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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; |
833 | holgerb | 126 | u8 MenuBlinkBit; |
1 | ingob | 127 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 128 | void SCU_Config(void) |
1 | ingob | 129 | { |
41 | ingob | 130 | /* configure PLL and set it as master clock source */ |
131 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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132 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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133 | #ifdef MCLK96MHZ |
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134 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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135 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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136 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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137 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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138 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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139 | #else |
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140 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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141 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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142 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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143 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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144 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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145 | #endif |
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146 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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147 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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148 | } |
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1 | ingob | 149 | |
41 | ingob | 150 | //---------------------------------------------------------------------------------------------------- |
151 | void GetNaviCtrlVersion(void) |
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1 | ingob | 152 | { |
41 | ingob | 153 | u8 msg[25]; |
270 | killagreg | 154 | |
767 | holgerb | 155 | 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 | 156 | UART1_PutString(msg); |
1 | ingob | 157 | } |
158 | |||
159 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 160 | |
41 | ingob | 161 | void CheckErrors(void) |
162 | { |
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516 | holgerb | 163 | static s32 no_error_delay = 0; |
328 | holgerb | 164 | s32 newErrorCode = 0; |
232 | killagreg | 165 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 166 | |
489 | killagreg | 167 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
338 | holgerb | 168 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
231 | holgerb | 169 | |
338 | holgerb | 170 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
171 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 172 | |
338 | holgerb | 173 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
174 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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175 | |||
489 | killagreg | 176 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
41 | ingob | 177 | { |
489 | killagreg | 178 | LED_RED_ON; |
472 | holgerb | 179 | sprintf(ErrorMSG,"no compass communica"); |
489 | killagreg | 180 | //Reset Compass communication |
501 | holgerb | 181 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 182 | Compass_Init(); |
472 | holgerb | 183 | newErrorCode = 4; |
41 | ingob | 184 | StopNavigation = 1; |
472 | holgerb | 185 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
186 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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41 | ingob | 187 | } |
488 | holgerb | 188 | else if(CompassValueErrorCount > 30) |
189 | { |
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190 | LED_RED_ON; |
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191 | sprintf(ErrorMSG,"compass sensor error"); |
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192 | newErrorCode = 34; |
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193 | StopNavigation = 1; |
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194 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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501 | holgerb | 195 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 196 | Compass_Init(); |
488 | holgerb | 197 | } |
489 | killagreg | 198 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
199 | { |
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488 | holgerb | 200 | sprintf(ErrorMSG,"Calibrate... "); |
489 | killagreg | 201 | newErrorCode = 0; |
488 | holgerb | 202 | ErrorCode = 0; |
203 | no_error_delay = 1; |
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489 | killagreg | 204 | } |
205 | else if(CheckDelay(SPI0_Timeout)) |
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483 | holgerb | 206 | { |
489 | killagreg | 207 | LED_RED_ON; |
472 | holgerb | 208 | sprintf(ErrorMSG,"no FC communication "); |
209 | newErrorCode = 3; |
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210 | StopNavigation = 1; |
