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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 / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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 oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung 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 the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // + * porting the sources to other systems or using the software on other systems (except 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 | //#define MCLK96MHZ |
58 | //#define MCLK96MHZ |
59 | const unsigned long _Main_Crystal = 25000; |
59 | const unsigned long _Main_Crystal = 25000; |
60 | #include <stdio.h> |
60 | #include <stdio.h> |
61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
62 | #include "led.h" |
62 | #include "led.h" |
63 | #include "uart0.h" |
63 | #include "uart0.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "uart2.h" |
65 | #include "uart2.h" |
66 | #include "GPS.h" |
66 | #include "GPS.h" |
67 | #include "i2c.h" |
67 | #include "i2c.h" |
68 | #include "timer1.h" |
68 | #include "timer1.h" |
69 | #include "timer2.h" |
69 | #include "timer2.h" |
70 | #include "analog.h" |
70 | #include "analog.h" |
71 | #include "spi_slave.h" |
71 | #include "spi_slave.h" |
72 | #include "fat16.h" |
72 | #include "fat16.h" |
73 | #include "usb.h" |
73 | #include "usb.h" |
74 | #include "sdc.h" |
74 | #include "sdc.h" |
75 | #include "logging.h" |
75 | #include "logging.h" |
76 | #include "params.h" |
76 | #include "params.h" |
77 | #include "settings.h" |
77 | #include "settings.h" |
78 | #include "config.h" |
78 | #include "config.h" |
79 | #include "main.h" |
79 | #include "main.h" |
80 | 80 | ||
81 | u32 TimerCheckError; |
81 | u32 TimerCheckError; |
82 | u32 ErrorCode = 0; |
82 | u32 ErrorCode = 0; |
83 | u16 BeepTime; |
83 | u16 BeepTime; |
84 | u8 NCFlags = 0; |
84 | u8 NCFlags = 0; |
85 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
85 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
86 | 86 | ||
87 | u8 ClearMKFlags = 0; |
87 | u8 ClearMKFlags = 0; |
88 | u8 StopNavigation = 0; |
88 | u8 StopNavigation = 0; |
89 | Param_t Parameter; |
89 | Param_t Parameter; |
90 | volatile FC_t FC; |
90 | volatile FC_t FC; |
91 | 91 | ||
92 | s8 ErrorMSG[25]; |
92 | s8 ErrorMSG[25]; |
93 | 93 | ||
94 | //---------------------------------------------------------------------------------------------------- |
94 | //---------------------------------------------------------------------------------------------------- |
95 | void SCU_Config(void) |
95 | void SCU_Config(void) |
96 | { |
96 | { |
97 | /* configure PLL and set it as master clock source */ |
97 | /* configure PLL and set it as master clock source */ |
98 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
98 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
99 | SCU_PLLCmd(DISABLE); // now disable the PLL |
99 | SCU_PLLCmd(DISABLE); // now disable the PLL |
100 | #ifdef MCLK96MHZ |
100 | #ifdef MCLK96MHZ |
101 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
101 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
102 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
102 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
103 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
103 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
104 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
104 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
105 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
105 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
106 | #else |
106 | #else |
107 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
107 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
108 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
108 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
109 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
109 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
110 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
110 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
111 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
111 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
112 | #endif |
112 | #endif |
113 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
