Rev 134 | Rev 141 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
6 | // + Nur für den privaten Gebrauch |
||
7 | // + FOR NON COMMERCIAL USE ONLY |
||
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | ingob | 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
||
41 | ingob | 32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 35 | // + this list of conditions and the following disclaimer. |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
37 | // + from this software without specific prior written permission. |
||
41 | ingob | 38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 39 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 41 | // + with our written permission |
41 | ingob | 42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
43 | // + clearly linked as origin |
||
1 | ingob | 44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
45 | // |
||
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
41 | ingob | 56 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 58 | //#define MCLK96MHZ |
1 | ingob | 59 | const unsigned long _Main_Crystal = 25000; |
41 | ingob | 60 | #include <stdio.h> |
61 | #include "91x_lib.h" |
||
62 | #include "led.h" |
||
63 | #include "uart0.h" |
||
64 | #include "uart1.h" |
||
65 | #include "uart2.h" |
||
66 | #include "GPS.h" |
||
67 | #include "i2c.h" |
||
119 | killagreg | 68 | #include "timer1.h" |
69 | #include "timer2.h" |
||
134 | killagreg | 70 | #include "analog.h" |
41 | ingob | 71 | #include "spi_slave.h" |
72 | #include "fat16.h" |
||
73 | #include "usb.h" |
||
74 | #include "sdc.h" |
||
82 | killagreg | 75 | #include "logging.h" |
88 | killagreg | 76 | #include "settings.h" |
1 | ingob | 77 | #include "main.h" |
78 | |||
79 | u32 TimerCompassUpdate; |
||
41 | ingob | 80 | u32 TimerCheckError; |
81 | u32 ErrorCode = 0; |
||
82 | u16 BeepTime; |
||
92 | killagreg | 83 | u8 NCFlags = 0; |
138 | holgerb | 84 | s32 GeoMag = 0; |
1 | ingob | 85 | |
41 | ingob | 86 | u8 ClearMKFlags = 0; |
87 | u8 StopNavigation = 0; |
||
88 | Param_t Parameter; |
||
78 | holgerb | 89 | volatile FC_t FC; |
1 | ingob | 90 | |
41 | ingob | 91 | s8 ErrorMSG[25]; |
92 | |||
1 | ingob | 93 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 94 | void SCU_Config(void) |
1 | ingob | 95 | { |
41 | ingob | 96 | /* configure PLL and set it as master clock source */ |
97 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
||
98 | SCU_PLLCmd(DISABLE); // now disable the PLL |
||
99 | #ifdef MCLK96MHZ |
||
100 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
||
101 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
||
102 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
||
103 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
||
104 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
||
105 | #else |
||
106 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
||
107 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
||
108 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
||
109 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
||
110 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
||
111 | #endif |
||
112 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
||
113 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
||
114 | } |
||
1 | ingob | 115 | |
41 | ingob | 116 | //---------------------------------------------------------------------------------------------------- |
117 | void GetNaviCtrlVersion(void) |
||
1 | ingob | 118 | { |
41 | ingob | 119 | u8 msg[25]; |
1 | ingob | 120 | |
41 | ingob | 121 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 122 | UART1_PutString(msg); |
1 | ingob | 123 | } |
124 | |||
125 | //---------------------------------------------------------------------------------------------------- |
||
41 | ingob | 126 | void CheckErrors(void) |
127 | { |
||
128 | if(!CheckSPIOkay) |
||
129 | { |
||
130 | LED_RED_ON; |
||
131 | sprintf(ErrorMSG,"no FC communication "); |
||
132 | ErrorCode = 3; |
||
133 | StopNavigation = 1; |
||
134 | } |
||
135 | else if(!CheckI2COkay) |
||
136 | { |
||
137 | LED_RED_ON; |
||
138 | sprintf(ErrorMSG,"no MK3Mag communication "); |
||
139 | ErrorCode = 4; |
||
140 | StopNavigation = 1; |
||
141 | } |
||
142 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
143 | { |
||
144 | LED_RED_ON; |
||
145 | sprintf(ErrorMSG,"FC not compatible "); |
||
146 | ErrorCode = 1; |
||
147 | StopNavigation = 1; |
||
148 | } |
||
149 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
||
150 | { |
||
151 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
||
152 | LED_RED_ON; |
||
153 | ErrorCode = 2; |
||
154 | StopNavigation = 1; |
||
155 | } |
||
156 | else if(!CheckGPSOkay) |
||
157 | { |
||
158 | LED_RED_ON; |
||
159 | sprintf(ErrorMSG,"no GPS communication "); |
||
160 | ErrorCode = 5; |
||
161 | StopNavigation = 1; |
||
162 | } |
||
163 | else if(I2C_Heading.Heading < 0) |
||
164 | { |
||
165 | LED_RED_ON; |
||
166 | sprintf(ErrorMSG,"bad compass value "); |
||
167 | ErrorCode = 6; |
||
168 | StopNavigation = 1; |
||
169 | } |
||
170 | else if(FC.RC_Quality < 100) |
||
171 | { |
||
172 | LED_RED_ON; |
||
173 | sprintf(ErrorMSG,"RC Signal lost "); |
||
174 | ErrorCode = 7; |
||
175 | } |
||
176 | else // no error occured |
||
177 | { |
||
178 | sprintf(ErrorMSG,"No Error "); |
||
179 | ErrorCode = 0; |
||
180 | StopNavigation = 0; |
||
181 | LED_RED_OFF; |
||
182 | } |
||
183 | CheckSPIOkay = 0; |
||
184 | CheckGPSOkay = 0; |
||
185 | CheckI2COkay = 0; |
