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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
| // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define MCLK96MHZ |
| const unsigned long _Main_Crystal = 25000; |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "led.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "uart2.h" |
| #include "GPS.h" |
| #include "i2c.h" |
| #include "timer1.h" |
| #include "timer2.h" |
| #include "analog.h" |
| #include "spi_slave.h" |
| #include "fat16.h" |
| #include "usb.h" |
| #include "sdc.h" |
| #include "logging.h" |
| #include "params.h" |
| #include "settings.h" |
| #include "config.h" |
| #include "main.h" |
| |
| u32 TimerCheckError; |
| u32 ErrorCode = 0; |
| u16 BeepTime; |
| u8 NCFlags = 0; |
| s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
| |
| u8 ClearFCFlags = 0; |
| u8 StopNavigation = 0; |
| Param_t Parameter; |
| volatile FC_t FC; |
| |
| s8 ErrorMSG[25]; |
| |
| //---------------------------------------------------------------------------------------------------- |
| void SCU_Config(void) |
| { |
| /* configure PLL and set it as master clock source */ |
| SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
| SCU_PLLCmd(DISABLE); // now disable the PLL |
| #ifdef MCLK96MHZ |
| SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
| SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
| SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
| #else |
| SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
| SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
| SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
| #endif |
| SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
| SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
| } |
| |
| //---------------------------------------------------------------------------------------------------- |
| void GetNaviCtrlVersion(void) |
| { |
| u8 msg[25]; |
| |
| sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| UART1_PutString(msg); |
| } |
| |
| //---------------------------------------------------------------------------------------------------- |
| void CheckErrors(void) |
| { |
| if(CheckDelay(SPI0_Timeout)) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no FC communication "); |
| ErrorCode = 3; |
| StopNavigation = 1; |
| } |
| else if(CheckDelay(I2C1_Timeout)) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no MK3Mag communication "); |
| //Reset I2CBus |
| I2C1_Deinit(); |
| I2C1_Init(); |
| ErrorCode = 4; |
| StopNavigation = 1; |
| } |
| else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"FC not compatible "); |
| ErrorCode = 1; |
| StopNavigation = 1; |
| } |
| else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| { |
| sprintf(ErrorMSG,"MK3Mag not compatible "); |
| LED_RED_ON; |
| ErrorCode = 2; |
| StopNavigation = 1; |
| } |
| else if(CheckDelay(UBX_Timeout)) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no GPS communication "); |
| ErrorCode = 5; |
| StopNavigation = 1; |
| } |
| else if(I2C_Heading.Heading < 0) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"bad compass value "); |
| ErrorCode = 6; |
| StopNavigation = 1; |
| } |
| else if(FC.Flags & FCFLAG_SPI_RX_ERR) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"FC spi rx error "); |
| ErrorCode = 8; |
| StopNavigation = 1; |
| } |
| else if(FC.RC_Quality < 100) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"RC Signal lost "); |
| ErrorCode = 7; |
| } |
| else // no error occured |
| { |
| sprintf(ErrorMSG,"No Error "); |
| ErrorCode = 0; |
| StopNavigation = 0; |
| LED_RED_OFF; |
| } |
| } |
| |
| // the handler will be cyclic called by the timer 1 ISR |
| // used is for critical timing parts that normaly would handled |
| // within the main loop that could block longer at logging activities |
| void EXTIT3_IRQHandler(void) |
| { |
| IENABLE; |
| |
| VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
| VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
| I2C1_UpdateCompass(); // update compass communication |
| Analog_Update(); // get new ADC values |
| VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
| |
| IDISABLE; |
| } |
| |
| //---------------------------------------------------------------------------------------------------- |
| int main(void) |
| { |
| /* Configure the system clocks */ |
| SCU_Config(); |
| /* init VIC (Vectored Interrupt Controller) */ |
| SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
| SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
| VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
| VIC_InitDefaultVectors(); |
| |
| // initialize timer 1 for System Clock and delay rountines |
| TIMER1_Init(); |
| // initialize the LEDs (needs Timer 1) |
| Led_Init(); |
| // initialize the debug UART1 |
| UART1_Init(); |
| UART1_PutString("\r\n---------------------------------------------"); |
| // initialize timer 2 for servo outputs |
| //TIMER2_Init(); |
| // initialize UART2 to FLIGHTCTRL |
| UART2_Init(); |
| // initialize UART0 (to MKGPS or MK3MAG) |
| UART0_Init(); |
| // initialize adc |
| Analog_Init(); |
| // initialize usb |
| //USB_ConfigInit(); |
| // initialize SPI0 to FC |
| SPI0_Init(); |
| // initialize i2c bus to MK3MAG (needs Timer 1) |
| I2C1_Init(); |
| // initialize the gps position controller (needs Timer 1) |
| Fat16_Init(); |
| // initialize NC params |
| NCParams_Init(); |
| // initialize the settings |
| Settings_Init(); |
| // initialize logging (needs settings) |
| Logging_Init(); |
| |
| TimerCheckError = SetDelay(3000); |
| UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| UART1_PutString("\n\r Version information:"); |
| |
| GetNaviCtrlVersion(); |
| |
| I2C1_GetMK3MagVersion(); |
| if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| { |
| UART1_PutString("\n\r MK3Mag not compatible"); |
| LED_RED_ON; |
| } |
| |
| SPI0_GetFlightCtrlVersion(); |
| if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| { |
| UART1_PutString("\n\r Flight-Ctrl not compatible"); |
| LED_RED_ON; |
| } |
| |
| UART0_GetMKOSDVersion(); |
| |
| GPS_Init(); |
| // initialize fat16 partition on sd card (needs Timer 1) |
| |
| // ---------- Prepare the isr driven |
| // set to absolute lowest priority |
| VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
| // enable interrupts |
| VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
| |
| for (;;) // the endless main loop |
| { |
| UART0_ProcessRxData(); // process request |
| UART1_ProcessRxData(); // process request |
| USB_ProcessRxData(); // process request |
| UART0_TransmitTxData(); // send answer |
| UART1_TransmitTxData(); // send answer |
| UART2_TransmitTxData(); // send answer |
| USB_TransmitTxData(); // send answer |
| |
| SPI0_UpdateBuffer(); // handle new SPI Data |
| // ---------------- Error Check Timing ---------------------------- |
| if(CheckDelay(TimerCheckError)) |
| { |
| TimerCheckError = SetDelay(1000); |
| if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
| CheckErrors(); |
| if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| // else NaviData.FlyingTime = 0; // not the time per flight |
| UART1_Request_SendFollowMe = TRUE; |
| if(SerialLinkOkay) SerialLinkOkay--; |
| if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| } |
| // ---------------- Logging --------------------------------------- |
| 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 |
| } |
| } |
| |
| |