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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 "compass.h" |
68 | #include "compass.h" |
69 | #include "timer1.h" |
69 | #include "timer1.h" |
70 | #include "timer2.h" |
70 | #include "timer2.h" |
71 | #include "analog.h" |
71 | #include "analog.h" |
72 | #include "spi_slave.h" |
72 | #include "spi_slave.h" |
73 | #include "fat16.h" |
73 | #include "fat16.h" |
74 | #include "usb.h" |
74 | #include "usb.h" |
75 | #include "sdc.h" |
75 | #include "sdc.h" |
76 | #include "logging.h" |
76 | #include "logging.h" |
77 | #include "params.h" |
77 | #include "params.h" |
78 | #include "settings.h" |
78 | #include "settings.h" |
79 | #include "config.h" |
79 | #include "config.h" |
80 | #include "main.h" |
80 | #include "main.h" |
81 | #include "debug.h" |
81 | #include "debug.h" |
82 | #include "eeprom.h" |
82 | #include "eeprom.h" |
83 | 83 | ||
84 | #ifdef FOLLOW_ME |
84 | #ifdef FOLLOW_ME |
85 | u8 TransmitAlsoToFC = 0; |
85 | u8 TransmitAlsoToFC = 0; |
86 | #endif |
86 | #endif |
87 | u32 TimerCheckError; |
87 | u32 TimerCheckError; |
88 | u8 ErrorCode = 0; |
88 | u8 ErrorCode = 0; |
89 | u16 BeepTime; |
89 | u16 BeepTime; |
90 | u8 NCFlags = 0; |
90 | u8 NCFlags = 0; |
91 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
91 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
92 | 92 | ||
93 | u8 ClearFCStatusFlags = 0; |
93 | u8 ClearFCStatusFlags = 0; |
94 | u8 StopNavigation = 0; |
94 | u8 StopNavigation = 0; |
95 | Param_t Parameter; |
95 | Param_t Parameter; |
96 | volatile FC_t FC; |
96 | volatile FC_t FC; |
97 | 97 | ||
98 | s8 ErrorMSG[25]; |
98 | s8 ErrorMSG[25]; |
99 | 99 | ||
100 | //---------------------------------------------------------------------------------------------------- |
100 | //---------------------------------------------------------------------------------------------------- |
101 | void SCU_Config(void) |
101 | void SCU_Config(void) |
102 | { |
102 | { |
103 | /* configure PLL and set it as master clock source */ |
103 | /* configure PLL and set it as master clock source */ |
104 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
104 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
105 | SCU_PLLCmd(DISABLE); // now disable the PLL |
105 | SCU_PLLCmd(DISABLE); // now disable the PLL |
106 | #ifdef MCLK96MHZ |
106 | #ifdef MCLK96MHZ |
107 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
107 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
108 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
108 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
109 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
109 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
110 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
110 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
111 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
111 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
112 | #else |
112 | #else |
113 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
113 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
114 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
114 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
115 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
115 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
116 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
116 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
117 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
117 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
118 | #endif |
118 | #endif |
119 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
119 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
120 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
120 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
121 | } |
121 | } |
122 | 122 | ||
123 | //---------------------------------------------------------------------------------------------------- |
123 | //---------------------------------------------------------------------------------------------------- |
124 | void GetNaviCtrlVersion(void) |
124 | void GetNaviCtrlVersion(void) |
125 | { |
125 | { |
126 | u8 msg[25]; |
126 | u8 msg[25]; |
127 | 127 | ||
128 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
128 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
129 | UART1_PutString(msg); |
129 | UART1_PutString(msg); |
130 | } |
130 | } |
131 | 131 | ||
132 | //---------------------------------------------------------------------------------------------------- |
132 | //---------------------------------------------------------------------------------------------------- |
133 | 133 | ||
134 | void CheckErrors(void) |
134 | void CheckErrors(void) |
135 | { |
135 | { |
136 | UART_VersionInfo.HardwareError[0] = 0; |
136 | UART_VersionInfo.HardwareError[0] = 0; |
137 | 137 | ||
138 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08; |
138 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08; |
139 | else DebugOut.Status[1] &= ~0x08; // MK3Mag green status |
139 | else DebugOut.Status[1] &= ~0x08; // MK3Mag green status |
140 | 140 | ||
141 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02; |
141 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02; |
142 | else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status |
