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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> |
41 | ingob | 59 | #include "91x_lib.h" |
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" |
489 | killagreg | 65 | #include "i2c.h" |
242 | killagreg | 66 | #include "compass.h" |
426 | holgerb | 67 | #include "ncmag.h" |
119 | killagreg | 68 | #include "timer1.h" |
69 | #include "timer2.h" |
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134 | killagreg | 70 | #include "analog.h" |
41 | ingob | 71 | #include "spi_slave.h" |
72 | #include "fat16.h" |
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73 | #include "sdc.h" |
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82 | killagreg | 74 | #include "logging.h" |
156 | killagreg | 75 | #include "params.h" |
88 | killagreg | 76 | #include "settings.h" |
154 | killagreg | 77 | #include "config.h" |
1 | ingob | 78 | #include "main.h" |
250 | ingob | 79 | #include "debug.h" |
254 | killagreg | 80 | #include "eeprom.h" |
350 | holgerb | 81 | #include "ssc.h" |
362 | holgerb | 82 | #include "sdc.h" |
380 | holgerb | 83 | #include "uart1.h" |
254 | killagreg | 84 | |
427 | killagreg | 85 | |
489 | killagreg | 86 | |
314 | killagreg | 87 | #ifdef FOLLOW_ME |
88 | u8 TransmitAlsoToFC = 0; |
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89 | #endif |
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41 | ingob | 90 | u32 TimerCheckError; |
489 | killagreg | 91 | u8 ErrorCode = 0; |
41 | ingob | 92 | u16 BeepTime; |
92 | killagreg | 93 | u8 NCFlags = 0; |
153 | killagreg | 94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 95 | u8 ErrorGpsFixLost = 0; |
500 | holgerb | 96 | u8 FromFC_LoadWP_List = 0; |
503 | holgerb | 97 | u8 ToFC_MaxWpListIndex = 3; |
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 | |
472 | holgerb | 137 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%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 | |
489 | killagreg | 149 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
338 | holgerb | 150 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
231 | holgerb | 151 | |
338 | holgerb | 152 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
153 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 154 | |
338 | holgerb | 155 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
156 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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157 | |||
483 | holgerb | 158 | |
489 | killagreg | 159 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
41 | ingob | 160 | { |
489 | killagreg | 161 | LED_RED_ON; |
472 | holgerb | 162 | sprintf(ErrorMSG,"no compass communica"); |
489 | killagreg | 163 | //Reset Compass communication |
501 | holgerb | 164 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 165 | Compass_Init(); |
472 | holgerb | 166 | newErrorCode = 4; |
41 | ingob | 167 | StopNavigation = 1; |
472 | holgerb | 168 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
169 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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41 | ingob | 170 | } |
488 | holgerb | 171 | else if(CompassValueErrorCount > 30) |
172 | { |
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173 | LED_RED_ON; |
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174 | sprintf(ErrorMSG,"compass sensor error"); |
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175 | newErrorCode = 34; |
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176 | StopNavigation = 1; |
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177 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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501 | holgerb | 178 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 179 | Compass_Init(); |
488 | holgerb | 180 | } |
489 | killagreg | 181 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
182 | { |
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488 | holgerb | 183 | sprintf(ErrorMSG,"Calibrate... "); |
489 | killagreg | 184 | newErrorCode = 0; |
488 | holgerb | 185 | ErrorCode = 0; |
186 | no_error_delay = 1; |
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489 | killagreg | 187 | } |
188 | else if(CheckDelay(SPI0_Timeout)) |
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483 | holgerb | 189 | { |
489 | killagreg | 190 | LED_RED_ON; |
472 | holgerb | 191 | sprintf(ErrorMSG,"no FC communication "); |
192 | newErrorCode = 3; |
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193 | StopNavigation = 1; |
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194 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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195 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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196 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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197 | } |
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41 | ingob | 198 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
199 | { |
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200 | LED_RED_ON; |
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318 | holgerb | 201 | #ifndef FOLLOW_ME |
41 | ingob | 202 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 203 | #else |
