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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" |
254 | killagreg | 86 | |
427 | killagreg | 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; |
489 | 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; |
513 | killagreg | 97 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
531 | holgerb | 98 | u8 ToFC_MaxWpListIndex = 4; |
255 | killagreg | 99 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 100 | u8 StopNavigation = 0; |
378 | holgerb | 101 | volatile u32 PollingTimeout = 10000; |
41 | ingob | 102 | Param_t Parameter; |
699 | holgerb | 103 | Partner_t Partner; |
78 | holgerb | 104 | volatile FC_t FC; |
378 | holgerb | 105 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
400 | holgerb | 106 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
663 | holgerb | 107 | u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0; |
504 | holgerb | 108 | u8 NewWPL_Name = 0; |
532 | holgerb | 109 | u32 MaxWP_Radius_in_m = 0; |
41 | ingob | 110 | s8 ErrorMSG[25]; |
699 | holgerb | 111 | s8 PartnerErrorMSG[25] = " --- \0"; |
533 | holgerb | 112 | u32 TimeSinceMotorStart = 0; |
699 | holgerb | 113 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
41 | ingob | 114 | |
1 | ingob | 115 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 116 | void SCU_Config(void) |
1 | ingob | 117 | { |
41 | ingob | 118 | /* configure PLL and set it as master clock source */ |
119 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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120 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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121 | #ifdef MCLK96MHZ |
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122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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123 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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124 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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125 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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126 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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127 | #else |
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128 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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129 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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130 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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131 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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132 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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133 | #endif |
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134 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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135 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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136 | } |
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1 | ingob | 137 | |
41 | ingob | 138 | //---------------------------------------------------------------------------------------------------- |
139 | void GetNaviCtrlVersion(void) |
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1 | ingob | 140 | { |
41 | ingob | 141 | u8 msg[25]; |
270 | killagreg | 142 | |
530 | holgerb | 143 | sprintf(msg,"\n\r 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 | 144 | UART1_PutString(msg); |
1 | ingob | 145 | } |
146 | |||
147 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 148 | |
41 | ingob | 149 | void CheckErrors(void) |
150 | { |
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516 | holgerb | 151 | static s32 no_error_delay = 0; |
328 | holgerb | 152 | s32 newErrorCode = 0; |
232 | killagreg | 153 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 154 | |
489 | killagreg | 155 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
338 | holgerb | 156 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
231 | holgerb | 157 | |
338 | holgerb | 158 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
159 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 160 | |
338 | holgerb | 161 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
162 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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163 | |||
483 | holgerb | 164 | |
489 | killagreg | 165 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
41 | ingob | 166 | { |
