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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" |
727 | holgerb | 87 | #include "CamCtrl.h" |
254 | killagreg | 88 | |
427 | killagreg | 89 | |
314 | killagreg | 90 | #ifdef FOLLOW_ME |
91 | u8 TransmitAlsoToFC = 0; |
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92 | #endif |
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41 | ingob | 93 | u32 TimerCheckError; |
780 | holgerb | 94 | u32 TimerSecond; |
489 | killagreg | 95 | u8 ErrorCode = 0; |
41 | ingob | 96 | u16 BeepTime; |
92 | killagreg | 97 | u8 NCFlags = 0; |
153 | killagreg | 98 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 99 | u8 ErrorGpsFixLost = 0; |
513 | killagreg | 100 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
531 | holgerb | 101 | u8 ToFC_MaxWpListIndex = 4; |
255 | killagreg | 102 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 103 | u8 StopNavigation = 0; |
378 | holgerb | 104 | volatile u32 PollingTimeout = 10000; |
41 | ingob | 105 | Param_t Parameter; |
699 | holgerb | 106 | Partner_t Partner; |
78 | holgerb | 107 | volatile FC_t FC; |
378 | holgerb | 108 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
400 | holgerb | 109 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
663 | holgerb | 110 | u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0; |
504 | holgerb | 111 | u8 NewWPL_Name = 0; |
532 | holgerb | 112 | u32 MaxWP_Radius_in_m = 0; |
41 | ingob | 113 | s8 ErrorMSG[25]; |
699 | holgerb | 114 | s8 PartnerErrorMSG[25] = " --- \0"; |
764 | holgerb | 115 | u8 OEM_String[OEM_NAME_LENGHT+1] = {0xff,' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',0x00}; |
533 | holgerb | 116 | u32 TimeSinceMotorStart = 0; |
699 | holgerb | 117 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
764 | holgerb | 118 | u16 ToFC_Parachute_Off; |
119 | u8 IO1_Function = 0; |
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780 | holgerb | 120 | s16 LuftdruckTemperaturKompensation = 0, LuftdruckTemperaturOffset = 0; |
121 | u8 BaroCalState = 0; |
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799 | holgerb | 122 | u8 ErrorOutSideOperationArea = 0; // I am outside the operation polygon area |
123 | u32 ShowNoFlyzoneErrorMessage = 0; |
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804 | holgerb | 124 | u8 ShowCalibrationErrorMessage = 0; |
806 | holgerb | 125 | u8 TryAgain_UBX_Setup = 0; |
1 | ingob | 126 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 127 | void SCU_Config(void) |
1 | ingob | 128 | { |
41 | ingob | 129 | /* configure PLL and set it as master clock source */ |
130 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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131 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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132 | #ifdef MCLK96MHZ |
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133 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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134 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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135 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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136 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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137 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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138 | #else |
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139 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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140 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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141 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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142 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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143 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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144 | #endif |
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145 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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146 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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147 | } |
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1 | ingob | 148 | |
41 | ingob | 149 | //---------------------------------------------------------------------------------------------------- |
150 | void GetNaviCtrlVersion(void) |
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1 | ingob | 151 | { |
41 | ingob | 152 | u8 msg[25]; |
270 | killagreg | 153 | |
767 | holgerb | 154 | sprintf(msg,"\r\n 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 | 155 | UART1_PutString(msg); |
1 | ingob | 156 | } |
157 | |||
158 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 159 | |
41 | ingob | 160 | void CheckErrors(void) |
161 | { |
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516 | holgerb | 162 | static s32 no_error_delay = 0; |
328 | holgerb | 163 | s32 newErrorCode = 0; |
232 | killagreg | 164 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 165 | |
489 | killagreg | 166 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
338 | holgerb | 167 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
231 | holgerb | 168 | |
