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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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. |
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 |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
35 | // + this list of conditions and the following disclaimer. |
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 |
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. |
37 | // + from this software without specific prior written permission. |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
39 | // + for non-commercial use (directly or indirectly) |
39 | // + for non-commercial use (directly or indirectly) |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
41 | // + with our written permission |
41 | // + with our written permission |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
43 | // + clearly linked as origin |
43 | // + clearly linked as origin |
44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
45 | // |
45 | // |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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 |
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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 |
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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 |
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
58 | const unsigned long _Main_Crystal = 25000; |
58 | const unsigned long _Main_Crystal = 25000; |
59 | 59 | ||
60 | #include "main.h" |
60 | #include "main.h" |
61 | #include "kml.h" |
61 | #include "kml.h" |
62 | 62 | ||
63 | u32 TimerCompassUpdate; |
63 | u32 TimerCompassUpdate; |
64 | u32 TimerI2CReadDelay; |
64 | u32 TimerI2CReadDelay; |
65 | u32 TimerDebugDataDelay; |
65 | u32 TimerDebugDataDelay; |
66 | u32 KmlAddPointDelay; |
66 | u32 KmlAddPointDelay; |
67 | 67 | ||
68 | u8 BeepTime; |
68 | u8 BeepTime; |
69 | void Init_Undef(void); |
69 | void Init_Undef(void); |
70 | u8 Parameter_UserParam1; |
70 | u8 Parameter_UserParam1; |
71 | u8 Parameter_UserParam2; |
71 | u8 Parameter_UserParam2; |
72 | u8 Parameter_UserParam3; |
72 | u8 Parameter_UserParam3; |
73 | u8 Parameter_UserParam4; |
73 | u8 Parameter_UserParam4; |
74 | u8 Parameter_UserParam5; |
74 | u8 Parameter_UserParam5; |
75 | u8 Parameter_UserParam6; |
75 | u8 Parameter_UserParam6; |
76 | u8 Parameter_UserParam7; |
76 | u8 Parameter_UserParam7; |
77 | u8 Parameter_UserParam8; |
77 | u8 Parameter_UserParam8; |
- | 78 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
78 | s32 FC_StickNick; |
79 | s32 FC_StickNick; |
79 | s32 FC_StickRoll; |
80 | s32 FC_StickRoll; |
80 | s32 FC_StickGier; |
81 | s32 FC_StickGier; |
81 | s32 FC_StickGas; |
82 | s32 FC_StickGas; |
82 | s32 FC_Poti1; |
83 | s32 FC_Poti1; |
83 | s32 FC_Poti2; |
84 | s32 FC_Poti2; |
84 | s32 FC_Poti3; |
85 | s32 FC_Poti3; |
85 | s32 FC_Poti4; |
86 | s32 FC_Poti4; |
- | 87 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
86 | s32 SenderOkay = 0; |
88 | s32 SenderOkay = 0; |
- | 89 | s32 UBat = 0; |
|
- | 90 | s32 UndervoltageLevel = 0; |
|
- | 91 | s32 ActiveSetting = 1; |
|
- | 92 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 93 | s32 Parameter_NaviGpsModeControl = 128; |
|
- | 94 | s32 Parameter_NaviGpsGain = 0; |
|
- | 95 | s32 Parameter_NaviGpsP = 90; |
|
- | 96 | s32 Parameter_NaviGpsI = 0; |
|
- | 97 | s32 Parameter_NaviGpsD = 90; |
|
- | 98 | s32 Parameter_NaviGpsACC = 0; |
|
- | 99 | s32 Parameter_NaviGpsMinSat = 3; |
|
- | 100 | s32 Parameter_NaviStickThreshold = 8; |
|
- | 101 | s32 Parameter_RadiusAlert = 15; |
|
- | 102 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 103 | #define FLAG_MOTOR_RUN 1 |
|
- | 104 | #define FLAG_FLY 2 |
|
- | 105 | #define FLAG_CALIBRATE 4 |
|
- | 106 | #define FLAG_START 8 |
|
- | 107 | u32 MikroKopterFlags; |
|
- | 108 | u32 ClearFlags = 1; |
|
- | 109 | //++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
87 | u8 text[20]; |
110 | u8 text[20]; |
88 | 111 | ||
89 | //---------------------------------------------------------------------------------------------------- |
112 | //---------------------------------------------------------------------------------------------------- |
90 | void Leds_Init(void) |
113 | void Leds_Init(void) |
91 | { |
114 | { |