489 | killagreg | 167 | LED_RED_ON; |
472 | holgerb | 168 | sprintf(ErrorMSG,"no compass communica"); |
489 | killagreg | 169 | //Reset Compass communication |
501 | holgerb | 170 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 171 | Compass_Init(); |
472 | holgerb | 172 | newErrorCode = 4; |
41 | ingob | 173 | StopNavigation = 1; |
472 | holgerb | 174 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
175 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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41 | ingob | 176 | } |
488 | holgerb | 177 | else if(CompassValueErrorCount > 30) |
178 | { |
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179 | LED_RED_ON; |
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180 | sprintf(ErrorMSG,"compass sensor error"); |
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181 | newErrorCode = 34; |
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182 | StopNavigation = 1; |
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183 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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501 | holgerb | 184 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
489 | killagreg | 185 | Compass_Init(); |
488 | holgerb | 186 | } |
489 | killagreg | 187 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
188 | { |
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488 | holgerb | 189 | sprintf(ErrorMSG,"Calibrate... "); |
489 | killagreg | 190 | newErrorCode = 0; |
488 | holgerb | 191 | ErrorCode = 0; |
192 | no_error_delay = 1; |
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489 | killagreg | 193 | } |
194 | else if(CheckDelay(SPI0_Timeout)) |
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483 | holgerb | 195 | { |
489 | killagreg | 196 | LED_RED_ON; |
472 | holgerb | 197 | sprintf(ErrorMSG,"no FC communication "); |
198 | newErrorCode = 3; |
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199 | StopNavigation = 1; |
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200 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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201 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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202 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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203 | } |
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41 | ingob | 204 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
205 | { |
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206 | LED_RED_ON; |
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318 | holgerb | 207 | #ifndef FOLLOW_ME |
41 | ingob | 208 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 209 | #else |
210 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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211 | #endif |
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328 | holgerb | 212 | newErrorCode = 1; |
41 | ingob | 213 | StopNavigation = 1; |
256 | killagreg | 214 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 215 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 216 | } |
255 | killagreg | 217 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 218 | { |
219 | LED_RED_ON; |
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220 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 221 | newErrorCode = 10; |
232 | killagreg | 222 | } |
255 | killagreg | 223 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 224 | { |
225 | LED_RED_ON; |
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226 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 227 | newErrorCode = 11; |
232 | killagreg | 228 | } |
255 | killagreg | 229 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 230 | { |
231 | LED_RED_ON; |
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232 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 233 | newErrorCode = 12; |
232 | killagreg | 234 | } |
255 | killagreg | 235 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 236 | { |
237 | LED_RED_ON; |
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238 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 239 | newErrorCode = 13; |
232 | killagreg | 240 | } |
255 | killagreg | 241 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 242 | { |
243 | LED_RED_ON; |
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244 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 245 | newErrorCode = 14; |
232 | killagreg | 246 | } |
255 | killagreg | 247 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 248 | { |
249 | LED_RED_ON; |
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327 | holgerb | 250 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 251 | newErrorCode = 15; |