113 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
114 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
114 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
115 | } |
115 | } |
116 | 116 | ||
117 | //---------------------------------------------------------------------------------------------------- |
117 | //---------------------------------------------------------------------------------------------------- |
118 | void GetNaviCtrlVersion(void) |
118 | void GetNaviCtrlVersion(void) |
119 | { |
119 | { |
120 | u8 msg[25]; |
120 | u8 msg[25]; |
121 | 121 | ||
122 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
122 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
123 | UART1_PutString(msg); |
123 | UART1_PutString(msg); |
124 | } |
124 | } |
125 | 125 | ||
126 | //---------------------------------------------------------------------------------------------------- |
126 | //---------------------------------------------------------------------------------------------------- |
127 | void CheckErrors(void) |
127 | void CheckErrors(void) |
128 | { |
128 | { |
129 | if(CheckDelay(SPI0_Timeout)) |
129 | if(CheckDelay(SPI0_Timeout)) |
130 | { |
130 | { |
131 | LED_RED_ON; |
131 | LED_RED_ON; |
132 | sprintf(ErrorMSG,"no FC communication "); |
132 | sprintf(ErrorMSG,"no FC communication "); |
133 | ErrorCode = 3; |
133 | ErrorCode = 3; |
134 | StopNavigation = 1; |
134 | StopNavigation = 1; |
135 | } |
135 | } |
136 | else if(CheckDelay(I2C1_Timeout)) |
136 | else if(CheckDelay(I2C1_Timeout)) |
137 | { |
137 | { |
138 | LED_RED_ON; |
138 | LED_RED_ON; |
139 | sprintf(ErrorMSG,"no MK3Mag communication "); |
139 | sprintf(ErrorMSG,"no MK3Mag communication "); |
140 | //Reset I2CBus |
140 | //Reset I2CBus |
141 | I2C1_Deinit(); |
141 | I2C1_Deinit(); |
142 | I2C1_Init(); |
142 | I2C1_Init(); |
143 | ErrorCode = 4; |
143 | ErrorCode = 4; |
144 | StopNavigation = 1; |
144 | StopNavigation = 1; |
145 | } |
145 | } |
146 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
146 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
147 | { |
147 | { |
148 | LED_RED_ON; |
148 | LED_RED_ON; |
149 | sprintf(ErrorMSG,"FC not compatible "); |
149 | sprintf(ErrorMSG,"FC not compatible "); |
150 | ErrorCode = 1; |
150 | ErrorCode = 1; |
151 | StopNavigation = 1; |
151 | StopNavigation = 1; |
152 | } |
152 | } |
153 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
153 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
154 | { |
154 | { |
155 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
155 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
156 | LED_RED_ON; |
156 | LED_RED_ON; |
157 | ErrorCode = 2; |
157 | ErrorCode = 2; |
158 | StopNavigation = 1; |
158 | StopNavigation = 1; |
159 | } |
159 | } |
160 | else if(CheckDelay(UBX_Timeout)) |
160 | else if(CheckDelay(UBX_Timeout)) |
161 | { |
161 | { |
162 | LED_RED_ON; |
162 | LED_RED_ON; |
163 | sprintf(ErrorMSG,"no GPS communication "); |
163 | sprintf(ErrorMSG,"no GPS communication "); |
164 | ErrorCode = 5; |
164 | ErrorCode = 5; |
165 | StopNavigation = 1; |
165 | StopNavigation = 1; |
166 | } |
166 | } |
167 | else if(I2C_Heading.Heading < 0) |
167 | else if(I2C_Heading.Heading < 0) |
168 | { |
168 | { |
169 | LED_RED_ON; |
169 | LED_RED_ON; |
170 | sprintf(ErrorMSG,"bad compass value "); |
170 | sprintf(ErrorMSG,"bad compass value "); |
171 | ErrorCode = 6; |
171 | ErrorCode = 6; |
172 | StopNavigation = 1; |
172 | StopNavigation = 1; |
173 | } |
173 | } |
174 | else if(FC.RC_Quality < 100) |
174 | else if(FC.RC_Quality < 100) |
175 | { |
175 | { |
176 | LED_RED_ON; |
176 | LED_RED_ON; |
177 | sprintf(ErrorMSG,"RC Signal lost "); |
177 | sprintf(ErrorMSG,"RC Signal lost "); |
178 | ErrorCode = 7; |
178 | ErrorCode = 7; |
179 | } |
179 | } |
180 | else // no error occured |
180 | else // no error occured |
181 | { |
181 | { |
182 | sprintf(ErrorMSG,"No Error "); |
182 | sprintf(ErrorMSG,"No Error "); |
183 | ErrorCode = 0; |
183 | ErrorCode = 0; |
184 | StopNavigation = 0; |
184 | StopNavigation = 0; |
185 | LED_RED_OFF; |
185 | LED_RED_OFF; |
186 | } |
186 | } |
187 | } |
187 | } |
188 | 188 | ||
189 | // the handler will be cyclic called by the timer 1 ISR |