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211 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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212 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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213 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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214 | } |
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41 | ingob | 215 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
216 | { |
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217 | LED_RED_ON; |
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318 | holgerb | 218 | #ifndef FOLLOW_ME |
41 | ingob | 219 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 220 | #else |
221 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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222 | #endif |
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328 | holgerb | 223 | newErrorCode = 1; |
41 | ingob | 224 | StopNavigation = 1; |
256 | killagreg | 225 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 226 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 227 | } |
764 | holgerb | 228 | else if(ToFC_Parachute_Off) |
229 | { |
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230 | LED_RED_ON; |
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231 | sprintf(ErrorMSG,"ERR: PARACHUTE"); |
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232 | newErrorCode = 43; |
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233 | } |
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793 | holgerb | 234 | else if(FC.Error[1] & FC_ERROR1_SPI_RX) |
235 | { |
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236 | LED_RED_ON; |
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237 | sprintf(ErrorMSG,"FC spi rx error "); |
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238 | newErrorCode = 8; |
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239 | StopNavigation = 1; |
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240 | } |
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241 | else if(CntSpiErrorPerSecond > 2) |
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242 | { |
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243 | LED_RED_ON; |
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244 | newErrorCode = 8; |
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245 | sprintf(ErrorMSG,"FC spi CRC error"); |
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246 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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247 | } |
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255 | killagreg | 248 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 249 | { |
250 | LED_RED_ON; |
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251 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 252 | newErrorCode = 10; |
232 | killagreg | 253 | } |
255 | killagreg | 254 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 255 | { |
256 | LED_RED_ON; |
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257 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 258 | newErrorCode = 11; |
232 | killagreg | 259 | } |
255 | killagreg | 260 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 261 | { |
262 | LED_RED_ON; |
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263 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 264 | newErrorCode = 12; |
232 | killagreg | 265 | } |
255 | killagreg | 266 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 267 | { |
268 | LED_RED_ON; |
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269 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 270 | newErrorCode = 13; |
232 | killagreg | 271 | } |
255 | killagreg | 272 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 273 | { |
274 | LED_RED_ON; |
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275 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 276 | newErrorCode = 14; |
232 | killagreg | 277 | } |
255 | killagreg | 278 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 279 | { |
280 | LED_RED_ON; |
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327 | holgerb | 281 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 282 | newErrorCode = 15; |
232 | killagreg | 283 | } |
255 | killagreg | 284 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 285 | { |
489 | killagreg | 286 | LED_RED_ON; |
327 | holgerb | 287 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 288 | newErrorCode = 16; |
232 | killagreg | 289 | } |
255 | killagreg | 290 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 291 | { |
292 | LED_RED_ON; |
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327 | holgerb | 293 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 294 | newErrorCode = 17; |
232 | killagreg | 295 | } |
255 | killagreg | 296 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 297 | { |
298 | LED_RED_ON; |
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299 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 300 | newErrorCode = 18; |
232 | killagreg | 301 | } |
255 | killagreg | 302 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 303 | { |
304 | LED_RED_ON; |
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305 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 306 | newErrorCode = 19; |
232 | killagreg | 307 | } |
350 | holgerb | 308 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 309 | { |
310 | LED_RED_ON; |
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548 | holgerb | 311 | sprintf(ErrorMSG,"no GPS communication"); |