338 | holgerb | 169 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
170 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 171 | |
338 | holgerb | 172 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
173 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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174 | |||
489 | killagreg | 175 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
41 | ingob | 176 | { |
489 | killagreg | 177 | LED_RED_ON; |
472 | holgerb | 178 | sprintf(ErrorMSG,"no compass communica"); |
489 | killagreg | 179 | //Reset Compass communication |
501 | holgerb | 180 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 181 | Compass_Init(); |
472 | holgerb | 182 | newErrorCode = 4; |
41 | ingob | 183 | StopNavigation = 1; |
472 | holgerb | 184 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
185 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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41 | ingob | 186 | } |
488 | holgerb | 187 | else if(CompassValueErrorCount > 30) |
188 | { |
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189 | LED_RED_ON; |
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190 | sprintf(ErrorMSG,"compass sensor error"); |
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191 | newErrorCode = 34; |
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192 | StopNavigation = 1; |
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193 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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501 | holgerb | 194 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 195 | Compass_Init(); |
488 | holgerb | 196 | } |
489 | killagreg | 197 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
198 | { |
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488 | holgerb | 199 | sprintf(ErrorMSG,"Calibrate... "); |
489 | killagreg | 200 | newErrorCode = 0; |
488 | holgerb | 201 | ErrorCode = 0; |
202 | no_error_delay = 1; |
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489 | killagreg | 203 | } |
204 | else if(CheckDelay(SPI0_Timeout)) |
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483 | holgerb | 205 | { |
489 | killagreg | 206 | LED_RED_ON; |
472 | holgerb | 207 | sprintf(ErrorMSG,"no FC communication "); |
208 | newErrorCode = 3; |
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209 | StopNavigation = 1; |
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210 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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211 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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212 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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213 | } |
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41 | ingob | 214 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
215 | { |
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216 | LED_RED_ON; |
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318 | holgerb | 217 | #ifndef FOLLOW_ME |
41 | ingob | 218 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 219 | #else |
220 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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221 | #endif |
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328 | holgerb | 222 | newErrorCode = 1; |
41 | ingob | 223 | StopNavigation = 1; |
256 | killagreg | 224 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 225 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 226 | } |
764 | holgerb | 227 | else if(ToFC_Parachute_Off) |
228 | { |
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229 | LED_RED_ON; |
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230 | sprintf(ErrorMSG,"ERR: PARACHUTE"); |
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231 | newErrorCode = 43; |
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232 | } |
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793 | holgerb | 233 | else if(FC.Error[1] & FC_ERROR1_SPI_RX) |
234 | { |
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235 | LED_RED_ON; |
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236 | sprintf(ErrorMSG,"FC spi rx error "); |
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237 | newErrorCode = 8; |
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238 | StopNavigation = 1; |
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239 | } |
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240 | else if(CntSpiErrorPerSecond > 2) |
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241 | { |
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242 | LED_RED_ON; |
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243 | newErrorCode = 8; |
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244 | sprintf(ErrorMSG,"FC spi CRC error"); |
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245 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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246 | } |
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255 | killagreg | 247 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 248 | { |
249 | LED_RED_ON; |
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250 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 251 | newErrorCode = 10; |
232 | killagreg | 252 | } |
255 | killagreg | 253 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 254 | { |
