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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 56 | //#define MCLK96MHZ |
1 | ingob | 57 | const unsigned long _Main_Crystal = 25000; |
41 | ingob | 58 | #include <stdio.h> |
59 | #include "91x_lib.h" |
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60 | #include "led.h" |
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61 | #include "uart0.h" |
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62 | #include "uart1.h" |
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63 | #include "uart2.h" |
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215 | killagreg | 64 | #include "gps.h" |
470 | killagreg | 65 | #include "i2c0.h" |
66 | #include "i2c1.h" |
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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" |
254 | killagreg | 85 | |
427 | killagreg | 86 | |
87 | |||
314 | killagreg | 88 | #ifdef FOLLOW_ME |
89 | u8 TransmitAlsoToFC = 0; |
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90 | #endif |
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41 | ingob | 91 | u32 TimerCheckError; |
427 | killagreg | 92 | u8 ErrorCode = 0; |
41 | ingob | 93 | u16 BeepTime; |
92 | killagreg | 94 | u8 NCFlags = 0; |
153 | killagreg | 95 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 96 | u8 ErrorGpsFixLost = 0; |
1 | ingob | 97 | |
255 | killagreg | 98 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 99 | u8 StopNavigation = 0; |
378 | holgerb | 100 | volatile u32 PollingTimeout = 10000; |
41 | ingob | 101 | Param_t Parameter; |
78 | holgerb | 102 | volatile FC_t FC; |
378 | holgerb | 103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
400 | holgerb | 104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
457 | holgerb | 105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
1 | ingob | 106 | |
41 | ingob | 107 | s8 ErrorMSG[25]; |
108 | |||
1 | ingob | 109 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 110 | void SCU_Config(void) |
1 | ingob | 111 | { |
41 | ingob | 112 | /* configure PLL and set it as master clock source */ |
113 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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114 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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115 | #ifdef MCLK96MHZ |
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116 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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117 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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118 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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119 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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120 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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121 | #else |
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122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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123 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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124 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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125 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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126 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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127 | #endif |
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128 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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129 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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130 | } |
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1 | ingob | 131 | |
41 | ingob | 132 | //---------------------------------------------------------------------------------------------------- |
133 | void GetNaviCtrlVersion(void) |
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1 | ingob | 134 | { |
41 | ingob | 135 | u8 msg[25]; |
270 | killagreg | 136 | |
264 | killagreg | 137 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 138 | UART1_PutString(msg); |
1 | ingob | 139 | } |
140 | |||
141 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 142 | |
41 | ingob | 143 | void CheckErrors(void) |
144 | { |
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329 | holgerb | 145 | static s32 no_error_delay = 0; |
328 | holgerb | 146 | s32 newErrorCode = 0; |
232 | killagreg | 147 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 148 | |
469 | killagreg | 149 | //ToDo |
338 | holgerb | 150 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
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231 | holgerb | 152 | |
338 | holgerb | 153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 155 | |
338 | holgerb | 156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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158 | |||
397 | holgerb | 159 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
392 | holgerb | 160 | { |
161 | sprintf(ErrorMSG,"Calibrate... "); |
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162 | newErrorCode = 0; |
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163 | ErrorCode = 0; |