232 | killagreg | 252 | } |
351 | holgerb | 253 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
254 | { |
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255 | LED_RED_ON; |
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256 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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257 | newErrorCode = 28; |
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258 | } |
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255 | killagreg | 259 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 260 | { |
489 | killagreg | 261 | LED_RED_ON; |
327 | holgerb | 262 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 263 | newErrorCode = 16; |
232 | killagreg | 264 | } |
255 | killagreg | 265 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 266 | { |
267 | LED_RED_ON; |
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327 | holgerb | 268 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 269 | newErrorCode = 17; |
232 | killagreg | 270 | } |
255 | killagreg | 271 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 272 | { |
273 | LED_RED_ON; |
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274 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 275 | newErrorCode = 18; |
232 | killagreg | 276 | } |
255 | killagreg | 277 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 278 | { |
279 | LED_RED_ON; |
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280 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 281 | newErrorCode = 19; |
232 | killagreg | 282 | } |
350 | holgerb | 283 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 284 | { |
285 | LED_RED_ON; |
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548 | holgerb | 286 | sprintf(ErrorMSG,"no GPS communication"); |
287 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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288 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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289 | newErrorCode = 5; |
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41 | ingob | 290 | StopNavigation = 1; |
548 | holgerb | 291 | //UBX_Setup(); |
292 | //UBX_Timeout = SetDelay(500); |
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41 | ingob | 293 | } |
426 | holgerb | 294 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
295 | { |
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296 | LED_RED_ON; |
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297 | sprintf(ErrorMSG,"compass not calibr."); |
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298 | newErrorCode = 31; |
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299 | StopNavigation = 1; |
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300 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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301 | } |
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254 | killagreg | 302 | else if(Compass_Heading < 0) |
41 | ingob | 303 | { |
304 | LED_RED_ON; |
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305 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 306 | newErrorCode = 6; |
41 | ingob | 307 | StopNavigation = 1; |
256 | killagreg | 308 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 309 | } |
255 | killagreg | 310 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 311 | { |
312 | LED_RED_ON; |
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313 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 314 | newErrorCode = 8; |
213 | killagreg | 315 | StopNavigation = 1; |
199 | killagreg | 316 | } |
255 | killagreg | 317 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 318 | { |
319 | LED_RED_ON; |
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320 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 321 | newErrorCode = 20; |
232 | killagreg | 322 | } |
255 | killagreg | 323 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 324 | { |
325 | LED_RED_ON; |
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326 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 327 | newErrorCode = 7; |
41 | ingob | 328 | } |
489 | killagreg | 329 | else if(ErrorGpsFixLost) |
328 | holgerb | 330 | { |
489 | killagreg | 331 | LED_RED_ON; |
332 | sprintf(ErrorMSG,"GPS Fix lost "); |
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333 | newErrorCode = 21; |
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328 | holgerb | 334 | } |
330 | holgerb | 335 | else if(ErrorDisturbedEarthMagnetField) |
336 | { |
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489 | killagreg | 337 | LED_RED_ON; |
338 | sprintf(ErrorMSG,"Magnet error "); |
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339 | newErrorCode = 22; |