255 | LED_RED_ON; |
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256 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 257 | newErrorCode = 11; |
232 | killagreg | 258 | } |
255 | killagreg | 259 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 260 | { |
261 | LED_RED_ON; |
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262 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 263 | newErrorCode = 12; |
232 | killagreg | 264 | } |
255 | killagreg | 265 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 266 | { |
267 | LED_RED_ON; |
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268 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 269 | newErrorCode = 13; |
232 | killagreg | 270 | } |
255 | killagreg | 271 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 272 | { |
273 | LED_RED_ON; |
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274 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 275 | newErrorCode = 14; |
232 | killagreg | 276 | } |
255 | killagreg | 277 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 278 | { |
279 | LED_RED_ON; |
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327 | holgerb | 280 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 281 | newErrorCode = 15; |
232 | killagreg | 282 | } |
255 | killagreg | 283 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 284 | { |
489 | killagreg | 285 | LED_RED_ON; |
327 | holgerb | 286 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 287 | newErrorCode = 16; |
232 | killagreg | 288 | } |
255 | killagreg | 289 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 290 | { |
291 | LED_RED_ON; |
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327 | holgerb | 292 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 293 | newErrorCode = 17; |
232 | killagreg | 294 | } |
255 | killagreg | 295 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 296 | { |
297 | LED_RED_ON; |
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298 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 299 | newErrorCode = 18; |
232 | killagreg | 300 | } |
255 | killagreg | 301 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 302 | { |
303 | LED_RED_ON; |
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304 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 305 | newErrorCode = 19; |
232 | killagreg | 306 | } |
350 | holgerb | 307 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 308 | { |
309 | LED_RED_ON; |
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548 | holgerb | 310 | sprintf(ErrorMSG,"no GPS communication"); |
311 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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312 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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313 | newErrorCode = 5; |
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41 | ingob | 314 | StopNavigation = 1; |
315 | } |
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426 | holgerb | 316 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
317 | { |
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318 | LED_RED_ON; |
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319 | sprintf(ErrorMSG,"compass not calibr."); |
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320 | newErrorCode = 31; |
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321 | StopNavigation = 1; |
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322 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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323 | } |
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254 | killagreg | 324 | else if(Compass_Heading < 0) |
41 | ingob | 325 | { |
326 | LED_RED_ON; |
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327 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 328 | newErrorCode = 6; |
41 | ingob | 329 | StopNavigation = 1; |
256 | killagreg | 330 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 331 | } |
255 | killagreg | 332 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 333 | { |
334 | LED_RED_ON; |
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335 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 336 | newErrorCode = 20; |
232 | killagreg | 337 | } |
706 | holgerb | 338 | else if(FC.BAT_Voltage < 45) |
339 | { |
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340 | LED_RED_ON; |
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341 | sprintf(ErrorMSG,"ERR:Power Supply"); |
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342 | newErrorCode = 41; |
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343 | } |
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344 | else |
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345 | if(FC.Error[1] & FC_ERROR1_RC_VOLTAGE) |
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346 | { |
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347 | LED_RED_ON; |
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348 | sprintf(ErrorMSG,"ERR: 5V RC-Supply"); |
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349 | newErrorCode = 40; |
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350 | } |
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255 | killagreg | 351 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 352 | { |
353 | LED_RED_ON; |