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164 | no_error_delay = 1; |
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165 | } |
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166 | else |
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146 | killagreg | 167 | if(CheckDelay(SPI0_Timeout)) |
41 | ingob | 168 | { |
380 | holgerb | 169 | LED_RED_ON; |
41 | ingob | 170 | sprintf(ErrorMSG,"no FC communication "); |
328 | holgerb | 171 | newErrorCode = 3; |
41 | ingob | 172 | StopNavigation = 1; |
338 | holgerb | 173 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
174 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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256 | killagreg | 175 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
41 | ingob | 176 | } |
469 | killagreg | 177 | //ToDo |
229 | holgerb | 178 | else if(CheckDelay(I2C1_Timeout)) |
41 | ingob | 179 | { |
368 | holgerb | 180 | LED_RED_ON; |
380 | holgerb | 181 | sprintf(ErrorMSG,"no compass communica"); |
149 | killagreg | 182 | //Reset I2CBus |
183 | I2C1_Deinit(); |
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184 | I2C1_Init(); |
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328 | holgerb | 185 | newErrorCode = 4; |
41 | ingob | 186 | StopNavigation = 1; |
256 | killagreg | 187 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
338 | holgerb | 188 | DebugOut.StatusRed |= AMPEL_COMPASS; |
41 | ingob | 189 | } |
190 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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191 | { |
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192 | LED_RED_ON; |
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318 | holgerb | 193 | #ifndef FOLLOW_ME |
41 | ingob | 194 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 195 | #else |
196 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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197 | #endif |
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328 | holgerb | 198 | newErrorCode = 1; |
41 | ingob | 199 | StopNavigation = 1; |
256 | killagreg | 200 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 201 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 202 | } |
231 | holgerb | 203 | |
255 | killagreg | 204 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 205 | { |
206 | LED_RED_ON; |
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207 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 208 | newErrorCode = 10; |
232 | killagreg | 209 | } |
255 | killagreg | 210 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 211 | { |
212 | LED_RED_ON; |
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213 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 214 | newErrorCode = 11; |
232 | killagreg | 215 | } |
255 | killagreg | 216 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 217 | { |
218 | LED_RED_ON; |
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219 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 220 | newErrorCode = 12; |
232 | killagreg | 221 | } |
255 | killagreg | 222 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 223 | { |
224 | LED_RED_ON; |
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225 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 226 | newErrorCode = 13; |
232 | killagreg | 227 | } |
255 | killagreg | 228 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 229 | { |
230 | LED_RED_ON; |
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231 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 232 | newErrorCode = 14; |
232 | killagreg | 233 | } |
255 | killagreg | 234 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 235 | { |
236 | LED_RED_ON; |
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327 | holgerb | 237 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 238 | newErrorCode = 15; |
232 | killagreg | 239 | } |
351 | holgerb | 240 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
241 | { |
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242 | LED_RED_ON; |
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243 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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244 | newErrorCode = 28; |
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245 | } |
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255 | killagreg | 246 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 247 | { |
380 | holgerb | 248 | LED_RED_ON; |
327 | holgerb | 249 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 250 | newErrorCode = 16; |
232 | killagreg | 251 | } |
255 | killagreg | 252 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 253 | { |
254 | LED_RED_ON; |
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327 | holgerb | 255 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 256 | newErrorCode = 17; |
232 | killagreg | 257 | } |
255 | killagreg | 258 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 259 | { |
260 | LED_RED_ON; |
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261 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 262 | newErrorCode = 18; |
232 | killagreg | 263 | } |
255 | killagreg | 264 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 265 | { |
266 | LED_RED_ON; |
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267 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 268 | newErrorCode = 19; |