189 | // the handler will be cyclic called by the timer 1 ISR |
190 | // used is for critical timing parts that normaly would handled |
190 | // used is for critical timing parts that normaly would handled |
191 | // within the main loop that could block longer at logging activities |
191 | // within the main loop that could block longer at logging activities |
192 | void EXTIT3_IRQHandler(void) |
192 | void EXTIT3_IRQHandler(void) |
193 | { |
193 | { |
194 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
194 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
195 | 195 | ||
196 | I2C1_UpdateCompass(); // update compass communication |
196 | I2C1_UpdateCompass(); // update compass communication |
197 | Analog_Update(); // get new ADC values |
197 | Analog_Update(); // get new ADC values |
198 | 198 | ||
199 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
199 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
200 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
200 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
201 | } |
201 | } |
202 | 202 | ||
203 | //---------------------------------------------------------------------------------------------------- |
203 | //---------------------------------------------------------------------------------------------------- |
204 | int main(void) |
204 | int main(void) |
205 | { |
205 | { |
206 | /* Configure the system clocks */ |
206 | /* Configure the system clocks */ |
207 | SCU_Config(); |
207 | SCU_Config(); |
208 | /* init VIC (Vectored Interrupt Controller) */ |
208 | /* init VIC (Vectored Interrupt Controller) */ |
209 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
209 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
210 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
210 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
211 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
211 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
212 | // initialize the interrupt handler |
212 | // initialize the interrupt handler |
213 | Interrupt_Init(); |
213 | Interrupt_Init(); |
214 | // initialize timer 1 for System Clock and delay rountines |
214 | // initialize timer 1 for System Clock and delay rountines |
215 | TIMER1_Init(); |
215 | TIMER1_Init(); |
216 | // initialize the LEDs (needs Timer 1) |
216 | // initialize the LEDs (needs Timer 1) |
217 | Led_Init(); |
217 | Led_Init(); |
218 | // initialize the debug UART1 |
218 | // initialize the debug UART1 |
219 | UART1_Init(); |
219 | UART1_Init(); |
220 | UART1_PutString("\r\n---------------------------------------------"); |
220 | UART1_PutString("\r\n---------------------------------------------"); |
221 | // initialize timer 2 for servo outputs |
221 | // initialize timer 2 for servo outputs |
222 | //TIMER2_Init(); |
222 | //TIMER2_Init(); |
223 | // initialize UART2 to FLIGHTCTRL |
223 | // initialize UART2 to FLIGHTCTRL |
224 | UART2_Init(); |
224 | UART2_Init(); |
225 | // initialize UART0 (to MKGPS or MK3MAG) |
225 | // initialize UART0 (to MKGPS or MK3MAG) |
226 | UART0_Init(); |
226 | UART0_Init(); |
227 | // initialize adc |
227 | // initialize adc |
228 | Analog_Init(); |
228 | Analog_Init(); |
229 | // initialize usb |
229 | // initialize usb |
230 | //USB_ConfigInit(); |
230 | //USB_ConfigInit(); |
231 | // initialize SPI0 to FC |
231 | // initialize SPI0 to FC |
232 | SPI0_Init(); |
232 | SPI0_Init(); |
233 | // initialize i2c bus to MK3MAG (needs Timer 1) |
233 | // initialize i2c bus to MK3MAG (needs Timer 1) |
234 | I2C1_Init(); |
234 | I2C1_Init(); |
235 | // initialize the gps position controller (needs Timer 1) |
235 | // initialize the gps position controller (needs Timer 1) |
236 | Fat16_Init(); |
236 | Fat16_Init(); |
237 | // initialize NC params |
237 | // initialize NC params |
238 | NCParams_Init(); |
238 | NCParams_Init(); |
239 | // initialize the settings |
239 | // initialize the settings |
240 | Settings_Init(); |
240 | Settings_Init(); |
241 | // initialize logging (needs settings) |
241 | // initialize logging (needs settings) |
242 | Logging_Init(); |
242 | Logging_Init(); |
243 | 243 | ||
244 | TimerCheckError = SetDelay(3000); |
244 | TimerCheckError = SetDelay(3000); |
245 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
