 | |||
516 | holgerb | 486 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
489 | killagreg | 487 | running = 1; |
488 | |||
489 | if(CountMilliseconds != old_ms) // 1 ms |
||
490 | { |
||
699 | holgerb | 491 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
483 | holgerb | 492 | old_ms = CountMilliseconds; |
493 | Compass_Update(); // update compass communication |
||
494 | Analog_Update(); // get new ADC values |
||
495 | CalcHeadFree(); |
||
688 | holgerb | 496 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
564 | holgerb | 497 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
498 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
||
499 | if(++TimeoutGPS_Process >= 25) |
||
500 | { |
||
501 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
502 | TimeoutGPS_Process = 0; |
||
503 | } |
||
483 | holgerb | 504 | } |
488 | holgerb | 505 | |
489 | killagreg | 506 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
507 | UART0_ProcessRxData(); // GPS process request |
||
508 | UART0_TransmitTxData(); // GPS send answer |
||
509 | UART1_ProcessRxData(); // PC process request |
||
510 | UART1_TransmitTxData(); // PC send answer |
||
511 | UART2_TransmitTxData(); // FC send answer |
||
512 | |||
533 | holgerb | 513 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
514 | |||
693 | holgerb | 515 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
516 | { |
||
517 | u8 crc1, crc2; |
||
518 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
||
519 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
||
520 | if(crc1 == crc2) |
||
521 | { |
||
522 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
||
523 | RequestConfigFromFC = 0; |
||
524 | } |
||
525 | HugeBlockFromFC.WhoAmI = 0; |
||
526 | } |
||
527 | |||
663 | holgerb | 528 | if(FCCalibActive) |
529 | { |
||
530 | count5sec = 0; |
||
531 | FreqNewGpsData = 50; |
||
532 | CountNewGpsDataIn5Sec = 25; |
||
533 | CountGpsProcessedIn5Sec = 0; |
||
534 | TimerCheckError = SetDelay(1000); |
||
535 | } |
||
536 | |||
489 | killagreg | 537 | // ---------------- Error Check Timing ---------------------------- |
538 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
539 | { |
||
540 | if(CheckDelay(TimerCheckError)) |
||
380 | holgerb | 541 | { |
706 | holgerb | 542 | if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; else BlitzSchuhConnected = 0; |
489 | killagreg | 543 | TimerCheckError = SetDelay(1000); |
544 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
545 | if(++count5sec == 5) |
||
546 | { |
||
663 | holgerb | 547 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
548 | FreqNewGpsData = CountNewGpsDataIn5Sec; // 50 = 5,0Hz |
||
549 | |||
453 | holgerb | 550 | count5sec = 0; |
489 | killagreg | 551 | CountGpsProcessedIn5Sec = 0; |
659 | holgerb | 552 | CountNewGpsDataIn5Sec = FreqNewGpsData / 2; |
663 | holgerb | 553 | ConfirmGpsUpdateRate(FreqNewGpsData); |
489 | killagreg | 554 | } |
380 | holgerb | 555 | } |
489 | killagreg | 556 | oldFcFlags = FC.StatusFlags; |
564 | holgerb | 557 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
489 | killagreg | 558 | |
559 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
560 | |||
533 | holgerb | 561 | if(FC.StatusFlags & FC_STATUS_FLY) |
562 | { |
||
563 | NaviData.FlyingTime++; // we want to count the battery-time |
||
564 | TimeSinceMotorStart++; |
||
565 | } |
||
566 | |||
489 | killagreg | 567 | if(SerialLinkOkay) SerialLinkOkay--; |
594 | holgerb | 568 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
489 | killagreg | 569 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
570 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
571 | } |
||
572 | running = 0; |
||
514 | holgerb | 573 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
489 | killagreg | 574 | return(0); |
378 | holgerb | 575 | } |
576 | |||
380 | holgerb | 577 | // the handler will be cyclic called by the timer 1 ISR |
578 | // used is for critical timing parts that normaly would handled |
||
579 | // within the main loop that could block longer at logging activities |
||
483 | holgerb | 580 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
154 | killagreg | 581 | { |
195 | killagreg | 582 | IENABLE; |
154 | killagreg | 583 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
489 | killagreg | 584 | |
516 | holgerb | 585 | if(PollingTimeout == 0) |
586 | { |
||
587 | PollingTimeout = 5; |
||
588 | //if(Polling() == 0) DebugOut.Analog[]++; |
||
589 | Polling(); |
||
380 | holgerb | 590 | } |
378 | holgerb | 591 | |
592 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 593 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
