Rev 153 | Rev 155 | 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" |
154 | killagreg | 77 | #include "config.h" |
1 | ingob | 78 | #include "main.h" |
79 | |||
41 | ingob | 80 | u32 TimerCheckError; |
81 | u32 ErrorCode = 0; |
||
82 | u16 BeepTime; |
||
92 | killagreg | 83 | u8 NCFlags = 0; |
153 | killagreg | 84 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
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 | { |
||
146 | killagreg | 128 | if(CheckDelay(SPI0_Timeout)) |
41 | ingob | 129 | { |
130 | LED_RED_ON; |
||
131 | sprintf(ErrorMSG,"no FC communication "); |
||
132 | ErrorCode = 3; |
||
133 | StopNavigation = 1; |
||
134 | } |
||
146 | killagreg | 135 | else if(CheckDelay(I2C1_Timeout)) |
41 | ingob | 136 | { |
137 | LED_RED_ON; |
||
138 | sprintf(ErrorMSG,"no MK3Mag communication "); |
||
149 | killagreg | 139 | //Reset I2CBus |
140 | I2C1_Deinit(); |
||
141 | I2C1_Init(); |
||
41 | ingob | 142 | ErrorCode = 4; |
143 | StopNavigation = 1; |
||
144 | } |
||
145 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
146 | { |
||
147 | LED_RED_ON; |
||
148 | sprintf(ErrorMSG,"FC not compatible "); |
||
149 | ErrorCode = 1; |
||
150 | StopNavigation = 1; |
||
151 | } |
||
152 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
||
153 | { |
||
154 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
||
155 | LED_RED_ON; |
||
156 | ErrorCode = 2; |
||
157 | StopNavigation = 1; |
||
158 | } |
||
146 | killagreg | 159 | else if(CheckDelay(UBX_Timeout)) |
41 | ingob | 160 | { |
161 | LED_RED_ON; |
||
162 | sprintf(ErrorMSG,"no GPS communication "); |
||
163 | ErrorCode = 5; |
||
164 | StopNavigation = 1; |
||
165 | } |
||
166 | else if(I2C_Heading.Heading < 0) |
||
167 | { |
||
168 | LED_RED_ON; |
||
169 | sprintf(ErrorMSG,"bad compass value "); |
||
170 | ErrorCode = 6; |
||
171 | StopNavigation = 1; |
||
172 | } |
||
173 | else if(FC.RC_Quality < 100) |
||
174 | { |
||
175 | LED_RED_ON; |
||
176 | sprintf(ErrorMSG,"RC Signal lost "); |
||
177 | ErrorCode = 7; |
||
178 | } |
||
179 | else // no error occured |
||
180 | { |
||
181 | sprintf(ErrorMSG,"No Error "); |
||
182 | ErrorCode = 0; |
||
183 | StopNavigation = 0; |
||
184 | LED_RED_OFF; |
||
185 | } |
||
186 | } |
||
24 | StephanB | 187 | |
154 | killagreg | 188 | // the handler will be cyclic called by the timer 1 ISR |
189 | // used is for critical timing parts that normaly would handled |
||
190 | // within the main loop that could block longer at logging activities |
||
191 | void EXTIT3_IRQHandler(void) |
||
192 | { |
||
193 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
||
24 | StephanB | 194 | |
154 | killagreg | 195 | I2C1_UpdateCompass(); // update compass communication |
196 | UART0_ProcessRxData(); // process request |
||
197 | UART1_ProcessRxData(); // process request |
||
198 | USB_ProcessRxData(); // process request |
||
1 | ingob | 199 | |
154 | killagreg | 200 | SPI0_UpdateBuffer(); // handle new SPI Data |
201 | Analog_Update(); // get new ADC values |
||
202 | |||
203 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
204 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
||
205 | } |
||
206 | |||
41 | ingob | 207 | //---------------------------------------------------------------------------------------------------- |
208 | int main(void) |
||
209 | { |
||
210 | /* Configure the system clocks */ |
||
211 | SCU_Config(); |
||
212 | /* init VIC (Vectored Interrupt Controller) */ |
||
213 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
214 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
215 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
216 | // initialize the interrupt handler |
||
217 | Interrupt_Init(); |
||
119 | killagreg | 218 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 219 | TIMER1_Init(); |