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354 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 355 | newErrorCode = 7; |
41 | ingob | 356 | } |
489 | killagreg | 357 | else if(ErrorGpsFixLost) |
328 | holgerb | 358 | { |
489 | killagreg | 359 | LED_RED_ON; |
360 | sprintf(ErrorMSG,"GPS Fix lost "); |
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361 | newErrorCode = 21; |
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328 | holgerb | 362 | } |
808 | holgerb | 363 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
364 | { |
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365 | LED_RED_ON; |
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366 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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367 | newErrorCode = 28; |
||
368 | } |
||
330 | holgerb | 369 | else if(ErrorDisturbedEarthMagnetField) |
370 | { |
||
489 | killagreg | 371 | LED_RED_ON; |
372 | sprintf(ErrorMSG,"Magnet error "); |
||
373 | newErrorCode = 22; |
||
374 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
||
375 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
||
330 | holgerb | 376 | } |
533 | holgerb | 377 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
338 | holgerb | 378 | { |
489 | killagreg | 379 | LED_RED_ON; |
380 | sprintf(ErrorMSG,"ERR:Motor restart "); |
||
381 | newErrorCode = 23; |
||
382 | DebugOut.StatusRed |= AMPEL_BL; |
||
338 | holgerb | 383 | } |
731 | holgerb | 384 | else if(BL_MinOfMaxPWM && BL_MinOfMaxPWM < 30 && !ErrorCode) |
338 | holgerb | 385 | { |
489 | killagreg | 386 | u16 i; |
731 | holgerb | 387 | for(i = 0; i < 16; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; // find the motor number |
489 | killagreg | 388 | LED_RED_ON; |
389 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
||
516 | holgerb | 390 | newErrorCode = 32; |
391 | DebugOut.StatusRed |= AMPEL_BL; |
||
472 | holgerb | 392 | } |
533 | holgerb | 393 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
472 | holgerb | 394 | { |
489 | killagreg | 395 | LED_RED_ON; |
396 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
||
397 | newErrorCode = 24; |
||
398 | DebugOut.StatusRed |= AMPEL_BL; |
||
338 | holgerb | 399 | } |
491 | killagreg | 400 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | holgerb | 401 | { |
489 | killagreg | 402 | LED_RED_ON; |
532 | holgerb | 403 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
489 | killagreg | 404 | newErrorCode = 25; |
405 | DebugOut.StatusRed |= AMPEL_NC; |
||
348 | holgerb | 406 | } |
397 | holgerb | 407 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 408 | { |
489 | killagreg | 409 | LED_RED_ON; |
410 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
411 | newErrorCode = 26; |
||
412 | DebugOut.StatusRed |= AMPEL_NC; |
||
350 | holgerb | 413 | } |
383 | holgerb | 414 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 415 | { |
489 | killagreg | 416 | LED_RED_ON; |
417 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
418 | newErrorCode = 27; |
||
419 | DebugOut.StatusRed |= AMPEL_NC; |
||
420 | SD_LoggingError = 0; |
||
351 | holgerb | 421 | } |
739 | holgerb | 422 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter_5cm / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
355 | holgerb | 423 | { |
489 | killagreg | 424 | LED_RED_ON; |
425 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
426 | newErrorCode = 29; |
||
427 | DebugOut.StatusRed |= AMPEL_NC; |
||
355 | holgerb | 428 | } |
516 | holgerb | 429 | 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 | 430 | { |
431 | LED_RED_ON; |
||
432 | sprintf(ErrorMSG,"No GPS Fix "); |
||
433 | newErrorCode = 30; |
||
398 | holgerb | 434 | } |
663 | holgerb | 435 | else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15) |
646 | holgerb | 436 | { |
437 | LED_RED_ON; |
||
659 | holgerb | 438 | sprintf(ErrorMSG,"GPS Update rate "); |
439 | newErrorCode = 38; |
||
646 | holgerb | 440 | } |
615 | holgerb | 441 | else if(NC_GPS_ModeCharacter == 'F') |
442 | { |
||
443 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
||
444 | newErrorCode = 35; |
||
445 | } |
||
799 | holgerb | 446 | else if(ErrorOutSideOperationArea && FC_is_Calibrated) |
447 | { |
||
448 | LED_RED_ON; |
||
449 | sprintf(ErrorMSG,"ERR:Outside Flyzone "); |
||
450 | newErrorCode = 44; |
||
451 | DebugOut.StatusRed |= AMPEL_NC; |
||
452 | } |
||
615 | holgerb | 453 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
454 | { |
||
455 | sprintf(ErrorMSG,"ERR:Redundancy "); |
||
456 | newErrorCode = 36; |
||
457 | } |
||
458 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
||
459 | { |
||
460 | sprintf(ErrorMSG,"Redundancy test "); |
||
461 | newErrorCode = 37; |
||
462 | } |
||
699 | holgerb | 463 | else if(CanbusTimeOut == 1) |
464 | { |
||
465 | sprintf(ErrorMSG,"ERR: Canbus"); |
||
715 | holgerb | 466 | CanbusInit(); |
699 | holgerb | 467 | newErrorCode = 39; |
468 | } |
||
706 | holgerb | 469 | else |
470 | if(FC.Error[1] & FC_ERROR1_ACC_NOT_CAL) |
||
471 | { |
||
472 | LED_RED_ON; |
||
473 | sprintf(ErrorMSG,"ACC not calib."); |
||
474 | newErrorCode = 42; |
||
475 | } |
||
799 | holgerb | 476 | else |
477 | if(ShowNoFlyzoneErrorMessage > 5) |
||
478 | { |
||
479 | LED_RED_ON; |
||
480 | sprintf(ErrorMSG,"ERR: no Flyzone "); |
||
481 | newErrorCode = 45; |
||
482 | } |
||
804 | holgerb | 483 | else |
484 | if(ShowCalibrationErrorMessage) |
||
485 | { |
||
486 | LED_RED_ON; |
||