232 | killagreg | 269 | } |
350 | holgerb | 270 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 271 | { |
272 | LED_RED_ON; |
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350 | holgerb | 273 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
274 | // else |
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380 | holgerb | 275 | { |
276 | sprintf(ErrorMSG,"no GPS communication"); |
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320 | holgerb | 277 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
454 | holgerb | 278 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
328 | holgerb | 279 | newErrorCode = 5; |
320 | holgerb | 280 | } |
41 | ingob | 281 | StopNavigation = 1; |
320 | holgerb | 282 | // UBX_Timeout = SetDelay(500); |
41 | ingob | 283 | } |
426 | holgerb | 284 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
285 | { |
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286 | LED_RED_ON; |
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287 | sprintf(ErrorMSG,"compass not calibr."); |
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288 | newErrorCode = 31; |
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289 | StopNavigation = 1; |
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290 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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291 | } |
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254 | killagreg | 292 | else if(Compass_Heading < 0) |
41 | ingob | 293 | { |
294 | LED_RED_ON; |
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295 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 296 | newErrorCode = 6; |
41 | ingob | 297 | StopNavigation = 1; |
256 | killagreg | 298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 299 | } |
255 | killagreg | 300 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 301 | { |
302 | LED_RED_ON; |
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303 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 304 | newErrorCode = 8; |
213 | killagreg | 305 | StopNavigation = 1; |
199 | killagreg | 306 | } |
255 | killagreg | 307 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 308 | { |
309 | LED_RED_ON; |
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310 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 311 | newErrorCode = 20; |
232 | killagreg | 312 | } |
255 | killagreg | 313 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 314 | { |
315 | LED_RED_ON; |
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316 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 317 | newErrorCode = 7; |
41 | ingob | 318 | } |
328 | holgerb | 319 | else if(ErrorGpsFixLost) |
320 | { |
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321 | LED_RED_ON; |
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322 | sprintf(ErrorMSG,"GPS Fix lost "); |
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323 | newErrorCode = 21; |
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324 | } |
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330 | holgerb | 325 | else if(ErrorDisturbedEarthMagnetField) |
326 | { |
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327 | LED_RED_ON; |
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328 | sprintf(ErrorMSG,"Magnet error "); |
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329 | newErrorCode = 22; |
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338 | holgerb | 330 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
331 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 332 | } |
338 | holgerb | 333 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
334 | { |
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335 | LED_RED_ON; |
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336 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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337 | newErrorCode = 23; |
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338 | DebugOut.StatusRed |= AMPEL_BL; |
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339 | } |
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432 | holgerb | 340 | else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
338 | holgerb | 341 | { |
342 | LED_RED_ON; |
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343 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
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344 | newErrorCode = 24; |
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345 | DebugOut.StatusRed |= AMPEL_BL; |
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346 | } |
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348 | holgerb | 347 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | { |
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349 | LED_RED_ON; |
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351 | holgerb | 350 | sprintf(ErrorMSG,"ERR:GPS range "); |
348 | holgerb | 351 | newErrorCode = 25; |
352 | DebugOut.StatusRed |= AMPEL_NC; |
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353 | } |
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397 | holgerb | 354 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 355 | { |
356 | LED_RED_ON; |
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357 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
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358 | newErrorCode = 26; |