312 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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313 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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314 | newErrorCode = 5; |
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41 | ingob | 315 | StopNavigation = 1; |
316 | } |
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426 | holgerb | 317 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
318 | { |
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319 | LED_RED_ON; |
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320 | sprintf(ErrorMSG,"compass not calibr."); |
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321 | newErrorCode = 31; |
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322 | StopNavigation = 1; |
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323 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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324 | } |
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254 | killagreg | 325 | else if(Compass_Heading < 0) |
41 | ingob | 326 | { |
327 | LED_RED_ON; |
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328 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 329 | newErrorCode = 6; |
41 | ingob | 330 | StopNavigation = 1; |
256 | killagreg | 331 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 332 | } |
255 | killagreg | 333 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 334 | { |
335 | LED_RED_ON; |
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336 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 337 | newErrorCode = 20; |
232 | killagreg | 338 | } |
706 | holgerb | 339 | else if(FC.BAT_Voltage < 45) |
340 | { |
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341 | LED_RED_ON; |
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342 | sprintf(ErrorMSG,"ERR:Power Supply"); |
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343 | newErrorCode = 41; |
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344 | } |
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345 | else |
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346 | if(FC.Error[1] & FC_ERROR1_RC_VOLTAGE) |
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347 | { |
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348 | LED_RED_ON; |
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349 | sprintf(ErrorMSG,"ERR: 5V RC-Supply"); |
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350 | newErrorCode = 40; |
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351 | } |
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255 | killagreg | 352 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 353 | { |
354 | LED_RED_ON; |
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355 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 356 | newErrorCode = 7; |
41 | ingob | 357 | } |
489 | killagreg | 358 | else if(ErrorGpsFixLost) |
328 | holgerb | 359 | { |
489 | killagreg | 360 | LED_RED_ON; |
361 | sprintf(ErrorMSG,"GPS Fix lost "); |
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362 | newErrorCode = 21; |
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328 | holgerb | 363 | } |
808 | holgerb | 364 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
365 | { |
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366 | LED_RED_ON; |
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367 | sprintf(ErrorMSG,"ERR:Flying range!"); |
||
368 | newErrorCode = 28; |
||
369 | } |
||
330 | holgerb | 370 | else if(ErrorDisturbedEarthMagnetField) |
371 | { |
||
489 | killagreg | 372 | LED_RED_ON; |
373 | sprintf(ErrorMSG,"Magnet error "); |
||
374 | newErrorCode = 22; |
||
375 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
||
376 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
||
330 | holgerb | 377 | } |
533 | holgerb | 378 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
338 | holgerb | 379 | { |
489 | killagreg | 380 | LED_RED_ON; |
381 | sprintf(ErrorMSG,"ERR:Motor restart "); |
||
382 | newErrorCode = 23; |
||
383 | DebugOut.StatusRed |= AMPEL_BL; |
||
338 | holgerb | 384 | } |
731 | holgerb | 385 | else if(BL_MinOfMaxPWM && BL_MinOfMaxPWM < 30 && !ErrorCode) |
338 | holgerb | 386 | { |
489 | killagreg | 387 | u16 i; |
731 | holgerb | 388 | for(i = 0; i < 16; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; // find the motor number |
489 | killagreg | 389 | LED_RED_ON; |
390 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
||
516 | holgerb | 391 | newErrorCode = 32; |
392 | DebugOut.StatusRed |= AMPEL_BL; |
||
472 | holgerb | 393 | } |
533 | holgerb | 394 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
472 | holgerb | 395 | { |
489 | killagreg | 396 | LED_RED_ON; |
397 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
||
398 | newErrorCode = 24; |
||
399 | DebugOut.StatusRed |= AMPEL_BL; |
||
338 | holgerb | 400 | } |
491 | killagreg | 401 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | holgerb | 402 | { |
489 | killagreg | 403 | LED_RED_ON; |
532 | holgerb | 404 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
489 | killagreg | 405 | newErrorCode = 25; |
406 | DebugOut.StatusRed |= AMPEL_NC; |
||
348 | holgerb | 407 | } |
839 | holgerb | 408 | else if((SDCardInfo.Valid == 0) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 409 | { |
489 | killagreg | 410 | LED_RED_ON; |
411 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
412 | newErrorCode = 26; |
||
413 | DebugOut.StatusRed |= AMPEL_NC; |
||
350 | holgerb | 414 | } |
383 | holgerb | 415 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 416 | { |
489 | killagreg | 417 | LED_RED_ON; |