92 | GPIO_InitTypeDef GPIO_InitStructure; |
115 | GPIO_InitTypeDef GPIO_InitStructure; |
93 | 116 | ||
94 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); |
117 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); |
95 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
118 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
96 | 119 | ||
97 | //GPIO_DeInit(GPIO5); |
120 | //GPIO_DeInit(GPIO5); |
98 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
121 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
99 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; |
122 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; |
100 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
123 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
101 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1 ; |
124 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1 ; |
102 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
125 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
103 | 126 | ||
104 | //SD_SWITCH |
127 | //SD_SWITCH |
105 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
128 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
106 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
129 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
107 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
130 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
108 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
131 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
109 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
132 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
110 | 133 | ||
111 | } |
134 | } |
112 | // |
135 | // |
113 | void OutputStartupData(void) |
136 | void OutputStartupData(void) |
114 | { |
137 | { |
115 | 138 | ||
116 | char tex[20]; |
139 | char tex[20]; |
117 | SerialPutString("\n\r--------------\n\r"); |
140 | SerialPutString("\n\r--------------\n\r"); |
118 | 141 | ||
119 | sprintf(text,"NaviCtrl V%d.%d\n\r", VersionInfo.Hauptversion, VersionInfo.Nebenversion); SerialPutString(text); |
142 | sprintf(text,"NaviCtrl V%d.%d\n\r", VersionInfo.Hauptversion, VersionInfo.Nebenversion); SerialPutString(text); |
120 | 143 | ||
121 | 144 | ||
122 | } |
145 | } |
123 | 146 | ||
124 | //---------------------------------------------------------------------------------------------------- |
147 | //---------------------------------------------------------------------------------------------------- |
125 | int main(void) |
148 | int main(void) |
126 | { |
149 | { |
127 | static u8 oldCompassCalState = 0; |
150 | static u8 oldCompassCalState = 0; |
128 | 151 | ||
129 | 152 | ||
130 | static u8 kml_state = 0; |
153 | static u8 kml_state = 0; |
131 | u8 kml_cnt = 0; |
154 | u8 kml_cnt = 0; |
132 | KML_Document_t mydocument; |
155 | KML_Document_t mydocument; |
133 | File *file1; |
156 | File *file1; |
134 | 157 | ||
135 | 158 | ||
136 | u8 str[80]; |
159 | u8 str[80]; |
137 | 160 | ||
138 | 161 | ||
139 | KML_DocumentInit(&mydocument); // Initialise the new kml-document for further use. |
162 | KML_DocumentInit(&mydocument); // Initialise the new kml-document for further use. |
140 | 163 | ||
141 | 164 | ||
142 | // SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
165 | // SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
143 | // SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
166 | // SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
144 | // SCU_MCLKSourceConfig(SCU_MCLK_PLL); |
167 | // SCU_MCLKSourceConfig(SCU_MCLK_PLL); |
145 | 168 | ||
146 | 169 | ||
147 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
170 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
148 | SCU_PLLCmd(DISABLE); // PLL aus |
171 | SCU_PLLCmd(DISABLE); // PLL aus |
149 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); |
172 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); |
150 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); |
173 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); |
151 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
174 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
152 | // SCU_FMICLKDivisorConfig(SCU_FMICLK_Div1); |
175 | // SCU_FMICLKDivisorConfig(SCU_FMICLK_Div1); |
153 | // FMI_Config(FMI_READ_WAIT_STATE_3,FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE,FMI_FREQ_HIGH); |
