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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 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
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32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
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33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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35 | // + this list of conditions and the following disclaimer. |
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36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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37 | // + from this software without specific prior written permission. |
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38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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39 | // + for non-commercial use (directly or indirectly) |
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40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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41 | // + with our written permission |
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42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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43 | // + clearly linked as origin |
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44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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45 | // |
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46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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56 | // + POSSIBILITY OF SUCH DAMAGE. |
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57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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58 | const unsigned long _Main_Crystal = 25000; |
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59 | |||
60 | #include "main.h" |
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24 | StephanB | 61 | #include "kml.h" |
1 | ingob | 62 | |
63 | u32 TimerCompassUpdate; |
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64 | u32 TimerI2CReadDelay; |
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65 | u32 TimerDebugDataDelay; |
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24 | StephanB | 66 | u32 KmlAddPointDelay; |
1 | ingob | 67 | |
68 | u8 BeepTime; |
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69 | void Init_Undef(void); |
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70 | u8 Parameter_UserParam1; |
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71 | u8 Parameter_UserParam2; |
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72 | u8 Parameter_UserParam3; |
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73 | u8 Parameter_UserParam4; |
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74 | u8 Parameter_UserParam5; |
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75 | u8 Parameter_UserParam6; |
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76 | u8 Parameter_UserParam7; |
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77 | u8 Parameter_UserParam8; |
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27 | holgerb | 78 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 79 | s32 FC_StickNick; |
80 | s32 FC_StickRoll; |
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81 | s32 FC_StickGier; |
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82 | s32 FC_StickGas; |
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83 | s32 FC_Poti1; |
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84 | s32 FC_Poti2; |
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85 | s32 FC_Poti3; |
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86 | s32 FC_Poti4; |
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27 | holgerb | 87 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 88 | s32 SenderOkay = 0; |
27 | holgerb | 89 | s32 UBat = 0; |
90 | s32 UndervoltageLevel = 0; |
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91 | s32 ActiveSetting = 1; |
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92 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
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93 | s32 Parameter_NaviGpsModeControl = 128; |
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94 | s32 Parameter_NaviGpsGain = 0; |
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95 | s32 Parameter_NaviGpsP = 90; |
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96 | s32 Parameter_NaviGpsI = 0; |
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97 | s32 Parameter_NaviGpsD = 90; |
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98 | s32 Parameter_NaviGpsACC = 0; |
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99 | s32 Parameter_NaviGpsMinSat = 3; |
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100 | s32 Parameter_NaviStickThreshold = 8; |
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101 | s32 Parameter_RadiusAlert = 15; |
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102 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
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103 | #define FLAG_MOTOR_RUN 1 |
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104 | #define FLAG_FLY 2 |
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105 | #define FLAG_CALIBRATE 4 |
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106 | #define FLAG_START 8 |
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107 | u32 MikroKopterFlags; |
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108 | u32 ClearFlags = 1; |
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109 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1 | ingob | 110 | u8 text[20]; |
111 | |||
112 | //---------------------------------------------------------------------------------------------------- |
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113 | void Leds_Init(void) |
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114 | { |
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115 | GPIO_InitTypeDef GPIO_InitStructure; |
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116 | |||
117 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); |
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118 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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119 | |||
120 | //GPIO_DeInit(GPIO5); |
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121 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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122 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; |
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123 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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124 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1 ; |
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125 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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126 | |||
24 | StephanB | 127 | //SD_SWITCH |
1 | ingob | 128 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
129 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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130 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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131 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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132 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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133 | |||
134 | } |
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135 | // |
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136 | void OutputStartupData(void) |
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137 | { |
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138 | |||
24 | StephanB | 139 | char tex[20]; |
1 | ingob | 140 | SerialPutString("\n\r--------------\n\r"); |
141 | |||
142 | sprintf(text,"NaviCtrl V%d.%d\n\r", VersionInfo.Hauptversion, VersionInfo.Nebenversion); SerialPutString(text); |
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143 | |||
144 | |||
145 | } |
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146 | |||
147 | //---------------------------------------------------------------------------------------------------- |
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148 | int main(void) |
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149 | { |
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150 | static u8 oldCompassCalState = 0; |
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151 | |||
24 | StephanB | 152 | |
153 | static u8 kml_state = 0; |
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154 | u8 kml_cnt = 0; |
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155 | KML_Document_t mydocument; |
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156 | File *file1; |
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157 | |||
158 | |||
159 | u8 str[80]; |
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160 | |||
161 | |||
162 | KML_DocumentInit(&mydocument); // Initialise the new kml-document for further use. |
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163 | |||
164 | |||
1 | ingob | 165 | // SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
166 | // SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
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167 | // SCU_MCLKSourceConfig(SCU_MCLK_PLL); |
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168 | |||
169 | |||
170 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
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171 | SCU_PLLCmd(DISABLE); // PLL aus |
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172 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); |
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173 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); |
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174 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
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175 | // SCU_FMICLKDivisorConfig(SCU_FMICLK_Div1); |