204 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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205 | #endif |
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328 | holgerb | 206 | newErrorCode = 1; |
41 | ingob | 207 | StopNavigation = 1; |
256 | killagreg | 208 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 209 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 210 | } |
255 | killagreg | 211 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 212 | { |
213 | LED_RED_ON; |
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214 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 215 | newErrorCode = 10; |
232 | killagreg | 216 | } |
255 | killagreg | 217 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 218 | { |
219 | LED_RED_ON; |
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220 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 221 | newErrorCode = 11; |
232 | killagreg | 222 | } |
255 | killagreg | 223 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 224 | { |
225 | LED_RED_ON; |
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226 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 227 | newErrorCode = 12; |
232 | killagreg | 228 | } |
255 | killagreg | 229 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 230 | { |
231 | LED_RED_ON; |
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232 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 233 | newErrorCode = 13; |
232 | killagreg | 234 | } |
255 | killagreg | 235 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 236 | { |
237 | LED_RED_ON; |
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238 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 239 | newErrorCode = 14; |
232 | killagreg | 240 | } |
255 | killagreg | 241 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 242 | { |
243 | LED_RED_ON; |
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327 | holgerb | 244 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 245 | newErrorCode = 15; |
232 | killagreg | 246 | } |
351 | holgerb | 247 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
248 | { |
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249 | LED_RED_ON; |
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250 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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251 | newErrorCode = 28; |
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252 | } |
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255 | killagreg | 253 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 254 | { |
489 | killagreg | 255 | LED_RED_ON; |
327 | holgerb | 256 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 257 | newErrorCode = 16; |
232 | killagreg | 258 | } |
255 | killagreg | 259 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 260 | { |
261 | LED_RED_ON; |
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327 | holgerb | 262 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 263 | newErrorCode = 17; |
232 | killagreg | 264 | } |
255 | killagreg | 265 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 266 | { |
267 | LED_RED_ON; |
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268 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 269 | newErrorCode = 18; |
232 | killagreg | 270 | } |
255 | killagreg | 271 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 272 | { |
273 | LED_RED_ON; |
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274 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 275 | newErrorCode = 19; |
232 | killagreg | 276 | } |
350 | holgerb | 277 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 278 | { |
279 | LED_RED_ON; |
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350 | holgerb | 280 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
489 | killagreg | 281 | // else |
282 | { |
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283 | sprintf(ErrorMSG,"no GPS communication"); |
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284 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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285 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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286 | newErrorCode = 5; |
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287 | } |
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41 | ingob | 288 | StopNavigation = 1; |
320 | holgerb | 289 | // UBX_Timeout = SetDelay(500); |
41 | ingob | 290 | } |
426 | holgerb | 291 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
292 | { |
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293 | LED_RED_ON; |
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294 | sprintf(ErrorMSG,"compass not calibr."); |
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295 | newErrorCode = 31; |
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296 | StopNavigation = 1; |
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297 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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298 | } |
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254 | killagreg | 299 | else if(Compass_Heading < 0) |
41 | ingob | 300 | { |
301 | LED_RED_ON; |
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302 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 303 | newErrorCode = 6; |