176 | // FMI_Config(FMI_READ_WAIT_STATE_3,FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE,FMI_FREQ_HIGH); |
154 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz |
177 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz |
155 | 178 | ||
156 | SCU_PLLCmd(ENABLE); // PLL Enabled |
179 | SCU_PLLCmd(ENABLE); // PLL Enabled |
157 | 180 | ||
158 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // MCLK = PLL |
181 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // MCLK = PLL |
159 | 182 | ||
160 | 183 | ||
161 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
184 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
162 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
185 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
163 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
186 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
164 | 187 | ||
165 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); |
188 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); |
166 | SCU_AHBPeriphReset(__VIC,DISABLE); |
189 | SCU_AHBPeriphReset(__VIC,DISABLE); |
167 | VIC_DeInit(); |
190 | VIC_DeInit(); |
168 | 191 | ||
169 | InitInterrupt(); |
192 | InitInterrupt(); |
170 | 193 | ||
171 | Leds_Init(); |
194 | Leds_Init(); |
172 | Debug_UART1_Init(); |
195 | Debug_UART1_Init(); |
173 | OutputStartupData(); |
196 | OutputStartupData(); |
174 | 197 | ||
175 | GPS_UART0_Init(); |
198 | GPS_UART0_Init(); |
176 | USB_ConfigInit(); |
199 | USB_ConfigInit(); |
177 | 200 | ||
178 | 201 | ||
179 | SPI0_Init(); |
202 | SPI0_Init(); |
180 | 203 | ||
181 | 204 | ||
182 | 205 | ||
183 | TIMER1_Init(); |
206 | TIMER1_Init(); |
184 | I2C1_Init(); |
207 | I2C1_Init(); |
185 | 208 | ||
186 | I2C_Version.Hauptversion = 0xff; |
209 | I2C_Version.Hauptversion = 0xff; |
187 | 210 | ||
188 | SendI2C_Command(I2C_CMD_VERSION); |
211 | SendI2C_Command(I2C_CMD_VERSION); |
189 | 212 | ||
190 | TimerCompassUpdate = SetDelay(50); |
213 | TimerCompassUpdate = SetDelay(50); |
191 | while (!CheckDelay(TimerCompassUpdate)); |
214 | while (!CheckDelay(TimerCompassUpdate)); |
192 | 215 | ||
193 | TimerCompassUpdate = SetDelay(5); |
216 | TimerCompassUpdate = SetDelay(5); |
194 | TimerI2CReadDelay = SetDelay(5); |
217 | TimerI2CReadDelay = SetDelay(5); |
195 | 218 | ||
196 | KmlAddPointDelay = SetDelay(250); |
219 | KmlAddPointDelay = SetDelay(250); |
197 | 220 | ||
198 | 221 | ||
199 | SerialPutString("\r\n---------------------------------------------"); |
222 | SerialPutString("\r\n---------------------------------------------"); |
200 | 223 | ||
201 | 224 | ||
202 | // ReadSetting(1); |
225 | // ReadSetting(1); |
203 | SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
226 | SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
204 | 227 | ||
205 | InitFat16(); |
228 | InitFat16(); |
206 | 229 | ||
207 | 230 | ||
208 | for (;;) |
231 | for (;;) |
209 | { |
232 | { |
210 | if(NeuerDatensatzEmpfangen) |
233 | if(NeuerDatensatzEmpfangen) |
211 | { |
234 | { |
212 | BearbeiteRxDaten(); |
235 | BearbeiteRxDaten(); |
213 | DatenUebertragung(); |
236 | DatenUebertragung(); |
214 | // if (GPIO_ReadBit(GPIO5, GPIO_Pin_3)) SerialPutString("keine SD\n\r"); else SerialPutString("SD eingesteckt!\n\r"); |
237 | // if (GPIO_ReadBit(GPIO5, GPIO_Pin_3)) SerialPutString("keine SD\n\r"); else SerialPutString("SD eingesteckt!\n\r"); |
215 | 238 | ||
216 | } |
239 | } |
217 | 240 | ||
218 | 241 | ||
219 | UpdateSPI_Buffer(); |
242 | UpdateSPI_Buffer(); |
220 | SPI_CheckSlaveSelect(); |
243 | SPI_CheckSlaveSelect(); |
221 | UART1_Transmit(); |
244 | UART1_Transmit(); |
222 | 245 | ||
223 | // ----------- I2C Timing ------------------------- |
246 | // ----------- I2C Timing ------------------------- |
224 | if (CheckDelay(TimerCompassUpdate)) |
247 | if (CheckDelay(TimerCompassUpdate)) |
225 | { |
248 | { |
226 | if(oldCompassCalState != CompassCalState) |
249 | if(oldCompassCalState != CompassCalState) |
227 | { |
250 | { |
228 | oldCompassCalState = CompassCalState; |
251 | oldCompassCalState = CompassCalState; |
229 | TimerCompassUpdate = SetDelay(25); |
252 | TimerCompassUpdate = SetDelay(25); |
230 | SendI2C_Command(I2C_CMD_WRITE_CAL); |
253 | SendI2C_Command(I2C_CMD_WRITE_CAL); |
231 | } |
254 | } |
232 | else |
255 | else |
233 | { |