||
186 | } |
||
24 | StephanB | 187 | |
188 | |||
1 | ingob | 189 | |
41 | ingob | 190 | //---------------------------------------------------------------------------------------------------- |
191 | int main(void) |
||
192 | { |
||
193 | /* Configure the system clocks */ |
||
194 | SCU_Config(); |
||
195 | /* init VIC (Vectored Interrupt Controller) */ |
||
196 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
197 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
198 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
199 | // initialize the interrupt handler |
||
200 | Interrupt_Init(); |
||
119 | killagreg | 201 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 202 | TIMER1_Init(); |
203 | // initialize the LEDs (needs Timer 1) |
||
204 | Led_Init(); |
||
205 | // initialize the debug UART1 |
||
206 | UART1_Init(); |
||
110 | killagreg | 207 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 208 | // initialize timer 2 for servo outputs |
209 | TIMER2_Init(); |
||
41 | ingob | 210 | // initialize UART2 to FLIGHTCTRL |
211 | UART2_Init(); |
||
212 | // initialize UART0 (to MKGPS or MK3MAG) |
||
213 | UART0_Init(); |
||
134 | killagreg | 214 | // initialize adc |
215 | Analog_Init(); |
||
41 | ingob | 216 | // initialize usb |
217 | USB_ConfigInit(); |
||
218 | // initialize SPI0 to FC |
||
219 | SPI0_Init(); |
||
220 | // initialize i2c bus to MK3MAG (needs Timer 1) |
||
221 | I2C1_Init(); |
||
222 | // initialize the gps position controller (needs Timer 1) |
||
223 | GPS_Init(); |
||
224 | // initialize fat16 partition on sd card (needs Timer 1) |
||
225 | Fat16_Init(); |
||
88 | killagreg | 226 | // initialize the settings |
227 | Settings_Init(); |
||
92 | killagreg | 228 | // initialize logging (needs settings) |
82 | killagreg | 229 | Logging_Init(); |
1 | ingob | 230 | |
41 | ingob | 231 | TimerCompassUpdate = SetDelay(5); |
232 | TimerCheckError = SetDelay(3000); |
||
110 | killagreg | 233 | UART1_PutString("\r\n---------------------------------------------"); |
234 | UART1_PutString("\n\r Version information:"); |
||
116 | killagreg | 235 | |
41 | ingob | 236 | GetNaviCtrlVersion(); |
116 | killagreg | 237 | |
41 | ingob | 238 | SPI0_GetFlightCtrlVersion(); |
239 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
240 | { |
||
241 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
||
110 | killagreg | 242 | //UART1_PutString(ErrorMSG); |
243 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
||
41 | ingob | 244 | LED_RED_ON; |
245 | } |
||
78 | holgerb | 246 | |
41 | ingob | 247 | I2C1_GetMK3MagVersion(); |
248 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
||
249 | { |
||
110 | killagreg | 250 | UART1_PutString("\n\r MK3Mag not compatible"); |
41 | ingob | 251 | LED_RED_ON; |
252 | } |
||
1 | ingob | 253 | |
116 | killagreg | 254 | UART0_GetMKOSDVersion(); |
255 | |||
110 | killagreg | 256 | UART1_PutString("\r\n---------------------------------------------\r\n\r\n"); |
24 | StephanB | 257 | |
41 | ingob | 258 | for (;;) |
259 | { |
||
92 | killagreg | 260 | UART1_ProcessRxData(); // process request |
41 | ingob | 261 | UART1_TransmitTxData(); // send answer |
24 | StephanB | 262 | |
111 | killagreg | 263 | UART0_ProcessRxData(); // process request |
264 | UART0_TransmitTxData(); // send answer |
||
265 | |||
112 | killagreg | 266 | USB_ProcessRxData(); // process request |
267 | USB_TransmitTxData(); // send answer |
||
268 | |||
41 | ingob | 269 | SPI0_UpdateBuffer(); |
270 | // ------------------------- I2C Timing -------------------------------- |
||
271 | if(I2C_State != I2C_OFF) |
||
272 | { |
||
273 | if (CheckDelay(TimerCompassUpdate)) |
||
274 | { |
||
275 | // check for hanging I2C bus |
||
276 | if(CheckDelay(I2C1_Timeout)) |
||
277 | { // reset I2C |
||
110 | killagreg | 278 | UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r"); |
41 | ingob | 279 | I2C1_Deinit(); |
280 | I2C1_Init(); |
||
281 | } |
||
282 | else |
||
283 | { // check for incomming compass calibration request |
||
284 | // update CalByte from spi input queue |
||
285 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
||
286 | // send new calstate |
||
287 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
||
288 | { |
||
289 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
||
290 | } |
||
291 | else // request current heading |
||
292 | { |
||
293 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
||
294 | } |
||
295 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
||
296 | } |
||
24 | StephanB | 297 | |
41 | ingob | 298 | } |
299 | } |
||
1 | ingob | 300 | |
41 | ingob | 301 | // ---------------- Error Check Timing ---------------------------- |
302 | if(CheckDelay(TimerCheckError)) |
||
1 | ingob | 303 | { |
114 | killagreg | 304 | TimerCheckError = SetDelay(1000); |
41 | ingob | 305 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
306 | CheckErrors(); |
||
77 | holgerb | 307 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
308 | // else NaviData.FlyingTime = 0; |
||
110 | killagreg | 309 | UART1_Request_SendFollowMe = TRUE; |
92 | killagreg | 310 | if(SerialLinkOkay) SerialLinkOkay--; |
311 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
312 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
||
1 | ingob | 313 | } |
82 | killagreg | 314 | // ---------------- Logging --------------------------------------- |
315 | Logging_Update(); |
||
24 | StephanB | 316 | } |
1 | ingob | 317 | } |
318 | |||
24 | StephanB | 319 |