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340 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
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341 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 342 | } |
533 | holgerb | 343 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
338 | holgerb | 344 | { |
489 | killagreg | 345 | LED_RED_ON; |
346 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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347 | newErrorCode = 23; |
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348 | DebugOut.StatusRed |= AMPEL_BL; |
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338 | holgerb | 349 | } |
472 | holgerb | 350 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
338 | holgerb | 351 | { |
489 | killagreg | 352 | u16 i; |
516 | holgerb | 353 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
489 | killagreg | 354 | LED_RED_ON; |
355 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
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516 | holgerb | 356 | newErrorCode = 32; |
357 | DebugOut.StatusRed |= AMPEL_BL; |
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472 | holgerb | 358 | } |
533 | holgerb | 359 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
472 | holgerb | 360 | { |
489 | killagreg | 361 | LED_RED_ON; |
362 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
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363 | newErrorCode = 24; |
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364 | DebugOut.StatusRed |= AMPEL_BL; |
||
338 | holgerb | 365 | } |
491 | killagreg | 366 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | holgerb | 367 | { |
489 | killagreg | 368 | LED_RED_ON; |
532 | holgerb | 369 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
489 | killagreg | 370 | newErrorCode = 25; |
371 | DebugOut.StatusRed |= AMPEL_NC; |
||
348 | holgerb | 372 | } |
397 | holgerb | 373 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
350 | holgerb | 374 | { |
489 | killagreg | 375 | LED_RED_ON; |
376 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
377 | newErrorCode = 26; |
||
378 | DebugOut.StatusRed |= AMPEL_NC; |
||
350 | holgerb | 379 | } |
383 | holgerb | 380 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
351 | holgerb | 381 | { |
489 | killagreg | 382 | LED_RED_ON; |
383 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
384 | newErrorCode = 27; |
||
385 | DebugOut.StatusRed |= AMPEL_NC; |
||
386 | SD_LoggingError = 0; |
||
351 | holgerb | 387 | } |
355 | holgerb | 388 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
389 | { |
||
489 | killagreg | 390 | LED_RED_ON; |
391 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
392 | newErrorCode = 29; |
||
393 | DebugOut.StatusRed |= AMPEL_NC; |
||
355 | holgerb | 394 | } |
516 | holgerb | 395 | 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 | 396 | { |
397 | LED_RED_ON; |
||
398 | sprintf(ErrorMSG,"No GPS Fix "); |
||
399 | newErrorCode = 30; |
||
398 | holgerb | 400 | } |
663 | holgerb | 401 | else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15) |
646 | holgerb | 402 | { |
403 | LED_RED_ON; |
||
659 | holgerb | 404 | sprintf(ErrorMSG,"GPS Update rate "); |
405 | newErrorCode = 38; |
||
646 | holgerb | 406 | } |
615 | holgerb | 407 | else if(NC_GPS_ModeCharacter == 'F') |
408 | { |
||
409 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
||
410 | newErrorCode = 35; |
||
411 | } |
||
412 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
||
413 | { |
||
414 | sprintf(ErrorMSG,"ERR:Redundancy "); |
||
415 | newErrorCode = 36; |
||
416 | } |
||
417 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
||
418 | { |
||
419 | sprintf(ErrorMSG,"Redundancy test "); |
||
420 | newErrorCode = 37; |
||
421 | } |
||
699 | holgerb | 422 | else if(CanbusTimeOut == 1) |
423 | { |
||
424 | sprintf(ErrorMSG,"ERR: Canbus"); |
||
425 | newErrorCode = 39; |
||
426 | } |
||
41 | ingob | 427 | else // no error occured |
428 | { |
||
429 | StopNavigation = 0; |
||
430 | LED_RED_OFF; |
||
489 | killagreg | 431 | if(no_error_delay) { no_error_delay--; } |
432 | else |
||
433 | { |
||
434 | sprintf(ErrorMSG,"No Error "); |
||
435 | ErrorCode = 0; |
||
436 | } |
||
41 | ingob | 437 | } |
328 | holgerb | 438 | |
516 | holgerb | 439 | if(newErrorCode) |
440 | { |
||
441 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
||
442 | ErrorCode = newErrorCode; |
||
443 | } |
||
444 | FC.Error[0] = 0; |
||
445 | FC.Error[1] = 0; |
||
446 | FC.Error[2] = 0; |
||
447 | FC.Error[3] = 0; |
||
448 | FC.Error[4] = 0; |
||
449 | ErrorGpsFixLost = 0; |
||
530 | holgerb | 450 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
41 | ingob | 451 | } |