594 | IDISABLE; |
||
378 | holgerb | 595 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 596 | } |
597 | |||
41 | ingob | 598 | //---------------------------------------------------------------------------------------------------- |
599 | int main(void) |
||
600 | { |
||
489 | killagreg | 601 | |
602 | // static u32 ftimer =0; |
||
603 | // static u8 fstate = 0; |
||
456 | holgerb | 604 | // static File_t* f = NULL; |
489 | killagreg | 605 | |
606 | |||
41 | ingob | 607 | /* Configure the system clocks */ |
608 | SCU_Config(); |
||
609 | /* init VIC (Vectored Interrupt Controller) */ |
||
610 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
611 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
612 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 613 | VIC_InitDefaultVectors(); |
614 | |||
119 | killagreg | 615 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 616 | TIMER1_Init(); |
617 | // initialize the LEDs (needs Timer 1) |
||
618 | Led_Init(); |
||
619 | // initialize the debug UART1 |
||
620 | UART1_Init(); |
||
110 | killagreg | 621 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 622 | // initialize timer 2 for servo outputs |
180 | killagreg | 623 | //TIMER2_Init(); |
41 | ingob | 624 | // initialize UART2 to FLIGHTCTRL |
625 | UART2_Init(); |
||
626 | // initialize UART0 (to MKGPS or MK3MAG) |
||
627 | UART0_Init(); |
||
134 | killagreg | 628 | // initialize adc |
629 | Analog_Init(); |
||
41 | ingob | 630 | // initialize SPI0 to FC |
631 | SPI0_Init(); |
||
469 | killagreg | 632 | // initialize i2c busses (needs Timer 1) |
489 | killagreg | 633 | I2CBus_Init(I2C0); |
634 | I2CBus_Init(I2C1); |
||
247 | killagreg | 635 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 636 | Fat16_Init(); |
156 | killagreg | 637 | // initialize NC params |
638 | NCParams_Init(); |
||
88 | killagreg | 639 | // initialize the settings |
640 | Settings_Init(); |
||
92 | killagreg | 641 | // initialize logging (needs settings) |
82 | killagreg | 642 | Logging_Init(); |
1 | ingob | 643 | |
699 | holgerb | 644 | //UART_VersionInfo.HWMajor = 30; |
362 | holgerb | 645 | LED_GRN_ON; |
41 | ingob | 646 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 647 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 648 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 649 | |
41 | ingob | 650 | GetNaviCtrlVersion(); |
338 | holgerb | 651 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
652 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 653 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
149 | killagreg | 654 | |
516 | holgerb | 655 | Compass_Init(); |
270 | killagreg | 656 | |
314 | killagreg | 657 | #ifdef FOLLOW_ME |
658 | TransmitAlsoToFC = 1; |
||
659 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
660 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
||
661 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
||
662 | TransmitAlsoToFC = 0; |
||
663 | #else |
||
150 | killagreg | 664 | SPI0_GetFlightCtrlVersion(); |
665 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
41 | ingob | 666 | { |
461 | holgerb | 667 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
41 | ingob | 668 | LED_RED_ON; |
669 | } |
||
314 | killagreg | 670 | #endif |
706 | holgerb | 671 | if(IamMaster == SLAVE) UART1_PutString(" SLAVE\r\n"); |
672 | if(IamMaster == MASTER) UART1_PutString(" MASTER\r\n"); |
||
528 | holgerb | 673 | |
715 | holgerb | 674 | if(UBX_Setup() == 0) UBX_Setup(); // inits the GPS-Module via ubx -> try twice |
706 | holgerb | 675 | GPS_Init(); |
213 | killagreg | 676 | // ---------- Prepare the isr driven |
154 | killagreg | 677 | // set to absolute lowest priority |
516 | holgerb | 678 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
195 | killagreg | 679 | // enable interrupts |
516 | holgerb | 680 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 681 | |
250 | ingob | 682 | Debug_OK("START"); |
362 | holgerb | 683 | UART1_PutString("\r\n"); |
380 | holgerb | 684 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
685 | LED_GRN_ON; |
||
686 | LED_RED_OFF; |
||
530 | holgerb | 687 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
461 | holgerb | 688 | UART1_PutString("\r\n"); |
528 | holgerb | 689 | |
487 | holgerb | 690 | CompassValueErrorCount = 0; |
503 | holgerb | 691 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
688 | holgerb | 692 | |
693 | // Intilizes the Canbus |
||
694 | if(UART_VersionInfo.HWMajor >= 30) CanbusInit(); |
||
528 | holgerb | 695 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
154 | killagreg | 696 | for (;;) // the endless main loop |