418 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
419 | newErrorCode = 27; |
||
420 | DebugOut.StatusRed |= AMPEL_NC; |
||
421 | SD_LoggingError = 0; |
||
351 | holgerb | 422 | } |
739 | holgerb | 423 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter_5cm / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
355 | holgerb | 424 | { |
489 | killagreg | 425 | LED_RED_ON; |
426 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
427 | newErrorCode = 29; |
||
428 | DebugOut.StatusRed |= AMPEL_NC; |
||
355 | holgerb | 429 | } |
516 | holgerb | 430 | 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 | 431 | { |
432 | LED_RED_ON; |
||
433 | sprintf(ErrorMSG,"No GPS Fix "); |
||
434 | newErrorCode = 30; |
||
398 | holgerb | 435 | } |
663 | holgerb | 436 | else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15) |
646 | holgerb | 437 | { |
438 | LED_RED_ON; |
||
659 | holgerb | 439 | sprintf(ErrorMSG,"GPS Update rate "); |
440 | newErrorCode = 38; |
||
646 | holgerb | 441 | } |
615 | holgerb | 442 | else if(NC_GPS_ModeCharacter == 'F') |
443 | { |
||
444 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
||
445 | newErrorCode = 35; |
||
446 | } |
||
799 | holgerb | 447 | else if(ErrorOutSideOperationArea && FC_is_Calibrated) |
448 | { |
||
449 | LED_RED_ON; |
||
450 | sprintf(ErrorMSG,"ERR:Outside Flyzone "); |
||
451 | newErrorCode = 44; |
||
452 | DebugOut.StatusRed |= AMPEL_NC; |
||
453 | } |
||
615 | holgerb | 454 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
455 | { |
||
456 | sprintf(ErrorMSG,"ERR:Redundancy "); |
||
457 | newErrorCode = 36; |
||
458 | } |
||
459 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
||
460 | { |
||
461 | sprintf(ErrorMSG,"Redundancy test "); |
||
462 | newErrorCode = 37; |
||
463 | } |
||
699 | holgerb | 464 | else if(CanbusTimeOut == 1) |
465 | { |
||
466 | sprintf(ErrorMSG,"ERR: Canbus"); |
||
825 | holgerb | 467 | CanbusInit(); |
699 | holgerb | 468 | newErrorCode = 39; |
469 | } |
||
706 | holgerb | 470 | else |
471 | if(FC.Error[1] & FC_ERROR1_ACC_NOT_CAL) |
||
472 | { |
||
473 | LED_RED_ON; |
||
474 | sprintf(ErrorMSG,"ACC not calib."); |
||
475 | newErrorCode = 42; |
||
476 | } |
||
799 | holgerb | 477 | else |
478 | if(ShowNoFlyzoneErrorMessage > 5) |
||
479 | { |
||
480 | LED_RED_ON; |
||
481 | sprintf(ErrorMSG,"ERR: no Flyzone "); |
||
482 | newErrorCode = 45; |
||
483 | } |
||
804 | holgerb | 484 | else |
485 | if(ShowCalibrationErrorMessage) |
||
486 | { |
||
487 | LED_RED_ON; |
||
488 | sprintf(ErrorMSG,"ERR: Calibration "); |
||
489 | newErrorCode = 46; |
||
490 | } |
||
41 | ingob | 491 | else // no error occured |
492 | { |
||
493 | StopNavigation = 0; |
||
494 | LED_RED_OFF; |
||
489 | killagreg | 495 | if(no_error_delay) { no_error_delay--; } |
496 | else |
||
497 | { |
||
498 | sprintf(ErrorMSG,"No Error "); |
||
499 | ErrorCode = 0; |
||
500 | } |
||
41 | ingob | 501 | } |
328 | holgerb | 502 | |
516 | holgerb | 503 | if(newErrorCode) |
504 | { |
||
505 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
||
506 | ErrorCode = newErrorCode; |
||
507 | } |
||
508 | FC.Error[0] = 0; |
||
509 | FC.Error[1] = 0; |
||
510 | FC.Error[2] = 0; |
||
511 | FC.Error[3] = 0; |
||
512 | FC.Error[4] = 0; |
||
513 | ErrorGpsFixLost = 0; |
||
530 | holgerb | 514 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
41 | ingob | 515 | } |
24 | StephanB | 516 | |
693 | holgerb | 517 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
518 | { |
||
519 | u8 crc = 0xAA; |
||
520 | u16 i; |
||
521 | for(i=0; i<len; i++) crc += pBuffer[i]; |
||
522 | return crc; |
||
523 | } |
||
378 | holgerb | 524 | |
525 | |||
484 | holgerb | 526 | u8 Polling(void) |
378 | holgerb | 527 | { |
825 | holgerb | 528 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process, t20ms; |
489 | killagreg | 529 | static u32 old_ms = 0; |
530 | |||
516 | holgerb | 531 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
489 | killagreg | 532 | running = 1; |
533 | |||
534 | if(CountMilliseconds != old_ms) // 1 ms |
||
535 | { |
||
825 | holgerb | 536 | if(!t20ms--) { CalcNickServoValue(); t20ms = 20; }; |
866 | holgerb | 537 | |
538 | // Trigger internal Portpin or Flag -> will set the Hardware Triggeroutput on the GimbalCtrl |
||
539 | if(((UART_VersionInfo.HWMajor >= 30) && TRIGGER_PP_INTERN) || ((UART_VersionInfo.HWMajor < 30) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE))) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT_TRIGGER; |
||
540 | |||
774 | holgerb | 541 | if(UART1_BaudrateFallbackTimeout) |
542 | { |
||
819 | holgerb | 543 | if(--UART1_BaudrateFallbackTimeout == 0) UART1_Configure(Uart1Baudrate); |
774 | holgerb | 544 | } |
545 | |||
699 | holgerb | 546 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
864 | holgerb | 547 | if(I2C0_Timeout) |
548 | { |
||
549 | I2C0_Timeout--; |
||
550 | if((I2C0_Timeout % 5000) == 0) I2CBus_StateReset(I2C0); // reset the I2C-Bus every 5 seconds |
||
551 | } |
||
862 | holgerb | 552 | if(LaserCtrlTimeout) |
553 | { |
||
554 | LaserCtrlTimeout--; |
||
555 | } |
||
825 | holgerb | 556 | else |
557 | { |
||
558 | FromLaserCtrl.Distance = 0; |
||
559 | FromLaserCtrl.LaserStatus = 0; |
||
560 | }; |
||
792 | holgerb | 561 | |
862 | holgerb | 562 | if(GimbalCtrlTimeout) |
563 | { |
||
564 | GimbalCtrlTimeout--; |
||
565 | } |
||
825 | holgerb | 566 | else |
567 | { |
||
568 | FromGimbalCtrl.Nick = -1; |
||
569 | FromGimbalCtrl.Roll = -1; |
||
570 | FromGimbalCtrl.Yaw = -1; |
||
571 | FromGimbalCtrl.GimbalStatus = 0; |
||
572 | } |
||
573 | |||
727 | holgerb | 574 | if(CamCtrlTimeout) |
575 | { |
||
576 | if(--CamCtrlTimeout == 1) CamCtrlCharacter = '?'; |
||