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359 | DebugOut.StatusRed |= AMPEL_NC; |
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360 | } |
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383 | holgerb | 361 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 362 | { |
368 | holgerb | 363 | LED_RED_ON; |
380 | holgerb | 364 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
351 | holgerb | 365 | newErrorCode = 27; |
366 | DebugOut.StatusRed |= AMPEL_NC; |
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367 | SD_LoggingError = 0; |
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368 | } |
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355 | holgerb | 369 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
370 | { |
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371 | LED_RED_ON; |
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372 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
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373 | newErrorCode = 29; |
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374 | DebugOut.StatusRed |= AMPEL_NC; |
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375 | } |
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420 | holgerb | 376 | 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))) |
398 | holgerb | 377 | { |
378 | LED_RED_ON; |
||
379 | sprintf(ErrorMSG,"No GPS Fix "); |
||
380 | newErrorCode = 30; |
||
381 | } |
||
41 | ingob | 382 | else // no error occured |
383 | { |
||
384 | StopNavigation = 0; |
||
385 | LED_RED_OFF; |
||
328 | holgerb | 386 | if(no_error_delay) { no_error_delay--; } |
387 | else |
||
380 | holgerb | 388 | { |
389 | sprintf(ErrorMSG,"No Error "); |
||
328 | holgerb | 390 | ErrorCode = 0; |
391 | } |
||
41 | ingob | 392 | } |
328 | holgerb | 393 | |
394 | if(newErrorCode) |
||
395 | { |
||
339 | holgerb | 396 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
328 | holgerb | 397 | ErrorCode = newErrorCode; |
398 | } |
||
399 | FC.Error[0] = 0; |
||
400 | FC.Error[1] = 0; |
||
401 | FC.Error[2] = 0; |
||
402 | FC.Error[3] = 0; |
||
403 | FC.Error[4] = 0; |
||
404 | ErrorGpsFixLost = 0; |
||
41 | ingob | 405 | } |
24 | StephanB | 406 | |
378 | holgerb | 407 | |
408 | |||
409 | void Polling(void) |
||
410 | { |
||
453 | holgerb | 411 | static u8 running = 0, oldFcFlags = 0, count5sec; |
378 | holgerb | 412 | if(running) return; |
413 | running = 1; |
||
414 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
||
415 | UART0_ProcessRxData(); // GPS process request |
||
416 | UART0_TransmitTxData(); // GPS send answer |
||
380 | holgerb | 417 | UART1_ProcessRxData(); // PC process request |
378 | holgerb | 418 | UART1_TransmitTxData(); // PC send answer |
419 | UART2_TransmitTxData(); // FC send answer |
||
420 | CalcHeadFree(); |
||
380 | holgerb | 421 | // ---------------- Error Check Timing ---------------------------- |
398 | holgerb | 422 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
380 | holgerb | 423 | { |
460 | holgerb | 424 | //CreateNmeaGGA(); |
453 | holgerb | 425 | if(CheckDelay(TimerCheckError)) |
426 | { |
||
427 | TimerCheckError = SetDelay(1000); |
||
428 | if(++count5sec == 5) |
||
429 | { |
||
430 | count5sec = 0; |
||
457 | holgerb | 431 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
432 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
||
433 | CountGpsProcessedIn5Sec = 0; |
||
434 | CountNewGpsDataIn5Sec = 0; |
||
453 | holgerb | 435 | } |
436 | } |
||
398 | holgerb | 437 | oldFcFlags = FC.StatusFlags; |
380 | holgerb | 438 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
439 | |||
440 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
441 | |||
442 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
||
443 | // else NaviData.FlyingTime = 0; // not the time per flight |
||
444 | if(SerialLinkOkay) SerialLinkOkay--; |
||
445 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
446 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
||
447 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
448 | } |
||
378 | holgerb | 449 | running = 0; |
450 | } |
||
451 | |||
380 | holgerb | 452 | // the handler will be cyclic called by the timer 1 ISR |
453 | // used is for critical timing parts that normaly would handled |
||
454 | // within the main loop that could block longer at logging activities |
||
154 | killagreg | 455 | void EXTIT3_IRQHandler(void) |
456 | { |
||
195 | killagreg | 457 | IENABLE; |
154 | killagreg | 458 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
292 | killagreg | 459 | Compass_Update(); // update compass communication |
154 | killagreg | 460 | Analog_Update(); // get new ADC values |
378 | holgerb | 461 | |
380 | holgerb | 462 | if(!PollingTimeout) |
463 | { |
||
464 | PollingTimeout = 5; |
||
465 | Polling(); |
||
466 | } |
||
378 | holgerb | 467 | |
468 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 469 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
470 | IDISABLE; |
||
378 | holgerb | 471 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 472 | } |
473 | |||
41 | ingob | 474 | //---------------------------------------------------------------------------------------------------- |
475 | int main(void) |
||
476 | { |
||
431 | killagreg | 477 | |
324 | killagreg | 478 | static u32 ftimer =0; |
479 | static u8 fstate = 0; |
||
456 | holgerb | 480 | // static File_t* f = NULL; |