487 | sprintf(ErrorMSG,"ERR: Calibration "); |
||
488 | newErrorCode = 46; |
||
489 | } |
||
41 | ingob | 490 | else // no error occured |
491 | { |
||
492 | StopNavigation = 0; |
||
493 | LED_RED_OFF; |
||
489 | killagreg | 494 | if(no_error_delay) { no_error_delay--; } |
495 | else |
||
496 | { |
||
497 | sprintf(ErrorMSG,"No Error "); |
||
498 | ErrorCode = 0; |
||
499 | } |
||
41 | ingob | 500 | } |
328 | holgerb | 501 | |
516 | holgerb | 502 | if(newErrorCode) |
503 | { |
||
504 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
||
505 | ErrorCode = newErrorCode; |
||
506 | } |
||
507 | FC.Error[0] = 0; |
||
508 | FC.Error[1] = 0; |
||
509 | FC.Error[2] = 0; |
||
510 | FC.Error[3] = 0; |
||
511 | FC.Error[4] = 0; |
||
512 | ErrorGpsFixLost = 0; |
||
530 | holgerb | 513 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
41 | ingob | 514 | } |
24 | StephanB | 515 | |
693 | holgerb | 516 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
517 | { |
||
518 | u8 crc = 0xAA; |
||
519 | u16 i; |
||
520 | for(i=0; i<len; i++) crc += pBuffer[i]; |
||
521 | return crc; |
||
522 | } |
||
378 | holgerb | 523 | |
524 | |||
484 | holgerb | 525 | u8 Polling(void) |
378 | holgerb | 526 | { |
564 | holgerb | 527 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
489 | killagreg | 528 | static u32 old_ms = 0; |
529 | |||
516 | holgerb | 530 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
489 | killagreg | 531 | running = 1; |
532 | |||
533 | if(CountMilliseconds != old_ms) // 1 ms |
||
534 | { |
||
774 | holgerb | 535 | if(UART1_BaudrateFallbackTimeout) |
536 | { |
||
537 | if(--UART1_BaudrateFallbackTimeout == 0) UART1_Configure(57600); |
||
538 | } |
||
539 | |||
699 | holgerb | 540 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
792 | holgerb | 541 | if(LaserCtrlTimeout) LaserCtrlTimeout--; else FromLaserCtrl.Distance = 0; |
542 | |||
727 | holgerb | 543 | if(CamCtrlTimeout) |
544 | { |
||
545 | if(--CamCtrlTimeout == 1) CamCtrlCharacter = '?'; |
||
546 | else if(CamCtrlTimeout == 10000) CamCtrlTimeout = 0; // this is used during NC startup-Time phase |
||
547 | } |
||
548 | else |
||
549 | { |
||
550 | if(TrigLogging.CountExternal) CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0'; |
||
551 | FromCamCtrl.CamStatus = 0; |
||
552 | }; |
||
483 | holgerb | 553 | old_ms = CountMilliseconds; |
554 | Compass_Update(); // update compass communication |
||
555 | Analog_Update(); // get new ADC values |
||
556 | CalcHeadFree(); |
||
727 | holgerb | 557 | if(CamCtrlTimeout > 1) CamCtrl_GetData(3); |
792 | holgerb | 558 | if(LaserCtrlTimeout > 1) LaserCtrl_GetData(3); |
688 | holgerb | 559 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
564 | holgerb | 560 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
561 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
||
562 | if(++TimeoutGPS_Process >= 25) |
||
563 | { |
||
564 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
565 | TimeoutGPS_Process = 0; |
||
566 | } |
||
764 | holgerb | 567 | if(UART_VersionInfo.HWMajor >= 30) |
568 | { |
||
569 | switch(IO1_Function) |
||
570 | { |
||
571 | case IO1FUNC_PARACHUTE: // parachute |
||
572 | if(IO1_INPUT == 0) |
||
573 | { |
||
574 | if(ToFC_Parachute_Off < 2000) ToFC_Parachute_Off++; |
||
575 | } |
||
576 | else ToFC_Parachute_Off = 0; |
||
577 | break; |
||
578 | |||
579 | default: ToFC_Parachute_Off = 0; |
||
580 | break; // no function |
||
581 | } |
||
582 | } |
||
483 | holgerb | 583 | } |
488 | holgerb | 584 | |
489 | killagreg | 585 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
586 | UART0_ProcessRxData(); // GPS process request |
||
587 | UART0_TransmitTxData(); // GPS send answer |
||
588 | UART1_ProcessRxData(); // PC process request |
||
589 | UART1_TransmitTxData(); // PC send answer |
||
590 | UART2_TransmitTxData(); // FC send answer |
||
591 | |||
533 | holgerb | 592 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
593 | |||
693 | holgerb | 594 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
595 | { |
||
596 | u8 crc1, crc2; |
||
597 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
||
598 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
||
599 | if(crc1 == crc2) |
||
600 | { |
||
601 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
||
602 | RequestConfigFromFC = 0; |
||
764 | holgerb | 603 | if(UART_VersionInfo.HWMajor >= 30) SendOemName = 1; |
693 | holgerb | 604 | } |
605 | HugeBlockFromFC.WhoAmI = 0; |
||
606 | } |
||
607 | |||
663 | holgerb | 608 | if(FCCalibActive) |
609 | { |
||
610 | count5sec = 0; |
||
611 | FreqNewGpsData = 50; |
||
612 | CountNewGpsDataIn5Sec = 25; |
||
613 | CountGpsProcessedIn5Sec = 0; |
||
614 | TimerCheckError = SetDelay(1000); |
||
615 | } |
||
616 | |||
780 | holgerb | 617 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
618 | // + Baro Temperature offset |
||
619 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
620 | if(!BaroCalState && LuftdruckTemperaturKompensation) |
||
621 | { |
||
622 | LuftdruckTemperaturOffset = (31 * (s32)LuftdruckTemperaturOffset + ((FC_Temperatur_raw - FC_StartTemperature*10) * LuftdruckTemperaturKompensation) / 100) / 32; |
||
623 | } |
||
624 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
625 | // + one second timer |
||
626 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
627 | if(CheckDelay(TimerSecond)) // one second Timer |
||
628 | { |
||
629 | TimerSecond += 1000; |
||
799 | holgerb | 630 | |