864 | holgerb | 577 | else if(CamCtrlTimeout == 20000) CamCtrlTimeout = 0; // this is used during NC startup-Time phase |
727 | holgerb | 578 | } |
579 | else |
||
580 | { |
||
581 | if(TrigLogging.CountExternal) CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0'; |
||
582 | FromCamCtrl.CamStatus = 0; |
||
583 | }; |
||
483 | holgerb | 584 | old_ms = CountMilliseconds; |
585 | Compass_Update(); // update compass communication |
||
586 | Analog_Update(); // get new ADC values |
||
587 | CalcHeadFree(); |
||
727 | holgerb | 588 | if(CamCtrlTimeout > 1) CamCtrl_GetData(3); |
792 | holgerb | 589 | if(LaserCtrlTimeout > 1) LaserCtrl_GetData(3); |
825 | holgerb | 590 | if(GimbalCtrlTimeout > 1) GimbalCtrl_GetData(3); |
688 | holgerb | 591 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
564 | holgerb | 592 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
593 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
||
594 | if(++TimeoutGPS_Process >= 25) |
||
595 | { |
||
596 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
597 | TimeoutGPS_Process = 0; |
||
598 | } |
||
764 | holgerb | 599 | if(UART_VersionInfo.HWMajor >= 30) |
600 | { |
||
601 | switch(IO1_Function) |
||
602 | { |
||
603 | case IO1FUNC_PARACHUTE: // parachute |
||
604 | if(IO1_INPUT == 0) |
||
605 | { |
||
606 | if(ToFC_Parachute_Off < 2000) ToFC_Parachute_Off++; |
||
607 | } |
||
608 | else ToFC_Parachute_Off = 0; |
||
609 | break; |
||
610 | |||
611 | default: ToFC_Parachute_Off = 0; |
||
612 | break; // no function |
||
613 | } |
||
614 | } |
||
483 | holgerb | 615 | } |
488 | holgerb | 616 | |
489 | killagreg | 617 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
618 | UART0_ProcessRxData(); // GPS process request |
||
619 | UART0_TransmitTxData(); // GPS send answer |
||
620 | UART1_ProcessRxData(); // PC process request |
||
621 | UART1_TransmitTxData(); // PC send answer |
||
622 | UART2_TransmitTxData(); // FC send answer |
||
623 | |||
533 | holgerb | 624 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
625 | |||
693 | holgerb | 626 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
627 | { |
||
628 | u8 crc1, crc2; |
||
850 | holgerb | 629 | // static u8 first_time = 1; |
693 | holgerb | 630 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
631 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
||
632 | if(crc1 == crc2) |
||
633 | { |
||
850 | holgerb | 634 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
635 | // + get EE_Parameters from FC |
||
636 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
693 | holgerb | 637 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
638 | RequestConfigFromFC = 0; |
||
764 | holgerb | 639 | if(UART_VersionInfo.HWMajor >= 30) SendOemName = 1; |
850 | holgerb | 640 | // if(first_time) |
641 | { |
||
642 | WP_MissionParameter.ComingHomeAltitude = EE_Parameter.ComingHomeAltitude; |
||
643 | WP_MissionParameter.FailsafeAltitude = EE_Parameter.FailSafeAltitude; |
||
644 | WP_MissionParameter.TriggerMask = EE_Parameter.J16Bitmask; |
||
645 | } |
||
693 | holgerb | 646 | } |
647 | HugeBlockFromFC.WhoAmI = 0; |
||
648 | } |
||
649 | |||
663 | holgerb | 650 | if(FCCalibActive) |
651 | { |
||
652 | count5sec = 0; |
||
653 | FreqNewGpsData = 50; |
||
654 | CountNewGpsDataIn5Sec = 25; |
||
655 | CountGpsProcessedIn5Sec = 0; |
||
656 | TimerCheckError = SetDelay(1000); |
||
825 | holgerb | 657 | NickServoValue = 128 * 64; // Middle position |
663 | holgerb | 658 | } |
659 | |||
780 | holgerb | 660 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
661 | // + Baro Temperature offset |
||
662 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
663 | if(!BaroCalState && LuftdruckTemperaturKompensation) |
||
664 | { |
||
665 | LuftdruckTemperaturOffset = (31 * (s32)LuftdruckTemperaturOffset + ((FC_Temperatur_raw - FC_StartTemperature*10) * LuftdruckTemperaturKompensation) / 100) / 32; |
||
666 | } |
||
667 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
668 | // + one second timer |
||
669 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
670 | if(CheckDelay(TimerSecond)) // one second Timer |
||
671 | { |
||
672 | TimerSecond += 1000; |
||
833 | holgerb | 673 | if(MenuBlinkBit) MenuBlinkBit = 0; else MenuBlinkBit = 1; |
780 | holgerb | 674 | if(FC.StatusFlags & FC_STATUS_FLY) |
675 | { |
||
676 | NaviData.FlyingTime++; // we want to count the battery-time |
||
677 | TimeSinceMotorStart++; |
||
678 | } |
||
799 | holgerb | 679 | |
680 | if((Parameter.ExtraConfig & CFG_FLYZONE_REQUIRED) && FlyzonePointCnt < 3 && FC_is_Calibrated) ShowNoFlyzoneErrorMessage++; else ShowNoFlyzoneErrorMessage = 0; |
||
681 | |||
804 | holgerb | 682 | if(ShowCalibrationErrorMessage) ShowCalibrationErrorMessage--; |
683 | |||
780 | holgerb | 684 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | // + FC 3.0 Temperature |
||
686 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
687 | if(UART_VersionInfo.HWMajor >= 30) |
||
688 | { |
||
689 | if(FC_Temperatur == -1000 && FC_Temperatur_raw != -10000) // init |
||
690 | { |
||
691 | FC_Temperatur = FC_Temperatur_raw/10; |
||
692 | FC_StartTemperature = FC_Temperatur; |
||
693 | } |
||
694 | else |
||
695 | if(FC_Temperatur > FC_Temperatur_raw/10) FC_Temperatur--; |
||
696 | else |
||
697 | if(FC_Temperatur < FC_Temperatur_raw/10) FC_Temperatur++; |
||
698 | } |
||
806 | holgerb | 699 | |
808 | holgerb | 700 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | // + Re-Init GPS-Module? |
||
702 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
825 | holgerb | 703 | if((Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) && (UART0_Muxer != UART0_MK3MAG)) |
