| /trunk/main.c |
|---|
| 100,6 → 100,7 |
| u8 StopNavigation = 0; |
| volatile u32 PollingTimeout = 10000; |
| Param_t Parameter; |
| Partner_t Partner; |
| volatile FC_t FC; |
| volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
| volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
| 107,7 → 108,9 |
| u8 NewWPL_Name = 0; |
| u32 MaxWP_Radius_in_m = 0; |
| s8 ErrorMSG[25]; |
| s8 PartnerErrorMSG[25] = " --- \0"; |
| u32 TimeSinceMotorStart = 0; |
| u8 IamMaster = NOTHING; // for Master/Slave Redundance |
| //---------------------------------------------------------------------------------------------------- |
| void SCU_Config(void) |
| 416,6 → 419,11 |
| sprintf(ErrorMSG,"Redundancy test "); |
| newErrorCode = 37; |
| } |
| else if(CanbusTimeOut == 1) |
| { |
| sprintf(ErrorMSG,"ERR: Canbus"); |
| newErrorCode = 39; |
| } |
| else // no error occured |
| { |
| StopNavigation = 0; |
| 461,6 → 469,7 |
| if(CountMilliseconds != old_ms) // 1 ms |
| { |
| if(CanbusTimeOut >= 2) CanbusTimeOut--; |
| old_ms = CountMilliseconds; |
| Compass_Update(); // update compass communication |
| Analog_Update(); // get new ADC values |
| 612,6 → 621,9 |
| // initialize logging (needs settings) |
| Logging_Init(); |
| if(UART_VersionInfo.HWMajor < 30) IamMaster = SLAVE; else IamMaster = MASTER; |
| //UART_VersionInfo.HWMajor = 30; |
| LED_GRN_ON; |
| TimerCheckError = SetDelay(3000); |
| UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| /trunk/main.h |
|---|
| 35,6 → 35,7 |
| // 17 = R |
| // 18 = S |
| #define CAN_SLAVE_COMPATIBLE 1 |
| #ifndef FOLLOW_ME |
| #define FC_SPI_COMPATIBLE 78 // <------------------ |
| #else |
| 61,6 → 62,8 |
| #define FC_STATUS2_OUT1_ACTIVE 0x08 |
| #define FC_STATUS2_OUT2_ACTIVE 0x10 |
| #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
| #define FC_STATUS2_AUTO_STARTING 0x40 |
| #define FC_STATUS2_AUTO_LANDING 0x80 |
| // FC.StatusFlags3 |
| #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
| 67,6 → 70,8 |
| #define FC_STATUS3_BOAT 0x02 |
| #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
| #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
| #define FC_STATUS3_NOT_CALIBRATED 0x10 |
| #define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
| #define OSD_FLAG_MASK1 (0x04 + 0x20 + 0x40 + 0x80) |
| #define OSD_FLAG_MASK2 (0x01 + 0x02 + 0x08 + 0x10) |
| 193,6 → 198,11 |
| extern s16 GeoMagDec; |
| extern u8 NewWPL_Name; |
| #define NOTHING 0 |
| #define MASTER 1 |
| #define SLAVE 2 |
| extern u8 IamMaster; |
| #define VERSION_SERIAL_MAJOR 11 // do not change! |
| typedef struct |
| 275,10 → 285,23 |
| u8 AutoPhotoDistance; |
| } __attribute__((packed)) FC_t; // from FC |
| typedef struct |
| { |
| u8 ErrorCode; |
| u8 StatusFlags; |
| u8 StatusFlags2; |
| u8 StatusFlags3; |
| u8 NC_To_FC_Flags; |
| u8 MagnetField; // in % |
| s16 GyroCompassCorrected; |
| } __attribute__((packed)) Partner_t; // from FC |
| extern Partner_t Partner; |
| extern Param_t Parameter; |
| extern volatile FC_t FC; |
| extern s8 ErrorMSG[25]; |
| extern u8 ErrorCode; |
| extern s8 PartnerErrorMSG[25]; |
| extern u8 ErrorCode,PartnerErrorCode; |
| extern u8 StopNavigation; |
| extern u8 ErrorGpsFixLost; |
| extern u8 FromFC_LoadWP_List, ToFC_MaxWpListIndex, FromFC_Load_SinglePoint, FromFC_Save_SinglePoint; |
| 287,7 → 310,7 |
| extern volatile u32 PollingTimeout; |
| extern u32 CountGpsProcessedIn5Sec,CountNewGpsDataIn5Sec, FreqGpsNavProcessed, FreqNewGpsData; |
| extern u32 TimeSinceMotorStart; |
| extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
| extern u16 SD_SettingWaitLED; |
| extern u16 SD_PosAccuracy; |
| extern u16 SD_ComingHomeSpeed; |
| 296,6 → 319,11 |
| extern u8 SpeakWaypointRached; // Speak once as soon as the Points are active |
| extern u8 SpeakNextWaypoint; // Speak once when reached |
| extern u8 NewWaypointsReceived; // when 1: activates the Waypoint list as soon as CH is started |
| extern s16 GyroCompassCorrected; |
| extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
| extern s16 CompassSetpoint; |
| extern u8 AmountOfMotors; |
| extern s16 SimulatedDirection; // simulated compass direction |
| #define CHECK_ONLY 0 |
| /trunk/spi_slave.h |
|---|
| 84,11 → 84,6 |
| extern u8 FCCalibActive; |
| extern u8 SpeakHoTT; |
| extern u8 NC_Wait_for_LED; |
| extern s16 GyroCompassCorrected; |
| extern s16 CompassSetpointCorrected; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
| extern s16 CompassSetpoint; |
| extern u8 AmountOfMotors; |
| extern s16 SimulatedDirection; // simulated compass direction |
| #define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved |
| extern s8 PPM_In[MAX_RC_IN]; |
| 100,7 → 95,6 |
| extern u8 FromFC_VarioCharacter; |
| extern u8 Logging_FCStatusFlags1,Logging_FCStatusFlags2; |
| extern s16 POI_KameraNick; |
| extern u8 NC_To_FC_Flags, NC_To_FC_Autostart; |
| extern u16 FlugMinutenGesamt; |
| extern u32 LoggingGasFilter, LoggingGasCnt; |
| extern u8 HoverGas; |
| 340,7 → 334,7 |
| unsigned char StartLandChannel; |
| unsigned char LandingSpeed; |
| unsigned char CompassOffset; |
| unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
| unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled |
| unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled |
| unsigned char AutoPhotoAtitudes; |
| unsigned char SingleWpSpeed; |