324 | killagreg | 481 | |
431 | killagreg | 482 | |
41 | ingob | 483 | /* Configure the system clocks */ |
484 | SCU_Config(); |
||
485 | /* init VIC (Vectored Interrupt Controller) */ |
||
486 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
487 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
488 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 489 | VIC_InitDefaultVectors(); |
490 | |||
119 | killagreg | 491 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 492 | TIMER1_Init(); |
493 | // initialize the LEDs (needs Timer 1) |
||
494 | Led_Init(); |
||
495 | // initialize the debug UART1 |
||
496 | UART1_Init(); |
||
110 | killagreg | 497 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 498 | // initialize timer 2 for servo outputs |
180 | killagreg | 499 | //TIMER2_Init(); |
41 | ingob | 500 | // initialize UART2 to FLIGHTCTRL |
501 | UART2_Init(); |
||
502 | // initialize UART0 (to MKGPS or MK3MAG) |
||
503 | UART0_Init(); |
||
134 | killagreg | 504 | // initialize adc |
505 | Analog_Init(); |
||
41 | ingob | 506 | // initialize SPI0 to FC |
507 | SPI0_Init(); |
||
469 | killagreg | 508 | // initialize i2c busses (needs Timer 1) |
465 | ingob | 509 | I2C0_Init(); |
41 | ingob | 510 | I2C1_Init(); |
465 | ingob | 511 | |
247 | killagreg | 512 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 513 | Fat16_Init(); |
156 | killagreg | 514 | // initialize NC params |
515 | NCParams_Init(); |
||
88 | killagreg | 516 | // initialize the settings |
517 | Settings_Init(); |
||
92 | killagreg | 518 | // initialize logging (needs settings) |
82 | killagreg | 519 | Logging_Init(); |
1 | ingob | 520 | |
362 | holgerb | 521 | LED_GRN_ON; |
41 | ingob | 522 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 523 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 524 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 525 | |
41 | ingob | 526 | GetNaviCtrlVersion(); |
338 | holgerb | 527 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
528 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 529 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
149 | killagreg | 530 | |
242 | killagreg | 531 | Compass_Init(); |
270 | killagreg | 532 | |
400 | holgerb | 533 | GPS_Init(); |
534 | |||
314 | killagreg | 535 | #ifdef FOLLOW_ME |
536 | TransmitAlsoToFC = 1; |
||
537 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
538 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
||
539 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
||
540 | TransmitAlsoToFC = 0; |
||
541 | #else |
||
150 | killagreg | 542 | SPI0_GetFlightCtrlVersion(); |
543 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
41 | ingob | 544 | { |
461 | holgerb | 545 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
41 | ingob | 546 | LED_RED_ON; |
547 | } |
||
314 | killagreg | 548 | #endif |
213 | killagreg | 549 | // ---------- Prepare the isr driven |
154 | killagreg | 550 | // set to absolute lowest priority |
551 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
||
195 | killagreg | 552 | // enable interrupts |
154 | killagreg | 553 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 554 | |
250 | ingob | 555 | Debug_OK("START"); |
362 | holgerb | 556 | UART1_PutString("\r\n"); |
380 | holgerb | 557 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
558 | LED_GRN_ON; |
||
559 | LED_RED_OFF; |
||
460 | holgerb | 560 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
461 | holgerb | 561 | UART1_PutString("\r\n"); |
154 | killagreg | 562 | for (;;) // the endless main loop |
41 | ingob | 563 | { |
431 | killagreg | 564 | Polling(); |
378 | holgerb | 565 | PollingTimeout = 15; |
431 | killagreg | 566 | // ---------------- Logging --------------------------------------- |
380 | holgerb | 567 | if(SD_WatchDog) |
431 | killagreg | 568 | { |
569 | SD_WatchDog = 30000; |
||
570 | 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 |
||
571 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
572 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
||
573 | } |
||
380 | holgerb | 574 | |
432 | holgerb | 575 | /* |
324 | killagreg | 576 | if(CheckDelay(ftimer)) |
577 | { |
||
578 | |||
431 | killagreg | 579 | static s8 filename[35]; |
580 | static u8 i = 0; |
||
581 | s8 dbgmsg[40]; |
||
582 | |||
583 | |||
324 | killagreg | 584 | |
585 | ftimer = SetDelay(100); |
||
586 | if(FC.Poti[3]>100 && fstate == 0) |
||
587 | { |
||
588 | fstate = 1; |
||
431 | killagreg | 589 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 590 | } |
591 | else if(FC.Poti[3]<100 && fstate == 2) |
||
592 | { |
||
593 | fstate = 3; |
||
594 | } |
||
595 | |||
596 | switch(fstate) |
||
597 | { |
||
598 | case 1: |
||
431 | killagreg | 599 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
600 | Debug(dbgmsg); |
||
324 | killagreg | 601 | f = fopen_(filename, 'a'); |
602 | if(f== NULL) Fat16_Init(); |
||
603 | fstate = 2; |
||
604 | break; |
||
605 | |||
606 | case 2: |
||
607 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
608 | break; |
||
609 | |||
610 | case 3: |
||
431 | killagreg | 611 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
612 | Debug(dbgmsg); |
||
324 | killagreg | 613 | fclose_(f); |
614 | fstate = 0; |
||
615 | break; |
||
616 | |||
617 | default: |
||
618 | break; |
||
619 | } |
||
620 | } |
||
432 | holgerb | 621 | */ |
24 | StephanB | 622 | } |
1 | ingob | 623 | } |
438 | holgerb | 624 | //DebugOut.Analog[16] |