780 | holgerb | 631 | if(FC.StatusFlags & FC_STATUS_FLY) |
632 | { |
||
633 | NaviData.FlyingTime++; // we want to count the battery-time |
||
634 | TimeSinceMotorStart++; |
||
635 | } |
||
799 | holgerb | 636 | |
637 | if((Parameter.ExtraConfig & CFG_FLYZONE_REQUIRED) && FlyzonePointCnt < 3 && FC_is_Calibrated) ShowNoFlyzoneErrorMessage++; else ShowNoFlyzoneErrorMessage = 0; |
||
638 | |||
804 | holgerb | 639 | if(ShowCalibrationErrorMessage) ShowCalibrationErrorMessage--; |
640 | |||
780 | holgerb | 641 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
642 | // + FC 3.0 Temperature |
||
643 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
644 | if(UART_VersionInfo.HWMajor >= 30) |
||
645 | { |
||
646 | if(FC_Temperatur == -1000 && FC_Temperatur_raw != -10000) // init |
||
647 | { |
||
648 | FC_Temperatur = FC_Temperatur_raw/10; |
||
649 | FC_StartTemperature = FC_Temperatur; |
||
650 | } |
||
651 | else |
||
652 | if(FC_Temperatur > FC_Temperatur_raw/10) FC_Temperatur--; |
||
653 | else |
||
654 | if(FC_Temperatur < FC_Temperatur_raw/10) FC_Temperatur++; |
||
655 | } |
||
806 | holgerb | 656 | |
808 | holgerb | 657 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
658 | // + Re-Init GPS-Module? |
||
659 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
660 | if(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
||
661 | { |
||
662 | if(TryAgain_UBX_Setup) |
||
663 | { |
||
664 | if(--TryAgain_UBX_Setup == 0) UBX_Setup(); |
||
665 | } |
||
666 | else |
||
667 | if(CheckDelay(UBX_Timeout)) // no GPS communication |
||
668 | { |
||
669 | GPS_Version = 0; |
||
670 | TryAgain_UBX_Setup = 6; // Re-init GPS-Receiver in x seconds |
||
671 | } |
||
780 | holgerb | 672 | } |
808 | holgerb | 673 | } |
780 | holgerb | 674 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
489 | killagreg | 675 | // ---------------- Error Check Timing ---------------------------- |
676 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
677 | { |
||
678 | if(CheckDelay(TimerCheckError)) |
||
380 | holgerb | 679 | { |
727 | holgerb | 680 | if(!(FC.StatusFlags & FC_STATUS_FLY)) // do not change the Bit during flight |
681 | { |
||
682 | if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; |
||
683 | else BlitzSchuhConnected = 0; |
||
684 | } |
||
489 | killagreg | 685 | TimerCheckError = SetDelay(1000); |
686 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
687 | if(++count5sec == 5) |
||
688 | { |
||
663 | holgerb | 689 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
690 | FreqNewGpsData = CountNewGpsDataIn5Sec; // 50 = 5,0Hz |
||
771 | holgerb | 691 | //DebugOut.Analog[] = FreqNewGpsData; |
453 | holgerb | 692 | count5sec = 0; |
489 | killagreg | 693 | CountGpsProcessedIn5Sec = 0; |
659 | holgerb | 694 | CountNewGpsDataIn5Sec = FreqNewGpsData / 2; |
663 | holgerb | 695 | ConfirmGpsUpdateRate(FreqNewGpsData); |
489 | killagreg | 696 | } |
380 | holgerb | 697 | } |
489 | killagreg | 698 | oldFcFlags = FC.StatusFlags; |
564 | holgerb | 699 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
489 | killagreg | 700 | |
701 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
702 | |||
731 | holgerb | 703 | if(EE_Parameter.Revision == 0) RequestConfigFromFC = 1; |
489 | killagreg | 704 | if(SerialLinkOkay) SerialLinkOkay--; |
594 | holgerb | 705 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
489 | killagreg | 706 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
707 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
793 | holgerb | 708 | CntSpiErrorPerSecond = 0; |
489 | killagreg | 709 | } |
710 | running = 0; |
||
514 | holgerb | 711 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
489 | killagreg | 712 | return(0); |
378 | holgerb | 713 | } |
714 | |||
380 | holgerb | 715 | // the handler will be cyclic called by the timer 1 ISR |
716 | // used is for critical timing parts that normaly would handled |
||
717 | // within the main loop that could block longer at logging activities |
||
483 | holgerb | 718 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
154 | killagreg | 719 | { |
195 | killagreg | 720 | IENABLE; |
154 | killagreg | 721 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
489 | killagreg | 722 | |
516 | holgerb | 723 | if(PollingTimeout == 0) |
724 | { |
||
725 | PollingTimeout = 5; |
||
726 | //if(Polling() == 0) DebugOut.Analog[]++; |
||
727 | Polling(); |
||
380 | holgerb | 728 | } |
378 | holgerb | 729 | |
730 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 731 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
732 | IDISABLE; |
||
378 | holgerb | 733 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 734 | } |
735 | |||
41 | ingob | 736 | //---------------------------------------------------------------------------------------------------- |
737 | int main(void) |
||
738 | { |
||
489 | killagreg | 739 | |
740 | // static u32 ftimer =0; |
||
741 | // static u8 fstate = 0; |
||
456 | holgerb | 742 | // static File_t* f = NULL; |
489 | killagreg | 743 | |
744 | |||
41 | ingob | 745 | /* Configure the system clocks */ |
746 | SCU_Config(); |
||
747 | /* init VIC (Vectored Interrupt Controller) */ |
||
748 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
749 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
750 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 751 | VIC_InitDefaultVectors(); |
752 | |||
119 | killagreg | 753 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 754 | TIMER1_Init(); |