24 | StephanB | 452 | |
693 | holgerb | 453 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
454 | { |
||
455 | u8 crc = 0xAA; |
||
456 | u16 i; |
||
457 | for(i=0; i<len; i++) crc += pBuffer[i]; |
||
458 | return crc; |
||
459 | } |
||
378 | holgerb | 460 | |
461 | |||
484 | holgerb | 462 | u8 Polling(void) |
378 | holgerb | 463 | { |
564 | holgerb | 464 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
489 | killagreg | 465 | static u32 old_ms = 0; |
466 | |||
516 | holgerb | 467 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
489 | killagreg | 468 | running = 1; |
469 | |||
470 | if(CountMilliseconds != old_ms) // 1 ms |
||
471 | { |
||
699 | holgerb | 472 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
483 | holgerb | 473 | old_ms = CountMilliseconds; |
474 | Compass_Update(); // update compass communication |
||
475 | Analog_Update(); // get new ADC values |
||
476 | CalcHeadFree(); |
||
688 | holgerb | 477 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
564 | holgerb | 478 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
479 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
||
480 | if(++TimeoutGPS_Process >= 25) |
||
481 | { |
||
482 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
483 | TimeoutGPS_Process = 0; |
||
484 | } |
||
483 | holgerb | 485 | } |
488 | holgerb | 486 | |
489 | killagreg | 487 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
488 | UART0_ProcessRxData(); // GPS process request |
||
489 | UART0_TransmitTxData(); // GPS send answer |
||
490 | UART1_ProcessRxData(); // PC process request |
||
491 | UART1_TransmitTxData(); // PC send answer |
||
492 | UART2_TransmitTxData(); // FC send answer |
||
493 | |||
533 | holgerb | 494 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
495 | |||
693 | holgerb | 496 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
497 | { |
||
498 | u8 crc1, crc2; |
||
499 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
||
500 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
||
501 | if(crc1 == crc2) |
||
502 | { |
||
503 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
||
504 | RequestConfigFromFC = 0; |
||
505 | } |
||
506 | HugeBlockFromFC.WhoAmI = 0; |
||
507 | } |
||
508 | |||
663 | holgerb | 509 | if(FCCalibActive) |
510 | { |
||
511 | count5sec = 0; |
||
512 | FreqNewGpsData = 50; |
||
513 | CountNewGpsDataIn5Sec = 25; |
||
514 | CountGpsProcessedIn5Sec = 0; |
||
515 | TimerCheckError = SetDelay(1000); |
||
516 | } |
||
517 | |||
489 | killagreg | 518 | // ---------------- Error Check Timing ---------------------------- |
519 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
520 | { |
||
521 | if(CheckDelay(TimerCheckError)) |
||
380 | holgerb | 522 | { |
489 | killagreg | 523 | TimerCheckError = SetDelay(1000); |
524 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
525 | if(++count5sec == 5) |
||
526 | { |
||
663 | holgerb | 527 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
528 | FreqNewGpsData = CountNewGpsDataIn5Sec; // 50 = 5,0Hz |
||
529 | |||
453 | holgerb | 530 | count5sec = 0; |
489 | killagreg | 531 | CountGpsProcessedIn5Sec = 0; |
659 | holgerb | 532 | CountNewGpsDataIn5Sec = FreqNewGpsData / 2; |
663 | holgerb | 533 | ConfirmGpsUpdateRate(FreqNewGpsData); |
489 | killagreg | 534 | } |
380 | holgerb | 535 | } |
489 | killagreg | 536 | oldFcFlags = FC.StatusFlags; |
564 | holgerb | 537 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
489 | killagreg | 538 | |
539 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
540 | |||
533 | holgerb | 541 | if(FC.StatusFlags & FC_STATUS_FLY) |
542 | { |
||
543 | NaviData.FlyingTime++; // we want to count the battery-time |
||
544 | TimeSinceMotorStart++; |
||
545 | } |
||
546 | |||
489 | killagreg | 547 | if(SerialLinkOkay) SerialLinkOkay--; |
594 | holgerb | 548 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
489 | killagreg | 549 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
550 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
551 | } |
||
552 | running = 0; |
||
514 | holgerb | 553 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
489 | killagreg | 554 | return(0); |
378 | holgerb | 555 | } |
556 | |||
380 | holgerb | 557 | // the handler will be cyclic called by the timer 1 ISR |
558 | // used is for critical timing parts that normaly would handled |
||
559 | // within the main loop that could block longer at logging activities |
||
483 | holgerb | 560 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
154 | killagreg | 561 | { |
195 | killagreg | 562 | IENABLE; |
154 | killagreg | 563 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
489 | killagreg | 564 | |
516 | holgerb | 565 | if(PollingTimeout == 0) |
566 | { |
||