142 | else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status |
143 | 143 | ||
144 | if(CheckDelay(SPI0_Timeout)) |
144 | if(CheckDelay(SPI0_Timeout)) |
145 | { |
145 | { |
146 | LED_RED_ON; |
146 | LED_RED_ON; |
147 | sprintf(ErrorMSG,"no FC communication "); |
147 | sprintf(ErrorMSG,"no FC communication "); |
148 | ErrorCode = 3; |
148 | ErrorCode = 3; |
149 | StopNavigation = 1; |
149 | StopNavigation = 1; |
150 | DebugOut.Status[0] &= ~0x01; // status of FC Present |
150 | DebugOut.Status[0] &= ~0x01; // status of FC Present |
151 | DebugOut.Status[0] &= ~0x02; // status of BL Present |
151 | DebugOut.Status[0] &= ~0x02; // status of BL Present |
152 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
152 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
153 | } |
153 | } |
154 | else if(CheckDelay(I2C1_Timeout)) |
154 | else if(CheckDelay(I2C1_Timeout)) |
155 | { |
155 | { |
156 | LED_RED_ON; |
156 | LED_RED_ON; |
157 | sprintf(ErrorMSG,"no compass communication "); |
157 | sprintf(ErrorMSG,"no compass communication "); |
158 | //Reset I2CBus |
158 | //Reset I2CBus |
159 | I2C1_Deinit(); |
159 | I2C1_Deinit(); |
160 | I2C1_Init(); |
160 | I2C1_Init(); |
161 | ErrorCode = 4; |
161 | ErrorCode = 4; |
162 | StopNavigation = 1; |
162 | StopNavigation = 1; |
163 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
163 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
164 | DebugOut.Status[1] |= 0x08; |
164 | DebugOut.Status[1] |= 0x08; |
165 | } |
165 | } |
166 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
166 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
167 | { |
167 | { |
168 | LED_RED_ON; |
168 | LED_RED_ON; |
- | 169 | #ifndef FOLLOW_ME |
|
169 | sprintf(ErrorMSG,"FC not compatible "); |
170 | sprintf(ErrorMSG,"FC not compatible "); |
- | 171 | #else |
|
- | 172 | sprintf(ErrorMSG,"! FollowMe only ! "); |
|
- | 173 | #endif |
|
170 | ErrorCode = 1; |
174 | ErrorCode = 1; |
171 | StopNavigation = 1; |
175 | StopNavigation = 1; |
172 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
176 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
173 | } |
177 | } |
174 | 178 | ||
175 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
179 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
176 | { |
180 | { |
177 | LED_RED_ON; |
181 | LED_RED_ON; |
178 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
182 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
179 | ErrorCode = 10; |
183 | ErrorCode = 10; |
180 | } |
184 | } |
181 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
185 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
182 | { |
186 | { |
183 | LED_RED_ON; |
187 | LED_RED_ON; |
184 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
188 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
185 | ErrorCode = 11; |
189 | ErrorCode = 11; |
186 | } |
190 | } |
187 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
191 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
188 | { |
192 | { |
189 | LED_RED_ON; |
193 | LED_RED_ON; |
190 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
194 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
191 | ErrorCode = 12; |
195 | ErrorCode = 12; |
192 | } |
196 | } |
193 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
197 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
194 | { |
198 | { |
195 | LED_RED_ON; |
199 | LED_RED_ON; |
196 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
200 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
197 | ErrorCode = 13; |
201 | ErrorCode = 13; |
198 | } |
202 | } |
199 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
203 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
200 | { |
204 | { |
201 | LED_RED_ON; |
205 | LED_RED_ON; |
202 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
206 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
203 | ErrorCode = 14; |
207 | ErrorCode = 14; |
204 | } |
208 | } |
205 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
209 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
206 | { |
210 | { |
207 | LED_RED_ON; |
211 | LED_RED_ON; |
208 | sprintf(ErrorMSG,"ERR: FC Z-ACC"); |
212 | sprintf(ErrorMSG,"ERR: FC Z-ACC"); |
209 | ErrorCode = 15; |
213 | ErrorCode = 15; |
210 | } |
214 | } |
211 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
215 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
212 | { |
216 | { |
213 | LED_RED_ON; |
217 | LED_RED_ON; |
214 | sprintf(ErrorMSG,"ERR: Pressure sensor"); |
218 | sprintf(ErrorMSG,"ERR: Pressure sensor"); |
215 | ErrorCode = 16; |
219 | ErrorCode = 16; |
216 | } |
220 | } |
217 | else if(FC.Error[1] & FC_ERROR1_I2C) |
221 | else if(FC.Error[1] & FC_ERROR1_I2C) |
218 | { |
222 | { |
219 | LED_RED_ON; |
223 | LED_RED_ON; |
220 | sprintf(ErrorMSG,"ERR: FC I2C"); |
224 | sprintf(ErrorMSG,"ERR: FC I2C"); |
221 | ErrorCode = 17; |
225 | ErrorCode = 17; |
222 | } |
226 | } |
223 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
227 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
224 | { |
228 | { |
225 | LED_RED_ON; |
229 | LED_RED_ON; |
226 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
230 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
227 | ErrorCode = 18; |
231 | ErrorCode = 18; |
228 | } |
232 | } |