245 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
246 | UART1_PutString("\n\r Version information:"); |
246 | UART1_PutString("\n\r Version information:"); |
247 | 247 | ||
248 | GetNaviCtrlVersion(); |
248 | GetNaviCtrlVersion(); |
249 | 249 | ||
250 | I2C1_GetMK3MagVersion(); |
250 | I2C1_GetMK3MagVersion(); |
251 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
251 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
252 | { |
252 | { |
253 | UART1_PutString("\n\r MK3Mag not compatible"); |
253 | UART1_PutString("\n\r MK3Mag not compatible"); |
254 | LED_RED_ON; |
254 | LED_RED_ON; |
255 | } |
255 | } |
256 | 256 | ||
257 | SPI0_GetFlightCtrlVersion(); |
257 | SPI0_GetFlightCtrlVersion(); |
258 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
258 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
259 | { |
259 | { |
260 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
260 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
261 | LED_RED_ON; |
261 | LED_RED_ON; |
262 | } |
262 | } |
263 | 263 | ||
264 | UART0_GetMKOSDVersion(); |
264 | UART0_GetMKOSDVersion(); |
265 | 265 | ||
266 | GPS_Init(); |
266 | GPS_Init(); |
267 | // initialize fat16 partition on sd card (needs Timer 1) |
267 | // initialize fat16 partition on sd card (needs Timer 1) |
268 | 268 | ||
269 | // ---------- Prepare the isr driven |
269 | // ---------- Prepare the isr driven |
270 | // set to absolute lowest priority |
270 | // set to absolute lowest priority |
271 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
271 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
272 | // enanble interrupts |
272 | // enanble interrupts |
273 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
273 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
274 | 274 | ||
275 | for (;;) // the endless main loop |
275 | for (;;) // the endless main loop |
276 | { |
276 | { |
277 | UART0_ProcessRxData(); // process request |
277 | UART0_ProcessRxData(); // process request |
278 | UART1_ProcessRxData(); // process request |
278 | UART1_ProcessRxData(); // process request |
279 | USB_ProcessRxData(); // process request |
279 | USB_ProcessRxData(); // process request |
280 | UART0_TransmitTxData(); // send answer |
280 | UART0_TransmitTxData(); // send answer |
281 | UART1_TransmitTxData(); // send answer |
281 | UART1_TransmitTxData(); // send answer |
282 | USB_TransmitTxData(); // send answer |
282 | USB_TransmitTxData(); // send answer |
283 | 283 | ||
284 | SPI0_UpdateBuffer(); // handle new SPI Data |
284 | SPI0_UpdateBuffer(); // handle new SPI Data |
285 | - | ||
286 | // ---------------- Error Check Timing ---------------------------- |
285 | // ---------------- Error Check Timing ---------------------------- |
287 | if(CheckDelay(TimerCheckError)) |
286 | if(CheckDelay(TimerCheckError)) |
288 | { |
287 | { |
289 | TimerCheckError = SetDelay(1000); |
288 | TimerCheckError = SetDelay(1000); |
290 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
289 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
291 | CheckErrors(); |
290 | CheckErrors(); |
292 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
291 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
293 | // else NaviData.FlyingTime = 0; // not the time per flight |
292 | // else NaviData.FlyingTime = 0; // not the time per flight |
294 | UART1_Request_SendFollowMe = TRUE; |
293 | UART1_Request_SendFollowMe = TRUE; |
295 | if(SerialLinkOkay) SerialLinkOkay--; |
294 | if(SerialLinkOkay) SerialLinkOkay--; |
296 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
295 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
297 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
296 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
298 | } |
297 | } |
299 | // ---------------- Logging --------------------------------------- |
298 | // ---------------- Logging --------------------------------------- |
300 | 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 | 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 |
301 | // ---------------- ADC readings ----------------------------------- |
300 | // ---------------- ADC readings ----------------------------------- |
302 | } |
301 | } |
303 | } |
302 | } |
304 | 303 | ||
305 | 304 | ||
306 | 305 |