41 | ingob | 304 | StopNavigation = 1; |
256 | killagreg | 305 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 306 | } |
255 | killagreg | 307 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 308 | { |
309 | LED_RED_ON; |
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310 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 311 | newErrorCode = 8; |
213 | killagreg | 312 | StopNavigation = 1; |
199 | killagreg | 313 | } |
255 | killagreg | 314 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 315 | { |
316 | LED_RED_ON; |
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317 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 318 | newErrorCode = 20; |
232 | killagreg | 319 | } |
255 | killagreg | 320 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 321 | { |
322 | LED_RED_ON; |
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323 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 324 | newErrorCode = 7; |
41 | ingob | 325 | } |
489 | killagreg | 326 | else if(ErrorGpsFixLost) |
328 | holgerb | 327 | { |
489 | killagreg | 328 | LED_RED_ON; |
329 | sprintf(ErrorMSG,"GPS Fix lost "); |
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330 | newErrorCode = 21; |
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328 | holgerb | 331 | } |
330 | holgerb | 332 | else if(ErrorDisturbedEarthMagnetField) |
333 | { |
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489 | killagreg | 334 | LED_RED_ON; |
335 | sprintf(ErrorMSG,"Magnet error "); |
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336 | newErrorCode = 22; |
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337 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
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338 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 339 | } |
472 | holgerb | 340 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
338 | holgerb | 341 | { |
489 | killagreg | 342 | LED_RED_ON; |
343 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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344 | newErrorCode = 23; |
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345 | DebugOut.StatusRed |= AMPEL_BL; |
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338 | holgerb | 346 | } |
472 | holgerb | 347 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
338 | holgerb | 348 | { |
489 | killagreg | 349 | u16 i; |
350 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
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351 | LED_RED_ON; |
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352 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
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353 | newErrorCode = 32; |
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354 | DebugOut.StatusRed |= AMPEL_BL; |
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472 | holgerb | 355 | } |
356 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
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357 | { |
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489 | killagreg | 358 | LED_RED_ON; |
359 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
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360 | newErrorCode = 24; |
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361 | DebugOut.StatusRed |= AMPEL_BL; |
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338 | holgerb | 362 | } |
491 | killagreg | 363 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | holgerb | 364 | { |
489 | killagreg | 365 | LED_RED_ON; |
366 | sprintf(ErrorMSG,"ERR:GPS range "); |
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367 | newErrorCode = 25; |
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368 | DebugOut.StatusRed |= AMPEL_NC; |
||
348 | holgerb | 369 | } |
397 | holgerb | 370 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 371 | { |
489 | killagreg | 372 | LED_RED_ON; |
373 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
374 | newErrorCode = 26; |
||
375 | DebugOut.StatusRed |= AMPEL_NC; |
||
350 | holgerb | 376 | } |
383 | holgerb | 377 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 378 | { |
489 | killagreg | 379 | LED_RED_ON; |
380 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
381 | newErrorCode = 27; |
||
382 | DebugOut.StatusRed |= AMPEL_NC; |
||
383 | SD_LoggingError = 0; |
||
351 | holgerb | 384 | } |
355 | holgerb | 385 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
386 | { |
||
489 | killagreg | 387 | LED_RED_ON; |
388 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
389 | newErrorCode = 29; |
||
390 | DebugOut.StatusRed |= AMPEL_NC; |
||
355 | holgerb | 391 | } |
420 | holgerb | 392 | 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 | 393 | { |
394 | LED_RED_ON; |
||
395 | sprintf(ErrorMSG,"No GPS Fix "); |
||
396 | newErrorCode = 30; |
||
398 | holgerb | 397 | } |
41 | ingob | 398 | else // no error occured |
399 | { |
||
400 | StopNavigation = 0; |
||
401 | LED_RED_OFF; |
||
489 | killagreg | 402 | if(no_error_delay) { no_error_delay--; } |
403 | else |
||
404 | { |
||
405 | sprintf(ErrorMSG,"No Error "); |
||
406 | ErrorCode = 0; |
||
407 | } |
||
41 | ingob | 408 | } |
328 | holgerb | 409 | |
410 | if(newErrorCode) |
||
489 | killagreg | 411 | { |