567 | PollingTimeout = 5; |
||
568 | //if(Polling() == 0) DebugOut.Analog[]++; |
||
569 | Polling(); |
||
380 | holgerb | 570 | } |
378 | holgerb | 571 | |
572 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
195 | killagreg | 573 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
574 | IDISABLE; |
||
378 | holgerb | 575 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
154 | killagreg | 576 | } |
577 | |||
41 | ingob | 578 | //---------------------------------------------------------------------------------------------------- |
579 | int main(void) |
||
580 | { |
||
489 | killagreg | 581 | |
582 | // static u32 ftimer =0; |
||
583 | // static u8 fstate = 0; |
||
456 | holgerb | 584 | // static File_t* f = NULL; |
489 | killagreg | 585 | |
586 | |||
41 | ingob | 587 | /* Configure the system clocks */ |
588 | SCU_Config(); |
||
589 | /* init VIC (Vectored Interrupt Controller) */ |
||
590 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
591 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
592 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
196 | killagreg | 593 | VIC_InitDefaultVectors(); |
594 | |||
119 | killagreg | 595 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 596 | TIMER1_Init(); |
597 | // initialize the LEDs (needs Timer 1) |
||
598 | Led_Init(); |
||
599 | // initialize the debug UART1 |
||
600 | UART1_Init(); |
||
110 | killagreg | 601 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 602 | // initialize timer 2 for servo outputs |
180 | killagreg | 603 | //TIMER2_Init(); |
41 | ingob | 604 | // initialize UART2 to FLIGHTCTRL |
605 | UART2_Init(); |
||
606 | // initialize UART0 (to MKGPS or MK3MAG) |
||
607 | UART0_Init(); |
||
134 | killagreg | 608 | // initialize adc |
609 | Analog_Init(); |
||
41 | ingob | 610 | // initialize SPI0 to FC |
611 | SPI0_Init(); |
||
469 | killagreg | 612 | // initialize i2c busses (needs Timer 1) |
489 | killagreg | 613 | I2CBus_Init(I2C0); |
614 | I2CBus_Init(I2C1); |
||
247 | killagreg | 615 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 616 | Fat16_Init(); |
156 | killagreg | 617 | // initialize NC params |
618 | NCParams_Init(); |
||
88 | killagreg | 619 | // initialize the settings |
620 | Settings_Init(); |
||
92 | killagreg | 621 | // initialize logging (needs settings) |
82 | killagreg | 622 | Logging_Init(); |
1 | ingob | 623 | |
699 | holgerb | 624 | if(UART_VersionInfo.HWMajor < 30) IamMaster = SLAVE; else IamMaster = MASTER; |
625 | |||
626 | //UART_VersionInfo.HWMajor = 30; |
||
362 | holgerb | 627 | LED_GRN_ON; |
41 | ingob | 628 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 629 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 630 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 631 | |
41 | ingob | 632 | GetNaviCtrlVersion(); |
338 | holgerb | 633 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
634 | DebugOut.StatusRed = 0x00; |
||
400 | holgerb | 635 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
149 | killagreg | 636 | |
516 | holgerb | 637 | Compass_Init(); |
270 | killagreg | 638 | |
548 | holgerb | 639 | UBX_Setup(); // inits the GPS-Module via ubx |
400 | holgerb | 640 | GPS_Init(); |
641 | |||
314 | killagreg | 642 | #ifdef FOLLOW_ME |
643 | TransmitAlsoToFC = 1; |
||
644 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
645 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
||
646 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
||
647 | TransmitAlsoToFC = 0; |
||
648 | #else |
||
150 | killagreg | 649 | SPI0_GetFlightCtrlVersion(); |
650 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
41 | ingob | 651 | { |
461 | holgerb | 652 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
41 | ingob | 653 | LED_RED_ON; |
654 | } |
||
314 | killagreg | 655 | #endif |
528 | holgerb | 656 | |
213 | killagreg | 657 | // ---------- Prepare the isr driven |
154 | killagreg | 658 | // set to absolute lowest priority |
516 | holgerb | 659 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
195 | killagreg | 660 | // enable interrupts |
516 | holgerb | 661 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 662 | |
250 | ingob | 663 | Debug_OK("START"); |
362 | holgerb | 664 | UART1_PutString("\r\n"); |
380 | holgerb | 665 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
666 | LED_GRN_ON; |
||
667 | LED_RED_OFF; |
||
530 | holgerb | 668 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
461 | holgerb | 669 | UART1_PutString("\r\n"); |
528 | holgerb | 670 | |
487 | holgerb | 671 | CompassValueErrorCount = 0; |
503 | holgerb | 672 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
688 | holgerb | 673 | |
674 | // Intilizes the Canbus |
||
675 | if(UART_VersionInfo.HWMajor >= 30) CanbusInit(); |
||