755 | // initialize the LEDs (needs Timer 1) |
||
756 | Led_Init(); |
||
757 | // initialize the debug UART1 |
||
758 | UART1_Init(); |
||
110 | killagreg | 759 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 760 | // initialize timer 2 for servo outputs |
180 | killagreg | 761 | //TIMER2_Init(); |
41 | ingob | 762 | // initialize UART2 to FLIGHTCTRL |
763 | UART2_Init(); |
||
764 | // initialize UART0 (to MKGPS or MK3MAG) |
||
765 | UART0_Init(); |
||
134 | killagreg | 766 | // initialize adc |
767 | Analog_Init(); |
||
41 | ingob | 768 | // initialize SPI0 to FC |
769 | SPI0_Init(); |
||
469 | killagreg | 770 | // initialize i2c busses (needs Timer 1) |
727 | holgerb | 771 | InitCamCtrl(); |
489 | killagreg | 772 | I2CBus_Init(I2C0); |
773 | I2CBus_Init(I2C1); |
||
247 | killagreg | 774 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 775 | Fat16_Init(); |
156 | killagreg | 776 | // initialize NC params |
777 | NCParams_Init(); |
||
88 | killagreg | 778 | // initialize the settings |
779 | Settings_Init(); |
||
92 | killagreg | 780 | // initialize logging (needs settings) |
82 | killagreg | 781 | Logging_Init(); |
1 | ingob | 782 | |
699 | holgerb | 783 | //UART_VersionInfo.HWMajor = 30; |
362 | holgerb | 784 | LED_GRN_ON; |
41 | ingob | 785 | TimerCheckError = SetDelay(3000); |
780 | holgerb | 786 | TimerSecond = SetDelay(3500); |
175 | holgerb | 787 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
767 | holgerb | 788 | UART1_PutString("\r\n Version information:"); |
116 | killagreg | 789 | |
41 | ingob | 790 | GetNaviCtrlVersion(); |
338 | holgerb | 791 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
792 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 793 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
516 | holgerb | 794 | Compass_Init(); |
314 | killagreg | 795 | #ifdef FOLLOW_ME |
796 | TransmitAlsoToFC = 1; |
||
797 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
767 | holgerb | 798 | UART1_PutString("\r\n FOLLOW-ME Transmitter only!"); |
314 | killagreg | 799 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
800 | TransmitAlsoToFC = 0; |
||
801 | #else |
||
746 | holgerb | 802 | // if(UBX_Setup() == 0) UBX_Setup(); // inits the GPS-Module via ubx -> try twice |
150 | killagreg | 803 | SPI0_GetFlightCtrlVersion(); |
746 | holgerb | 804 | if(IamMaster == SLAVE) UART1_PutString(" SLAVE\r\n"); |
805 | if(IamMaster == MASTER) UART1_PutString(" MASTER\r\n"); |
||
150 | killagreg | 806 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
41 | ingob | 807 | { |
767 | holgerb | 808 | UART1_PutString("\r\n Flight-Ctrl not compatible\r\n"); |
41 | ingob | 809 | LED_RED_ON; |
810 | } |
||
314 | killagreg | 811 | #endif |
806 | holgerb | 812 | if(UBX_Setup() == 0) // Achtung: muss nach FC-Versions check |
813 | { |
||
814 | if(UBX_Setup() == 0) // inits the GPS-Module via ubx -> try twice |
||
815 | { |
||
816 | if(IamMaster == SLAVE) TryAgain_UBX_Setup = 2; |
||
817 | else TryAgain_UBX_Setup = 4; |
||
818 | } |
||
819 | } |
||
808 | holgerb | 820 | |
731 | holgerb | 821 | // +++++++++++++++++++++++++++++++++++++++ |
822 | // ++ check CamCtrl version (if connected) |
||
823 | if(Compass_I2CPort == NCMAG_PORT_INTERN) |
||
824 | { |
||
825 | if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, 4, &CamCtrl_UpdateData, sizeof(FromCamCtrl)); |
||
826 | } |
||
827 | else CamCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
||
828 | // +++++++++++++++++++++++++++++++++++++++ |
||
792 | holgerb | 829 | |
830 | // +++++++++++++++++++++++++++++++++++++++ |
||
831 | // ++ check LaserCtrl version (if connected) |
||
832 | if(Compass_I2CPort == NCMAG_PORT_INTERN) |
||
833 | { |
||
834 | if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, 4, &LaserCtrl_UpdateData, sizeof(FromLaserCtrl)); |
||
835 | } |
||
836 | else LaserCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
||
808 | holgerb | 837 | |
792 | holgerb | 838 | // +++++++++++++++++++++++++++++++++++++++ |
808 | holgerb | 839 | GPS_Init(); |
792 | holgerb | 840 | |
213 | killagreg | 841 | // ---------- Prepare the isr driven |
154 | killagreg | 842 | // set to absolute lowest priority |
516 | holgerb | 843 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
195 | killagreg | 844 | // enable interrupts |
516 | holgerb | 845 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 846 | |
250 | ingob | 847 | Debug_OK("START"); |
362 | holgerb | 848 | UART1_PutString("\r\n"); |
380 | holgerb | 849 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
850 | LED_GRN_ON; |
||
851 | LED_RED_OFF; |
||
530 | holgerb | 852 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
461 | holgerb | 853 | UART1_PutString("\r\n"); |
528 | holgerb | 854 | |
487 | holgerb | 855 | CompassValueErrorCount = 0; |
503 | holgerb | 856 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
688 | holgerb | 857 | |
858 | // Intilizes the Canbus |
||
719 | holgerb | 859 | if(UART_VersionInfo.HWMajor >= 30) |
860 | { |
||
861 | EXT2_Init(); // External Output EXT2 |
||
862 | CanbusInit(); |
||
780 | holgerb | 863 | ReadBaroCalibrationfromEEprom(); |
719 | holgerb | 864 | } |
731 | holgerb | 865 | if(FromCamCtrl.CamStatus) |
866 | { |
||
867 | u8 msg[30]; |
||
868 | sprintf(msg, " CamCtrl found V%i.%02i \r\n",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
||
869 | UART1_PutString(msg); |
||
870 | } |
||