808 | holgerb | 704 | { |
705 | if(TryAgain_UBX_Setup) |
||
706 | { |
||
707 | if(--TryAgain_UBX_Setup == 0) UBX_Setup(); |
||
708 | } |
||
709 | else |
||
710 | if(CheckDelay(UBX_Timeout)) // no GPS communication |
||
711 | { |
||
712 | GPS_Version = 0; |
||
839 | holgerb | 713 | NCFlags &= ~NC_FLAG_GPS_OK; |
808 | holgerb | 714 | TryAgain_UBX_Setup = 6; // Re-init GPS-Receiver in x seconds |
715 | } |
||
780 | holgerb | 716 | } |
808 | holgerb | 717 | } |
780 | holgerb | 718 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
489 | killagreg | 719 | // ---------------- Error Check Timing ---------------------------- |
720 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
721 | { |
||
722 | if(CheckDelay(TimerCheckError)) |
||
380 | holgerb | 723 | { |
727 | holgerb | 724 | if(!(FC.StatusFlags & FC_STATUS_FLY)) // do not change the Bit during flight |
725 | { |
||
726 | if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; |
||
727 | else BlitzSchuhConnected = 0; |
||
728 | } |
||
489 | killagreg | 729 | TimerCheckError = SetDelay(1000); |
730 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
731 | if(++count5sec == 5) |
||
732 | { |
||
663 | holgerb | 733 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
734 | FreqNewGpsData = CountNewGpsDataIn5Sec; // 50 = 5,0Hz |
||
771 | holgerb | 735 | //DebugOut.Analog[] = FreqNewGpsData; |
453 | holgerb | 736 | count5sec = 0; |
489 | killagreg | 737 | CountGpsProcessedIn5Sec = 0; |
659 | holgerb | 738 | CountNewGpsDataIn5Sec = FreqNewGpsData / 2; |
663 | holgerb | 739 | ConfirmGpsUpdateRate(FreqNewGpsData); |
825 | holgerb | 740 | } |
380 | holgerb | 741 | } |
489 | killagreg | 742 | oldFcFlags = FC.StatusFlags; |
564 | holgerb | 743 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
489 | killagreg | 744 | |
745 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
746 | |||
731 | holgerb | 747 | if(EE_Parameter.Revision == 0) RequestConfigFromFC = 1; |
489 | killagreg | 748 | if(SerialLinkOkay) SerialLinkOkay--; |
594 | holgerb | 749 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
489 | killagreg | 750 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
751 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
793 | holgerb | 752 | CntSpiErrorPerSecond = 0; |
489 | killagreg | 753 | } |
754 | running = 0; |
||
514 | holgerb | 755 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
489 | killagreg | 756 | return(0); |
378 | holgerb | 757 | } |
758 | |||
380 | holgerb | 759 | // the handler will be cyclic called by the timer 1 ISR |
760 | // used is for critical timing parts that normaly would handled |
||
761 | // within the main loop that could block longer at logging activities |
||
483 | holgerb | 762 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
154 | killagreg | 763 | { |
195 | killagreg | 764 | IENABLE; |
154 | killagreg | 765 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
489 | killagreg | 766 | |
516 | holgerb | 767 | if(PollingTimeout == 0) |
768 | { |
||
769 | PollingTimeout = 5; |
||
770 | //if(Polling() == 0) DebugOut.Analog[]++; |
||
771 | Polling(); |
||
380 | holgerb | 772 | } |
378 | holgerb | 773 | |
774 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 775 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
776 | IDISABLE; |
||
378 | holgerb | 777 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 778 | } |
779 | |||
41 | ingob | 780 | //---------------------------------------------------------------------------------------------------- |
781 | int main(void) |
||
782 | { |
||
489 | killagreg | 783 | |
784 | // static u32 ftimer =0; |
||
785 | // static u8 fstate = 0; |
||
456 | holgerb | 786 | // static File_t* f = NULL; |
489 | killagreg | 787 | |
788 | |||
41 | ingob | 789 | /* Configure the system clocks */ |
790 | SCU_Config(); |
||
791 | /* init VIC (Vectored Interrupt Controller) */ |
||
792 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
793 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
794 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 795 | VIC_InitDefaultVectors(); |
796 | |||
119 | killagreg | 797 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 798 | TIMER1_Init(); |
799 | // initialize the LEDs (needs Timer 1) |
||
800 | Led_Init(); |
||
801 | // initialize the debug UART1 |
||
819 | holgerb | 802 | Uart1Baudrate = 57600; |
41 | ingob | 803 | UART1_Init(); |
819 | holgerb | 804 | I2CBus_Init(I2C1); |
805 | ReadBaudrateIndexfromEEprom(); |
||
806 | if(Uart1Baudrate != 57600) |
||
807 | { |
||
808 | { |
||
809 | u8 msg[30]; |
||
810 | sprintf(msg, "\r\n<%uBd>\r\n\r\n",Uart1Baudrate); |
||
811 | UART1_PutString(msg); |
||
812 | } |
||
813 | DELAY(100); |
||
814 | UART1_Init(); |
||
815 | } |
||
816 | UART1_PutString("\r---------------------------------------------"); |
||
120 | killagreg | 817 | // initialize timer 2 for servo outputs |
180 | killagreg | 818 | //TIMER2_Init(); |
41 | ingob | 819 | // initialize UART2 to FLIGHTCTRL |
820 | UART2_Init(); |
||
821 | // initialize UART0 (to MKGPS or MK3MAG) |
||
822 | UART0_Init(); |
||
134 | killagreg | 823 | // initialize adc |
824 | Analog_Init(); |
||
41 | ingob | 825 | // initialize SPI0 to FC |
826 | SPI0_Init(); |
||
469 | killagreg | 827 | // initialize i2c busses (needs Timer 1) |
727 | holgerb | 828 | InitCamCtrl(); |
819 | holgerb | 829 | // initialize fat16 partition on sd card (needs Timer 1) |
489 | killagreg | 830 | I2CBus_Init(I2C0); |
831 | I2CBus_Init(I2C1); |
||
41 | ingob | 832 | Fat16_Init(); |
156 | killagreg | 833 | // initialize NC params |
834 | NCParams_Init(); |
||
88 | killagreg | 835 | // initialize the settings |