256 | { |
234 | GPIO_ToggleBit(GPIO5, GPIO_Pin_6); |
257 | GPIO_ToggleBit(GPIO5, GPIO_Pin_6); |
235 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
258 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
236 | TimerCompassUpdate = SetDelay(25); |
259 | TimerCompassUpdate = SetDelay(25); |
237 | SendI2C_Command(I2C_CMD_READ_HEADING); |
260 | SendI2C_Command(I2C_CMD_READ_HEADING); |
238 | } |
261 | } |
239 | 262 | ||
240 | } |
263 | } |
241 | 264 | ||
242 | if (CheckDelay(TimerI2CReadDelay)) |
265 | if (CheckDelay(TimerI2CReadDelay)) |
243 | { |
266 | { |
244 | if (I2C_ReadRequest) |
267 | if (I2C_ReadRequest) |
245 | { |
268 | { |
246 | I2C_ReadRequest= 0; |
269 | I2C_ReadRequest= 0; |
247 | 270 | ||
248 | I2C_Direction = I2C_MODE_RECEIVER; |
271 | I2C_Direction = I2C_MODE_RECEIVER; |
249 | I2C_GenerateStart(I2C1, ENABLE); |
272 | I2C_GenerateStart(I2C1, ENABLE); |
250 | } |
273 | } |
251 | TimerI2CReadDelay = SetDelay(1000); |
274 | TimerI2CReadDelay = SetDelay(1000); |
252 | } |
275 | } |
253 | 276 | ||
254 | if (CheckDelay(TimerDebugDataDelay)) |
277 | if (CheckDelay(TimerDebugDataDelay)) |
255 | { SendGPSPosAnforderung = 1; |
278 | { SendGPSPosAnforderung = 1; |
256 | DatenUebertragung(); |
279 | DatenUebertragung(); |
257 | 280 | ||
258 | TimerDebugDataDelay = SetDelay(500); |
281 | TimerDebugDataDelay = SetDelay(500); |
259 | } |
282 | } |
260 | 283 | ||
261 | 284 | ||
262 | // ----------- KML Timing ------------------------- |
285 | // ----------- KML Timing ------------------------- |
263 | if(CheckDelay(KmlAddPointDelay)) |
286 | if(CheckDelay(KmlAddPointDelay)) |
264 | { |
287 | { |
265 | KmlAddPointDelay = SetDelay(500); |
288 | KmlAddPointDelay = SetDelay(500); |
266 | - | ||
267 | switch(kml_state) |
289 | switch(kml_state) |
268 | { |
290 | { |
269 | case 0: |
291 | case 0: |
270 | if((GPS_Data.Flags & GPS_FIX) && (GPS_Data.Used_Sat >= GPS_SAT_MIN)) |
292 | if((GPS_Data.Flags & GPS_FIX) && (GPS_Data.Used_Sat >= GPS_SAT_MIN)) |
271 | { |
293 | { |
272 | if(str_Volume.state == INITIALIZED) // has the volume and filesystem been initialized? |
294 | if(str_Volume.state == INITIALIZED) // has the volume and filesystem been initialized? |
273 | { |
295 | { |
274 | if(KML_DocumentOpen("flight01.kml",&mydocument)) // create a new kml-document on the memorycard. |
296 | if(KML_DocumentOpen("flight01.kml",&mydocument)) // create a new kml-document on the memorycard. |
275 | { |
297 | { |
276 | SerialPutString("\r\nopening kml-file\r\nadding data"); |
298 | SerialPutString("\r\nopening kml-file\r\nadding data"); |
277 | kml_state = 1; |
299 | kml_state = 1; |
278 | } |
300 | } |
279 | } |
301 | } |
280 | else |
302 | else |
281 | { |
303 | { |
282 | InitFat16(); |
304 | InitFat16(); |
- | 305 | if(str_Volume.state != INITIALIZED) KmlAddPointDelay = SetDelay(5000); // try again in 5 sek |
|
283 | } |
306 | } |
284 | } |
307 | } |
285 | break; // document.state will be changed to DOC_OPENED automatic. |
308 | break; // document.state will be changed to DOC_OPENED automatic. |
286 | 309 | ||
287 | case 1: // linestring opened, so datapoint (gps_coordinates) can be added to the document. |
310 | case 1: // linestring opened, so datapoint (gps_coordinates) can be added to the document. |
288 | if(kml_cnt++ < 20) // add 10 datapoints to the document. |
311 | if(kml_cnt++ < 20) // add 10 datapoints to the document. |
289 | { |
312 | { |
290 | KML_LoggGPSCoordinates(GPS_Data,&mydocument); |
313 | KML_LoggGPSCoordinates(GPS_Data,&mydocument); |
291 | } |
314 | } |
292 | else // after the datapoints have been written to the document close the document. |
315 | else // after the datapoints have been written to the document close the document. |
293 | { |
316 | { |
294 | KML_DocumentClose(&mydocument); |
317 | KML_DocumentClose(&mydocument); |
295 | SerialPutString("\r\nfile closed"); |
318 | SerialPutString("\r\nfile closed"); |
296 | kml_state = 2; |
319 | kml_state = 2; |
297 | } |
320 | } |
298 | break; |
321 | break; |
299 | 322 | ||
300 | default: // all data has been written to card. open new document to add new data. |
323 | default: // all data has been written to card. open new document to add new data. |
301 | } |
324 | } |
302 | } |
325 | } |
303 | } |
326 | } |
304 | } |
327 | } |
305 | 328 | ||
306 | 329 | ||
307 | 330 | ||
308 | 331 |