339 | holgerb | 412 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
328 | holgerb | 413 | ErrorCode = newErrorCode; |
414 | } |
||
415 | FC.Error[0] = 0; |
||
416 | FC.Error[1] = 0; |
||
417 | FC.Error[2] = 0; |
||
418 | FC.Error[3] = 0; |
||
419 | FC.Error[4] = 0; |
||
420 | ErrorGpsFixLost = 0; |
||
41 | ingob | 421 | } |
24 | StephanB | 422 | |
378 | holgerb | 423 | |
424 | |||
484 | holgerb | 425 | u8 Polling(void) |
378 | holgerb | 426 | { |
489 | killagreg | 427 | static u8 running = 0, oldFcFlags = 0, count5sec; |
428 | static u32 old_ms = 0; |
||
429 | |||
430 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
||
431 | running = 1; |
||
432 | |||
433 | if(CountMilliseconds != old_ms) // 1 ms |
||
434 | { |
||
483 | holgerb | 435 | old_ms = CountMilliseconds; |
436 | Compass_Update(); // update compass communication |
||
437 | Analog_Update(); // get new ADC values |
||
438 | CalcHeadFree(); |
||
439 | } |
||
488 | holgerb | 440 | |
489 | killagreg | 441 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
442 | UART0_ProcessRxData(); // GPS process request |
||
443 | UART0_TransmitTxData(); // GPS send answer |
||
444 | UART1_ProcessRxData(); // PC process request |
||
445 | UART1_TransmitTxData(); // PC send answer |
||
446 | UART2_TransmitTxData(); // FC send answer |
||
447 | |||
448 | // ---------------- Error Check Timing ---------------------------- |
||
449 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
450 | { |
||
451 | if(CheckDelay(TimerCheckError)) |
||
380 | holgerb | 452 | { |
489 | killagreg | 453 | TimerCheckError = SetDelay(1000); |
454 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
455 | if(++count5sec == 5) |
||
456 | { |
||
453 | holgerb | 457 | count5sec = 0; |
457 | holgerb | 458 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
459 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
||
489 | killagreg | 460 | CountGpsProcessedIn5Sec = 0; |
461 | CountNewGpsDataIn5Sec = 0; |
||
462 | } |
||
380 | holgerb | 463 | } |
489 | killagreg | 464 | oldFcFlags = FC.StatusFlags; |
465 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
466 | |||
467 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
468 | |||
469 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
||
470 | if(SerialLinkOkay) SerialLinkOkay--; |
||
471 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
472 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
||
473 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
474 | } |
||
475 | running = 0; |
||
476 | if(!PollingTimeout) DebugOut.Analog[17]++; |
||
477 | return(0); |
||
378 | holgerb | 478 | } |
479 | |||
380 | holgerb | 480 | // the handler will be cyclic called by the timer 1 ISR |
481 | // used is for critical timing parts that normaly would handled |
||
482 | // within the main loop that could block longer at logging activities |
||
483 | holgerb | 483 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
154 | killagreg | 484 | { |
195 | killagreg | 485 | IENABLE; |
154 | killagreg | 486 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
489 | killagreg | 487 | |
488 | if(PollingTimeout == 0) |
||
380 | holgerb | 489 | { |
489 | killagreg | 490 | PollingTimeout = 5; |
491 | //if(Polling() == 0) DebugOut.Analog[16]++; |
||
492 | Polling(); |
||
380 | holgerb | 493 | } |
378 | holgerb | 494 | |
495 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 496 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
497 | IDISABLE; |
||
378 | holgerb | 498 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 499 | } |
500 | |||
41 | ingob | 501 | //---------------------------------------------------------------------------------------------------- |
502 | int main(void) |
||
503 | { |
||
489 | killagreg | 504 | |
505 | // static u32 ftimer =0; |
||
506 | // static u8 fstate = 0; |
||
456 | holgerb | 507 | // static File_t* f = NULL; |
489 | killagreg | 508 | |
509 | |||
41 | ingob | 510 | /* Configure the system clocks */ |
511 | SCU_Config(); |
||
512 | /* init VIC (Vectored Interrupt Controller) */ |
||
513 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
514 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
515 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 516 | VIC_InitDefaultVectors(); |
517 | |||
119 | killagreg | 518 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 519 | TIMER1_Init(); |
520 | // initialize the LEDs (needs Timer 1) |
||
521 | Led_Init(); |
||
522 | // initialize the debug UART1 |
||
523 | UART1_Init(); |
||
110 | killagreg | 524 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 525 | // initialize timer 2 for servo outputs |
180 | killagreg | 526 | //TIMER2_Init(); |
41 | ingob | 527 | // initialize UART2 to FLIGHTCTRL |
528 | UART2_Init(); |
||
529 | // initialize UART0 (to MKGPS or MK3MAG) |
||
530 | UART0_Init(); |
||
134 | killagreg | 531 | // initialize adc |
532 | Analog_Init(); |
||
41 | ingob | 533 | // initialize SPI0 to FC |
534 | SPI0_Init(); |
||
469 | killagreg | 535 | // initialize i2c busses (needs Timer 1) |
489 | killagreg | 536 | I2CBus_Init(I2C0); |
537 | I2CBus_Init(I2C1); |
||
247 | killagreg | 538 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 539 | Fat16_Init(); |
156 | killagreg | 540 | // initialize NC params |
541 | NCParams_Init(); |
||
88 | killagreg | 542 | // initialize the settings |