528 | holgerb | 676 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
154 | killagreg | 677 | for (;;) // the endless main loop |
41 | ingob | 678 | { |
484 | holgerb | 679 | PollingTimeout = 5; |
431 | killagreg | 680 | Polling(); |
500 | holgerb | 681 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
682 | if(FromFC_LoadWP_List) |
||
516 | holgerb | 683 | { |
684 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
||
685 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
686 | { |
||
513 | killagreg | 687 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
688 | { |
||
689 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
||
516 | holgerb | 690 | { |
540 | holgerb | 691 | u32 angle; |
692 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
||
513 | killagreg | 693 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
516 | holgerb | 694 | { // take actual position |
540 | holgerb | 695 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
516 | holgerb | 696 | } |
697 | else |
||
513 | killagreg | 698 | { // take last target position |
540 | holgerb | 699 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
513 | killagreg | 700 | } |
701 | } |
||
702 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
703 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
519 | holgerb | 704 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
705 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
706 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
513 | killagreg | 707 | BeepTime = 150; |
708 | } |
||
709 | } |
||
710 | FromFC_LoadWP_List = 0; |
||
711 | } |
||
712 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
713 | if(FromFC_Save_SinglePoint) |
||
714 | { |
||
715 | WPL_Store.Index = FromFC_Save_SinglePoint; |
||
516 | holgerb | 716 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
513 | killagreg | 717 | FromFC_Save_SinglePoint = 0; |
718 | } |
||
719 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
720 | if(FromFC_Load_SinglePoint) |
||
721 | { |
||
516 | holgerb | 722 | WPL_Store.Index = FromFC_Load_SinglePoint; |
723 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
724 | { |
||
513 | killagreg | 725 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
502 | killagreg | 726 | { |
727 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
728 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
519 | holgerb | 729 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
730 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
731 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
502 | killagreg | 732 | BeepTime = 150; |
733 | } |
||
516 | holgerb | 734 | } |
513 | killagreg | 735 | FromFC_Load_SinglePoint = 0; |
504 | holgerb | 736 | } |
500 | holgerb | 737 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
431 | killagreg | 738 | // ---------------- Logging --------------------------------------- |
489 | killagreg | 739 | if(SD_WatchDog) |
431 | killagreg | 740 | { |
741 | SD_WatchDog = 30000; |
||
742 | 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 | 743 | else |
744 | { |
||
745 | ToFC_MaxWpListIndex = 0; |
||
746 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
503 | holgerb | 747 | } |
431 | killagreg | 748 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
749 | } |
||
489 | killagreg | 750 | |
751 | /* |
||
324 | killagreg | 752 | if(CheckDelay(ftimer)) |
753 | { |
||
754 | |||
431 | killagreg | 755 | static s8 filename[35]; |
756 | static u8 i = 0; |
||
757 | s8 dbgmsg[40]; |
||
324 | killagreg | 758 | |
489 | killagreg | 759 | |
760 | |||
324 | killagreg | 761 | ftimer = SetDelay(100); |
762 | if(FC.Poti[3]>100 && fstate == 0) |
||
763 | { |
||
764 | fstate = 1; |
||
431 | killagreg | 765 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
324 | killagreg | 766 | } |
767 | else if(FC.Poti[3]<100 && fstate == 2) |
||
768 | { |
||
769 | fstate = 3; |
||
770 | } |
||
771 | |||
772 | switch(fstate) |
||
773 | { |
||
774 | case 1: |
||
431 | killagreg | 775 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
776 | Debug(dbgmsg); |
||
324 | killagreg | 777 | f = fopen_(filename, 'a'); |
778 | if(f== NULL) Fat16_Init(); |
||
779 | fstate = 2; |
||
780 | break; |
||
781 | |||
782 | case 2: |
||
783 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
784 | break; |
||
489 | killagreg | 785 | |
324 | killagreg | 786 | case 3: |
431 | killagreg | 787 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
788 | Debug(dbgmsg); |
||
324 | killagreg | 789 | fclose_(f); |
790 | fstate = 0; |
||
791 | break; |
||
792 | |||
793 | default: |
||
794 | break; |
||
795 | } |
||
796 | } |
||
594 | holgerb | 797 | */ |
24 | StephanB | 798 | } |
1 | ingob | 799 | } |
516 | holgerb | 800 | //DebugOut.Analog[] |