220 | // initialize the LEDs (needs Timer 1) |
||
221 | Led_Init(); |
||
222 | // initialize the debug UART1 |
||
223 | UART1_Init(); |
||
110 | killagreg | 224 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 225 | // initialize timer 2 for servo outputs |
226 | TIMER2_Init(); |
||
41 | ingob | 227 | // initialize UART2 to FLIGHTCTRL |
228 | UART2_Init(); |
||
229 | // initialize UART0 (to MKGPS or MK3MAG) |
||
230 | UART0_Init(); |
||
134 | killagreg | 231 | // initialize adc |
232 | Analog_Init(); |
||
41 | ingob | 233 | // initialize usb |
141 | killagreg | 234 | //USB_ConfigInit(); |
41 | ingob | 235 | // initialize SPI0 to FC |
236 | SPI0_Init(); |
||
237 | // initialize i2c bus to MK3MAG (needs Timer 1) |
||
238 | I2C1_Init(); |
||
239 | // initialize the gps position controller (needs Timer 1) |
||
240 | GPS_Init(); |
||
241 | // initialize fat16 partition on sd card (needs Timer 1) |
||
242 | Fat16_Init(); |
||
88 | killagreg | 243 | // initialize the settings |
244 | Settings_Init(); |
||
92 | killagreg | 245 | // initialize logging (needs settings) |
82 | killagreg | 246 | Logging_Init(); |
1 | ingob | 247 | |
41 | ingob | 248 | TimerCheckError = SetDelay(3000); |
110 | killagreg | 249 | UART1_PutString("\r\n---------------------------------------------"); |
250 | UART1_PutString("\n\r Version information:"); |
||
116 | killagreg | 251 | |
41 | ingob | 252 | GetNaviCtrlVersion(); |
149 | killagreg | 253 | |
150 | killagreg | 254 | I2C1_GetMK3MagVersion(); |
255 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
||
41 | ingob | 256 | { |
150 | killagreg | 257 | UART1_PutString("\n\r MK3Mag not compatible"); |
41 | ingob | 258 | LED_RED_ON; |
259 | } |
||
78 | holgerb | 260 | |
150 | killagreg | 261 | SPI0_GetFlightCtrlVersion(); |
262 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
41 | ingob | 263 | { |
150 | killagreg | 264 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
41 | ingob | 265 | LED_RED_ON; |
266 | } |
||
1 | ingob | 267 | |
116 | killagreg | 268 | UART0_GetMKOSDVersion(); |
269 | |||
110 | killagreg | 270 | UART1_PutString("\r\n---------------------------------------------\r\n\r\n"); |
154 | killagreg | 271 | |
272 | // ---------- Prepare the isr driven |
||
273 | // set to absolute lowest priority |
||
274 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
||
275 | // enanble interrupts |
||
276 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
||
24 | StephanB | 277 | |
154 | killagreg | 278 | for (;;) // the endless main loop |
41 | ingob | 279 | { |
154 | killagreg | 280 | UART0_TransmitTxData(); // send answer |
146 | killagreg | 281 | UART1_TransmitTxData(); // send answer |
112 | killagreg | 282 | USB_TransmitTxData(); // send answer |
283 | |||
41 | ingob | 284 | // ---------------- Error Check Timing ---------------------------- |
285 | if(CheckDelay(TimerCheckError)) |
||
1 | ingob | 286 | { |
114 | killagreg | 287 | TimerCheckError = SetDelay(1000); |
146 | killagreg | 288 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
41 | ingob | 289 | CheckErrors(); |
77 | holgerb | 290 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
146 | killagreg | 291 | // else NaviData.FlyingTime = 0; // not the time per flight |
110 | killagreg | 292 | UART1_Request_SendFollowMe = TRUE; |
92 | killagreg | 293 | if(SerialLinkOkay) SerialLinkOkay--; |
294 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
295 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
||
1 | ingob | 296 | } |
82 | killagreg | 297 | // ---------------- Logging --------------------------------------- |
146 | killagreg | 298 | 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 |
299 | // ---------------- ADC readings ----------------------------------- |
||
24 | StephanB | 300 | } |
1 | ingob | 301 | } |
302 | |||
24 | StephanB | 303 |