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