836 | Settings_Init(); |
||
92 | killagreg | 837 | // initialize logging (needs settings) |
82 | killagreg | 838 | Logging_Init(); |
1 | ingob | 839 | |
699 | holgerb | 840 | //UART_VersionInfo.HWMajor = 30; |
362 | holgerb | 841 | LED_GRN_ON; |
41 | ingob | 842 | TimerCheckError = SetDelay(3000); |
780 | holgerb | 843 | TimerSecond = SetDelay(3500); |
819 | holgerb | 844 | |
845 | GetBaudrateFromSdCard(Uart1Baudrate); |
||
846 | |||
175 | holgerb | 847 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
767 | holgerb | 848 | UART1_PutString("\r\n Version information:"); |
116 | killagreg | 849 | |
41 | ingob | 850 | GetNaviCtrlVersion(); |
338 | holgerb | 851 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
852 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 853 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
516 | holgerb | 854 | Compass_Init(); |
314 | killagreg | 855 | #ifdef FOLLOW_ME |
856 | TransmitAlsoToFC = 1; |
||
857 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
767 | holgerb | 858 | UART1_PutString("\r\n FOLLOW-ME Transmitter only!"); |
314 | killagreg | 859 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
860 | TransmitAlsoToFC = 0; |
||
861 | #else |
||
746 | holgerb | 862 | // if(UBX_Setup() == 0) UBX_Setup(); // inits the GPS-Module via ubx -> try twice |
150 | killagreg | 863 | SPI0_GetFlightCtrlVersion(); |
746 | holgerb | 864 | if(IamMaster == SLAVE) UART1_PutString(" SLAVE\r\n"); |
865 | if(IamMaster == MASTER) UART1_PutString(" MASTER\r\n"); |
||
150 | killagreg | 866 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
41 | ingob | 867 | { |
767 | holgerb | 868 | UART1_PutString("\r\n Flight-Ctrl not compatible\r\n"); |
41 | ingob | 869 | LED_RED_ON; |
870 | } |
||
314 | killagreg | 871 | #endif |
806 | holgerb | 872 | if(UBX_Setup() == 0) // Achtung: muss nach FC-Versions check |
873 | { |
||
874 | if(UBX_Setup() == 0) // inits the GPS-Module via ubx -> try twice |
||
875 | { |
||
876 | if(IamMaster == SLAVE) TryAgain_UBX_Setup = 2; |
||
877 | else TryAgain_UBX_Setup = 4; |
||
878 | } |
||
879 | } |
||
808 | holgerb | 880 | |
731 | holgerb | 881 | // +++++++++++++++++++++++++++++++++++++++ |
864 | holgerb | 882 | // ++ check xxCtrl version (if connected) |
883 | // +++++++++++++++++++++++++++++++++++++++ |
||
731 | holgerb | 884 | if(Compass_I2CPort == NCMAG_PORT_INTERN) |
885 | { |
||
886 | if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, 4, &CamCtrl_UpdateData, sizeof(FromCamCtrl)); |
||
864 | holgerb | 887 | if(I2CBus_LockBuffer(I2C0,6)) I2CBus_Transmission(I2C0, GIMBAL_SLAVE_ADDRESS, &ToGimbalCtrl, 4, &GimbalCtrl_UpdateData, sizeof(FromGimbalCtrl)); |
888 | if(I2CBus_LockBuffer(I2C0,6)) I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, 3, &LaserCtrl_UpdateData, sizeof(FromLaserCtrl)); |
||
731 | holgerb | 889 | } |
864 | holgerb | 890 | else |
792 | holgerb | 891 | { |
864 | holgerb | 892 | CamCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
893 | GimbalCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
||
894 | LaserCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
||
792 | holgerb | 895 | } |
825 | holgerb | 896 | // +++++++++++++++++++++++++++++++++++++++ |
808 | holgerb | 897 | |
898 | GPS_Init(); |
||
792 | holgerb | 899 | |
213 | killagreg | 900 | // ---------- Prepare the isr driven |
154 | killagreg | 901 | // set to absolute lowest priority |
516 | holgerb | 902 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
195 | killagreg | 903 | // enable interrupts |
516 | holgerb | 904 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 905 | |
250 | ingob | 906 | Debug_OK("START"); |
362 | holgerb | 907 | UART1_PutString("\r\n"); |
380 | holgerb | 908 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
909 | LED_GRN_ON; |
||
910 | LED_RED_OFF; |
||
530 | holgerb | 911 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
461 | holgerb | 912 | UART1_PutString("\r\n"); |
528 | holgerb | 913 | |
846 | holgerb | 914 | Settings_GetParamValue(PID_YAW_WITHOUT_CF,(u16 *) &WP_Yaw_WithoutCF); |
915 | // UART1_PutString(" Yaw without Carfefree in waypoint flight:"); |
||
916 | // if(WP_Yaw_WithoutCF) UART1_PutString("on\r\n"); else UART1_PutString("off\r\n"); |
||
917 | |||
487 | holgerb | 918 | CompassValueErrorCount = 0; |
503 | holgerb | 919 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
688 | holgerb | 920 | |
921 | // Intilizes the Canbus |
||
719 | holgerb | 922 | if(UART_VersionInfo.HWMajor >= 30) |
923 | { |
||
924 | EXT2_Init(); // External Output EXT2 |
||
925 | CanbusInit(); |
||
780 | holgerb | 926 | ReadBaroCalibrationfromEEprom(); |
719 | holgerb | 927 | } |
731 | holgerb | 928 | if(FromCamCtrl.CamStatus) |
929 | { |
||
930 | u8 msg[30]; |
||
931 | sprintf(msg, " CamCtrl found V%i.%02i \r\n",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
||
932 | UART1_PutString(msg); |
||
933 | } |
||
732 | holgerb | 934 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No CamCtrl connected \r\n"); |
780 | holgerb | 935 | |
792 | holgerb | 936 | if(FromLaserCtrl.LaserStatus) |
937 | { |
||
938 | u8 msg[30]; |
||
939 | sprintf(msg, " LaserCtrl found V%i.%02i ",1 + FromLaserCtrl.Version / 100, FromLaserCtrl.Version % 100); |
||
940 | UART1_PutString(msg); |
||
941 | if(!(FromLaserCtrl.LaserStatus & LASER_DATA_OK)) UART1_PutString("... but no Laser data!\r\n"); |
||
942 | else UART1_PutString("okay\r\n"); |
||
943 | } |
||
944 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No LaserCtrl connected \r\n"); |
||
945 | |||
825 | holgerb | 946 | if(FromGimbalCtrl.GimbalStatus) |
947 | { |
||
948 | u8 msg[30]; |
||