41 | ingob | 697 | { |
484 | holgerb | 698 | PollingTimeout = 5; |
431 | killagreg | 699 | Polling(); |
500 | holgerb | 700 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
701 | if(FromFC_LoadWP_List) |
||
516 | holgerb | 702 | { |
703 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
||
704 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
705 | { |
||
513 | killagreg | 706 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
707 | { |
||
708 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
||
516 | holgerb | 709 | { |
540 | holgerb | 710 | u32 angle; |
711 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
||
513 | killagreg | 712 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
516 | holgerb | 713 | { // take actual position |
540 | holgerb | 714 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
516 | holgerb | 715 | } |
716 | else |
||
513 | killagreg | 717 | { // take last target position |
540 | holgerb | 718 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
513 | killagreg | 719 | } |
720 | } |
||
721 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
722 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
519 | holgerb | 723 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
724 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
725 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
513 | killagreg | 726 | BeepTime = 150; |
727 | } |
||
728 | } |
||
729 | FromFC_LoadWP_List = 0; |
||
730 | } |
||
731 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
732 | if(FromFC_Save_SinglePoint) |
||
733 | { |
||
734 | WPL_Store.Index = FromFC_Save_SinglePoint; |
||
516 | holgerb | 735 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
513 | killagreg | 736 | FromFC_Save_SinglePoint = 0; |
737 | } |
||
738 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
739 | if(FromFC_Load_SinglePoint) |
||
740 | { |
||
516 | holgerb | 741 | WPL_Store.Index = FromFC_Load_SinglePoint; |
742 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
743 | { |
||
513 | killagreg | 744 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
502 | killagreg | 745 | { |
746 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
747 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
519 | holgerb | 748 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
749 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
750 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
502 | killagreg | 751 | BeepTime = 150; |
752 | } |
||
516 | holgerb | 753 | } |
513 | killagreg | 754 | FromFC_Load_SinglePoint = 0; |
504 | holgerb | 755 | } |
500 | holgerb | 756 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
431 | killagreg | 757 | // ---------------- Logging --------------------------------------- |
489 | killagreg | 758 | if(SD_WatchDog) |
431 | killagreg | 759 | { |
760 | SD_WatchDog = 30000; |
||
761 | 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 | 762 | else |
763 | { |
||
764 | ToFC_MaxWpListIndex = 0; |
||
765 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
503 | holgerb | 766 | } |
431 | killagreg | 767 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
768 | } |
||
489 | killagreg | 769 | |
770 | /* |
||
324 | killagreg | 771 | if(CheckDelay(ftimer)) |
772 | { |
||
773 | |||
431 | killagreg | 774 | static s8 filename[35]; |
775 | static u8 i = 0; |
||
776 | s8 dbgmsg[40]; |
||
324 | killagreg | 777 | |
489 | killagreg | 778 | |
779 | |||
324 | killagreg | 780 | ftimer = SetDelay(100); |
781 | if(FC.Poti[3]>100 && fstate == 0) |
||
782 | { |
||
783 | fstate = 1; |
||
431 | killagreg | 784 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 785 | } |
786 | else if(FC.Poti[3]<100 && fstate == 2) |
||
787 | { |
||
788 | fstate = 3; |
||
789 | } |
||
790 | |||
791 | switch(fstate) |
||
792 | { |
||
793 | case 1: |
||
431 | killagreg | 794 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
795 | Debug(dbgmsg); |
||
324 | killagreg | 796 | f = fopen_(filename, 'a'); |
797 | if(f== NULL) Fat16_Init(); |
||
798 | fstate = 2; |
||
799 | break; |
||
800 | |||
801 | case 2: |
||
802 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
803 | break; |
||
489 | killagreg | 804 | |
324 | killagreg | 805 | case 3: |
431 | killagreg | 806 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
807 | Debug(dbgmsg); |
||
324 | killagreg | 808 | fclose_(f); |
809 | fstate = 0; |
||
810 | break; |
||
811 | |||
812 | default: |
||
813 | break; |
||
814 | } |
||
815 | } |
||
594 | holgerb | 816 | */ |
24 | StephanB | 817 | } |
1 | ingob | 818 | } |
516 | holgerb | 819 | //DebugOut.Analog[] |