543 | Settings_Init(); |
||
92 | killagreg | 544 | // initialize logging (needs settings) |
82 | killagreg | 545 | Logging_Init(); |
1 | ingob | 546 | |
362 | holgerb | 547 | LED_GRN_ON; |
41 | ingob | 548 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 549 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 550 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 551 | |
41 | ingob | 552 | GetNaviCtrlVersion(); |
338 | holgerb | 553 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
554 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 555 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
149 | killagreg | 556 | |
242 | killagreg | 557 | Compass_Init(); |
270 | killagreg | 558 | |
400 | holgerb | 559 | GPS_Init(); |
560 | |||
314 | killagreg | 561 | #ifdef FOLLOW_ME |
562 | TransmitAlsoToFC = 1; |
||
563 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
564 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
||
565 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
||
566 | TransmitAlsoToFC = 0; |
||
567 | #else |
||
150 | killagreg | 568 | SPI0_GetFlightCtrlVersion(); |
569 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
41 | ingob | 570 | { |
461 | holgerb | 571 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
41 | ingob | 572 | LED_RED_ON; |
573 | } |
||
314 | killagreg | 574 | #endif |
213 | killagreg | 575 | // ---------- Prepare the isr driven |
154 | killagreg | 576 | // set to absolute lowest priority |
577 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
||
195 | killagreg | 578 | // enable interrupts |
154 | killagreg | 579 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 580 | |
250 | ingob | 581 | Debug_OK("START"); |
362 | holgerb | 582 | UART1_PutString("\r\n"); |
380 | holgerb | 583 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
584 | LED_GRN_ON; |
||
585 | LED_RED_OFF; |
||
460 | holgerb | 586 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
461 | holgerb | 587 | UART1_PutString("\r\n"); |
487 | holgerb | 588 | CompassValueErrorCount = 0; |
503 | holgerb | 589 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
154 | killagreg | 590 | for (;;) // the endless main loop |
41 | ingob | 591 | { |
484 | holgerb | 592 | PollingTimeout = 5; |
431 | killagreg | 593 | Polling(); |
500 | holgerb | 594 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
595 | if(FromFC_LoadWP_List) |
||
596 | { |
||
503 | holgerb | 597 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
598 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
599 | { |
||
502 | killagreg | 600 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
601 | { |
||
503 | holgerb | 602 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
603 | { |
||
604 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
||
605 | { // take actual position |
||
606 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
||
607 | } |
||
608 | else |
||
609 | { // take last target position |
||
610 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
||
611 | } |
||
612 | } |
||
502 | killagreg | 613 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
614 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
615 | BeepTime = 150; |
||
616 | } |
||
617 | FromFC_LoadWP_List = 0; |
||
503 | holgerb | 618 | } |
500 | holgerb | 619 | } |
620 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
489 | killagreg | 621 | |
431 | killagreg | 622 | // ---------------- Logging --------------------------------------- |
489 | killagreg | 623 | if(SD_WatchDog) |
431 | killagreg | 624 | { |
625 | SD_WatchDog = 30000; |
||
626 | 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 |
||
503 | holgerb | 627 | else |
628 | { |
||
629 | ToFC_MaxWpListIndex = 0; |
||
630 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
631 | } |
||
431 | killagreg | 632 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
633 | } |
||
489 | killagreg | 634 | |
635 | /* |
||
324 | killagreg | 636 | if(CheckDelay(ftimer)) |
637 | { |
||
638 | |||
431 | killagreg | 639 | static s8 filename[35]; |
640 | static u8 i = 0; |
||
641 | s8 dbgmsg[40]; |
||
324 | killagreg | 642 | |
489 | killagreg | 643 | |
644 | |||
324 | killagreg | 645 | ftimer = SetDelay(100); |
646 | if(FC.Poti[3]>100 && fstate == 0) |
||
647 | { |
||
648 | fstate = 1; |
||
431 | killagreg | 649 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 650 | } |
651 | else if(FC.Poti[3]<100 && fstate == 2) |
||
652 | { |
||
653 | fstate = 3; |
||
654 | } |
||
655 | |||
656 | switch(fstate) |
||
657 | { |
||
658 | case 1: |
||
431 | killagreg | 659 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
660 | Debug(dbgmsg); |
||
324 | killagreg | 661 | f = fopen_(filename, 'a'); |
662 | if(f== NULL) Fat16_Init(); |
||
663 | fstate = 2; |
||
664 | break; |
||
665 | |||
666 | case 2: |
||
667 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
668 | break; |
||
489 | killagreg | 669 | |
324 | killagreg | 670 | case 3: |
431 | killagreg | 671 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
672 | Debug(dbgmsg); |
||
324 | killagreg | 673 | fclose_(f); |
674 | fstate = 0; |
||
675 | break; |
||
676 | |||
677 | default: |
||
678 | break; |
||
679 | } |
||
680 | } |
||
489 | killagreg | 681 | */ |
24 | StephanB | 682 | } |
1 | ingob | 683 | } |
438 | holgerb | 684 | //DebugOut.Analog[16] |