949 | sprintf(msg, " GimbalCtrl found V%i.%02i ",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100); |
||
950 | UART1_PutString(msg); |
||
951 | if(!(FromGimbalCtrl.GimbalStatus & GIMBAL_DATA_OK)) UART1_PutString("... but no Gimbal data!\r\n"); |
||
952 | else UART1_PutString("okay\r\n"); |
||
953 | } |
||
954 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No GimbalCtrl connected \r\n"); |
||
528 | holgerb | 955 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
865 | holgerb | 956 | UART1_PutString(" Initialization finished ... Start\r\n"); |
957 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
154 | killagreg | 958 | for (;;) // the endless main loop |
41 | ingob | 959 | { |
484 | holgerb | 960 | PollingTimeout = 5; |
431 | killagreg | 961 | Polling(); |
500 | holgerb | 962 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
963 | if(FromFC_LoadWP_List) |
||
516 | holgerb | 964 | { |
965 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
||
966 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
967 | { |
||
513 | killagreg | 968 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
969 | { |
||
970 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
||
516 | holgerb | 971 | { |
540 | holgerb | 972 | u32 angle; |
973 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
||
735 | holgerb | 974 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
516 | holgerb | 975 | { // take actual position |
540 | holgerb | 976 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
516 | holgerb | 977 | } |
978 | else |
||
513 | killagreg | 979 | { // take last target position |
540 | holgerb | 980 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
513 | killagreg | 981 | } |
982 | } |
||
983 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
782 | holgerb | 984 | GPS_pWaypoint = PointList_WPBegin(0); // updates POI index |
519 | holgerb | 985 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
986 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
987 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
513 | killagreg | 988 | BeepTime = 150; |
825 | holgerb | 989 | SpeakHoTT = SPEAK_LOAD; |
513 | killagreg | 990 | } |
991 | } |
||
992 | FromFC_LoadWP_List = 0; |
||
993 | } |
||
994 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
995 | if(FromFC_Save_SinglePoint) |
||
996 | { |
||
997 | WPL_Store.Index = FromFC_Save_SinglePoint; |
||
825 | holgerb | 998 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) |
999 | { |
||
1000 | BeepTime = 150; |
||
1001 | SpeakHoTT = SPEAK_SAVE; |
||
1002 | } |
||
513 | killagreg | 1003 | FromFC_Save_SinglePoint = 0; |
1004 | } |
||
1005 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
1006 | if(FromFC_Load_SinglePoint) |
||
1007 | { |
||
516 | holgerb | 1008 | WPL_Store.Index = FromFC_Load_SinglePoint; |
1009 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
1010 | { |
||
513 | killagreg | 1011 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
502 | killagreg | 1012 | { |
1013 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
782 | holgerb | 1014 | GPS_pWaypoint = PointList_WPBegin(0); // updates POI index |
519 | holgerb | 1015 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
1016 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
1017 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
502 | killagreg | 1018 | BeepTime = 150; |
825 | holgerb | 1019 | SpeakHoTT = SPEAK_LOAD; |
502 | killagreg | 1020 | } |
516 | holgerb | 1021 | } |
513 | killagreg | 1022 | FromFC_Load_SinglePoint = 0; |
504 | holgerb | 1023 | } |
500 | holgerb | 1024 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
431 | killagreg | 1025 | // ---------------- Logging --------------------------------------- |
489 | killagreg | 1026 | if(SD_WatchDog) |
431 | killagreg | 1027 | { |
1028 | SD_WatchDog = 30000; |
||
1029 | 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 | 1030 | else |
1031 | { |
||
1032 | ToFC_MaxWpListIndex = 0; |
||
1033 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
503 | holgerb | 1034 | } |
767 | holgerb | 1035 | if(!SD_WatchDog) UART1_PutString("\r\nSD-Watchdog - Logging aborted\r\n"); |
431 | killagreg | 1036 | } |
489 | killagreg | 1037 | |
1038 | /* |
||
324 | killagreg | 1039 | if(CheckDelay(ftimer)) |
1040 | { |
||
1041 | |||
431 | killagreg | 1042 | static s8 filename[35]; |
1043 | static u8 i = 0; |
||
1044 | s8 dbgmsg[40]; |
||
324 | killagreg | 1045 | |
489 | killagreg | 1046 | |
1047 | |||
324 | killagreg | 1048 | ftimer = SetDelay(100); |
1049 | if(FC.Poti[3]>100 && fstate == 0) |
||
1050 | { |
||
1051 | fstate = 1; |
||
431 | killagreg | 1052 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 1053 | } |
1054 | else if(FC.Poti[3]<100 && fstate == 2) |
||
1055 | { |
||
1056 | fstate = 3; |
||
1057 | } |
||
1058 | |||
1059 | switch(fstate) |
||
1060 | { |
||
1061 | case 1: |
||
431 | killagreg | 1062 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
1063 | Debug(dbgmsg); |
||
324 | killagreg | 1064 | f = fopen_(filename, 'a'); |
1065 | if(f== NULL) Fat16_Init(); |
||
1066 | fstate = 2; |
||
1067 | break; |
||
1068 | |||
1069 | case 2: |
||
1070 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
1071 | break; |
||
489 | killagreg | 1072 | |
324 | killagreg | 1073 | case 3: |
431 | killagreg | 1074 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
1075 | Debug(dbgmsg); |
||
324 | killagreg | 1076 | fclose_(f); |
1077 | fstate = 0; |
||
1078 | break; |
||
1079 | |||
1080 | default: |
||
1081 | break; |
||
1082 | } |
||
1083 | } |
||
594 | holgerb | 1084 | */ |
24 | StephanB | 1085 | } |
1 | ingob | 1086 | } |
808 | holgerb | 1087 | //DebugOut.Analog[] |