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176 | // FMI_Config(FMI_READ_WAIT_STATE_3,FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE,FMI_FREQ_HIGH); |
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177 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz |
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178 | |||
179 | SCU_PLLCmd(ENABLE); // PLL Enabled |
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180 | |||
181 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // MCLK = PLL |
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182 | |||
183 | |||
184 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
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185 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
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186 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
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187 | |||
188 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); |
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189 | SCU_AHBPeriphReset(__VIC,DISABLE); |
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190 | VIC_DeInit(); |
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191 | |||
192 | InitInterrupt(); |
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193 | |||
194 | Leds_Init(); |
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195 | Debug_UART1_Init(); |
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196 | OutputStartupData(); |
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197 | |||
198 | GPS_UART0_Init(); |
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199 | USB_ConfigInit(); |
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200 | |||
201 | |||
202 | SPI0_Init(); |
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203 | |||
204 | |||
205 | |||
206 | TIMER1_Init(); |
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207 | I2C1_Init(); |
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208 | |||
209 | I2C_Version.Hauptversion = 0xff; |
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210 | |||
211 | SendI2C_Command(I2C_CMD_VERSION); |
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212 | |||
213 | TimerCompassUpdate = SetDelay(50); |
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214 | while (!CheckDelay(TimerCompassUpdate)); |
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215 | |||
216 | TimerCompassUpdate = SetDelay(5); |
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217 | TimerI2CReadDelay = SetDelay(5); |
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218 | |||
24 | StephanB | 219 | KmlAddPointDelay = SetDelay(250); |
220 | |||
221 | |||
222 | SerialPutString("\r\n---------------------------------------------"); |
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223 | |||
224 | |||
225 | // ReadSetting(1); |
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226 | SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
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227 | |||
1 | ingob | 228 | InitFat16(); |
24 | StephanB | 229 | |
1 | ingob | 230 | |
231 | for (;;) |
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232 | { |
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233 | if(NeuerDatensatzEmpfangen) |
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234 | { |
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235 | BearbeiteRxDaten(); |
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236 | DatenUebertragung(); |
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237 | // if (GPIO_ReadBit(GPIO5, GPIO_Pin_3)) SerialPutString("keine SD\n\r"); else SerialPutString("SD eingesteckt!\n\r"); |
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238 | |||
239 | } |
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240 | |||
241 | |||
242 | UpdateSPI_Buffer(); |
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243 | SPI_CheckSlaveSelect(); |
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244 | UART1_Transmit(); |
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245 | |||
246 | // ----------- I2C Timing ------------------------- |
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247 | if (CheckDelay(TimerCompassUpdate)) |
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248 | { |
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249 | if(oldCompassCalState != CompassCalState) |
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250 | { |
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251 | oldCompassCalState = CompassCalState; |
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252 | TimerCompassUpdate = SetDelay(25); |
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253 | SendI2C_Command(I2C_CMD_WRITE_CAL); |
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254 | } |
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255 | else |
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256 | { |
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257 | GPIO_ToggleBit(GPIO5, GPIO_Pin_6); |
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258 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
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259 | TimerCompassUpdate = SetDelay(25); |
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260 | SendI2C_Command(I2C_CMD_READ_HEADING); |
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261 | } |
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262 | |||
263 | } |
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264 | |||
265 | if (CheckDelay(TimerI2CReadDelay)) |
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266 | { |
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267 | if (I2C_ReadRequest) |
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268 | { |
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269 | I2C_ReadRequest= 0; |
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270 | |||
271 | I2C_Direction = I2C_MODE_RECEIVER; |
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272 | I2C_GenerateStart(I2C1, ENABLE); |
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273 | } |
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274 | TimerI2CReadDelay = SetDelay(1000); |
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275 | } |
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276 | |||
277 | if (CheckDelay(TimerDebugDataDelay)) |
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278 | { SendGPSPosAnforderung = 1; |
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279 | DatenUebertragung(); |
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280 | |||
281 | TimerDebugDataDelay = SetDelay(500); |
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282 | } |
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24 | StephanB | 283 | |
284 | |||
285 | // ----------- KML Timing ------------------------- |
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286 | if(CheckDelay(KmlAddPointDelay)) |
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287 | { |
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288 | KmlAddPointDelay = SetDelay(500); |
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289 | switch(kml_state) |
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290 | { |
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291 | case 0: |
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292 | if((GPS_Data.Flags & GPS_FIX) && (GPS_Data.Used_Sat >= GPS_SAT_MIN)) |
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293 | { |
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294 | if(str_Volume.state == INITIALIZED) // has the volume and filesystem been initialized? |
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295 | { |
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296 | if(KML_DocumentOpen("flight01.kml",&mydocument)) // create a new kml-document on the memorycard. |
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297 | { |
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298 | SerialPutString("\r\nopening kml-file\r\nadding data"); |
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299 | kml_state = 1; |
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300 | } |
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301 | } |
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302 | else |
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303 | { |
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304 | InitFat16(); |
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27 | holgerb | 305 | if(str_Volume.state != INITIALIZED) KmlAddPointDelay = SetDelay(5000); // try again in 5 sek |
24 | StephanB | 306 | } |
307 | } |
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308 | break; // document.state will be changed to DOC_OPENED automatic. |
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309 | |||
310 | case 1: // linestring opened, so datapoint (gps_coordinates) can be added to the document. |
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311 | if(kml_cnt++ < 20) // add 10 datapoints to the document. |
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312 | { |
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313 | KML_LoggGPSCoordinates(GPS_Data,&mydocument); |
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314 | } |
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315 | else // after the datapoints have been written to the document close the document. |
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316 | { |
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317 | KML_DocumentClose(&mydocument); |
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318 | SerialPutString("\r\nfile closed"); |
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319 | kml_state = 2; |
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320 | } |
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321 | break; |
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322 | |||
323 | default: // all data has been written to card. open new document to add new data. |
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324 | } |
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325 | } |
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326 | } |
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1 | ingob | 327 | } |
328 | |||
24 | StephanB | 329 | |
330 |