732 | holgerb | 871 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No CamCtrl connected \r\n"); |
780 | holgerb | 872 | |
792 | holgerb | 873 | if(FromLaserCtrl.LaserStatus) |
874 | { |
||
875 | u8 msg[30]; |
||
876 | sprintf(msg, " LaserCtrl found V%i.%02i ",1 + FromLaserCtrl.Version / 100, FromLaserCtrl.Version % 100); |
||
877 | UART1_PutString(msg); |
||
878 | if(!(FromLaserCtrl.LaserStatus & LASER_DATA_OK)) UART1_PutString("... but no Laser data!\r\n"); |
||
879 | else UART1_PutString("okay\r\n"); |
||
880 | } |
||
881 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No LaserCtrl connected \r\n"); |
||
882 | |||
528 | holgerb | 883 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
154 | killagreg | 884 | for (;;) // the endless main loop |
41 | ingob | 885 | { |
484 | holgerb | 886 | PollingTimeout = 5; |
431 | killagreg | 887 | Polling(); |
500 | holgerb | 888 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
889 | if(FromFC_LoadWP_List) |
||
516 | holgerb | 890 | { |
891 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
||
892 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
893 | { |
||
513 | killagreg | 894 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
895 | { |
||
896 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
||
516 | holgerb | 897 | { |
540 | holgerb | 898 | u32 angle; |
899 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
||
735 | holgerb | 900 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
516 | holgerb | 901 | { // take actual position |
540 | holgerb | 902 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
516 | holgerb | 903 | } |
904 | else |
||
513 | killagreg | 905 | { // take last target position |
540 | holgerb | 906 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
513 | killagreg | 907 | } |
908 | } |
||
909 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
782 | holgerb | 910 | GPS_pWaypoint = PointList_WPBegin(0); // updates POI index |
519 | holgerb | 911 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
912 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
913 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
513 | killagreg | 914 | BeepTime = 150; |
915 | } |
||
916 | } |
||
917 | FromFC_LoadWP_List = 0; |
||
918 | } |
||
919 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
920 | if(FromFC_Save_SinglePoint) |
||
921 | { |
||
922 | WPL_Store.Index = FromFC_Save_SinglePoint; |
||
516 | holgerb | 923 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
513 | killagreg | 924 | FromFC_Save_SinglePoint = 0; |
925 | } |
||
926 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
927 | if(FromFC_Load_SinglePoint) |
||
928 | { |
||
516 | holgerb | 929 | WPL_Store.Index = FromFC_Load_SinglePoint; |
930 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
931 | { |
||
513 | killagreg | 932 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
502 | killagreg | 933 | { |
934 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
782 | holgerb | 935 | GPS_pWaypoint = PointList_WPBegin(0); // updates POI index |
519 | holgerb | 936 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
937 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
938 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
502 | killagreg | 939 | BeepTime = 150; |
940 | } |
||
516 | holgerb | 941 | } |
513 | killagreg | 942 | FromFC_Load_SinglePoint = 0; |
504 | holgerb | 943 | } |
500 | holgerb | 944 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
431 | killagreg | 945 | // ---------------- Logging --------------------------------------- |
489 | killagreg | 946 | if(SD_WatchDog) |
431 | killagreg | 947 | { |
948 | SD_WatchDog = 30000; |
||
949 | 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 | 950 | else |
951 | { |
||
952 | ToFC_MaxWpListIndex = 0; |
||
953 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
503 | holgerb | 954 | } |
767 | holgerb | 955 | if(!SD_WatchDog) UART1_PutString("\r\nSD-Watchdog - Logging aborted\r\n"); |
431 | killagreg | 956 | } |
489 | killagreg | 957 | |
958 | /* |
||
324 | killagreg | 959 | if(CheckDelay(ftimer)) |
960 | { |
||
961 | |||
431 | killagreg | 962 | static s8 filename[35]; |
963 | static u8 i = 0; |
||
964 | s8 dbgmsg[40]; |
||
324 | killagreg | 965 | |
489 | killagreg | 966 | |
967 | |||
324 | killagreg | 968 | ftimer = SetDelay(100); |
969 | if(FC.Poti[3]>100 && fstate == 0) |
||
970 | { |
||
971 | fstate = 1; |
||
431 | killagreg | 972 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 973 | } |
974 | else if(FC.Poti[3]<100 && fstate == 2) |
||
975 | { |
||
976 | fstate = 3; |
||
977 | } |
||
978 | |||
979 | switch(fstate) |
||
980 | { |
||
981 | case 1: |
||
431 | killagreg | 982 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
983 | Debug(dbgmsg); |
||
324 | killagreg | 984 | f = fopen_(filename, 'a'); |
985 | if(f== NULL) Fat16_Init(); |
||
986 | fstate = 2; |
||
987 | break; |
||
988 | |||
989 | case 2: |
||
990 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
991 | break; |
||
489 | killagreg | 992 | |
324 | killagreg | 993 | case 3: |
431 | killagreg | 994 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
995 | Debug(dbgmsg); |
||
324 | killagreg | 996 | fclose_(f); |
997 | fstate = 0; |
||
998 | break; |
||
999 | |||
1000 | default: |
||
1001 | break; |
||
1002 | } |
||
1003 | } |
||
594 | holgerb | 1004 | */ |
24 | StephanB | 1005 | } |
1 | ingob | 1006 | } |
808 | holgerb | 1007 | //DebugOut.Analog[] |