229 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
233 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
230 | { |
234 | { |
231 | LED_RED_ON; |
235 | LED_RED_ON; |
232 | sprintf(ErrorMSG,"Mixer Error"); |
236 | sprintf(ErrorMSG,"Mixer Error"); |
233 | ErrorCode = 19; |
237 | ErrorCode = 19; |
234 | } |
238 | } |
235 | else if(CheckDelay(UBX_Timeout)) |
239 | else if(CheckDelay(UBX_Timeout)) |
236 | { |
240 | { |
237 | LED_RED_ON; |
241 | LED_RED_ON; |
238 | sprintf(ErrorMSG,"no GPS communication "); |
242 | sprintf(ErrorMSG,"no GPS communication "); |
239 | ErrorCode = 5; |
243 | ErrorCode = 5; |
240 | StopNavigation = 1; |
244 | StopNavigation = 1; |
241 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
245 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
242 | } |
246 | } |
243 | else if(Compass_Heading < 0) |
247 | else if(Compass_Heading < 0) |
244 | { |
248 | { |
245 | LED_RED_ON; |
249 | LED_RED_ON; |
246 | sprintf(ErrorMSG,"bad compass value "); |
250 | sprintf(ErrorMSG,"bad compass value "); |
247 | ErrorCode = 6; |
251 | ErrorCode = 6; |
248 | StopNavigation = 1; |
252 | StopNavigation = 1; |
249 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
253 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
250 | } |
254 | } |
251 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
255 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
252 | { |
256 | { |
253 | LED_RED_ON; |
257 | LED_RED_ON; |
254 | sprintf(ErrorMSG,"FC spi rx error "); |
258 | sprintf(ErrorMSG,"FC spi rx error "); |
255 | ErrorCode = 8; |
259 | ErrorCode = 8; |
256 | StopNavigation = 1; |
260 | StopNavigation = 1; |
257 | } |
261 | } |
258 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
262 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
259 | { |
263 | { |
260 | LED_RED_ON; |
264 | LED_RED_ON; |
261 | sprintf(ErrorMSG,"FC: Carefree Error"); |
265 | sprintf(ErrorMSG,"FC: Carefree Error"); |
262 | ErrorCode = 20; |
266 | ErrorCode = 20; |
263 | } |
267 | } |
264 | else if(FC.Error[1] & FC_ERROR1_PPM) |
268 | else if(FC.Error[1] & FC_ERROR1_PPM) |
265 | { |
269 | { |
266 | LED_RED_ON; |
270 | LED_RED_ON; |
267 | sprintf(ErrorMSG,"RC Signal lost "); |
271 | sprintf(ErrorMSG,"RC Signal lost "); |
268 | ErrorCode = 7; |
272 | ErrorCode = 7; |
269 | } |
273 | } |
270 | else // no error occured |
274 | else // no error occured |
271 | { |
275 | { |
272 | sprintf(ErrorMSG,"No Error "); |
276 | sprintf(ErrorMSG,"No Error "); |
273 | ErrorCode = 0; |
277 | ErrorCode = 0; |
274 | StopNavigation = 0; |
278 | StopNavigation = 0; |
275 | LED_RED_OFF; |
279 | LED_RED_OFF; |
276 | } |
280 | } |
277 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04; |
281 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04; |
278 | else DebugOut.Status[1] &= ~0x04; |
282 | else DebugOut.Status[1] &= ~0x04; |
279 | } |
283 | } |
280 | 284 | ||
281 | // the handler will be cyclic called by the timer 1 ISR |
285 | // the handler will be cyclic called by the timer 1 ISR |
282 | // used is for critical timing parts that normaly would handled |
286 | // used is for critical timing parts that normaly would handled |
283 | // within the main loop that could block longer at logging activities |
287 | // within the main loop that could block longer at logging activities |
284 | void EXTIT3_IRQHandler(void) |
288 | void EXTIT3_IRQHandler(void) |
285 | { |
289 | { |
286 | IENABLE; |
290 | IENABLE; |
287 | 291 | ||
288 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
292 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
289 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
293 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
290 | Compass_Update(); // update compass communication |
294 | Compass_Update(); // update compass communication |
291 | Analog_Update(); // get new ADC values |
295 | Analog_Update(); // get new ADC values |
292 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
296 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
293 | 297 | ||
294 | IDISABLE; |
298 | IDISABLE; |
295 | } |
299 | } |
296 | 300 | ||
297 | //---------------------------------------------------------------------------------------------------- |
301 | //---------------------------------------------------------------------------------------------------- |
298 | int main(void) |
302 | int main(void) |
299 | { |
303 | { |
300 | /* Configure the system clocks */ |
304 | /* Configure the system clocks */ |
301 | SCU_Config(); |
305 | SCU_Config(); |
302 | /* init VIC (Vectored Interrupt Controller) */ |
306 | /* init VIC (Vectored Interrupt Controller) */ |
303 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
307 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
304 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
308 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
305 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
309 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
306 | VIC_InitDefaultVectors(); |
310 | VIC_InitDefaultVectors(); |
307 | 311 | ||
308 | // initialize timer 1 for System Clock and delay rountines |
312 | // initialize timer 1 for System Clock and delay rountines |
309 | TIMER1_Init(); |
313 | TIMER1_Init(); |
310 | // initialize the LEDs (needs Timer 1) |
314 | // initialize the LEDs (needs Timer 1) |
311 | Led_Init(); |
315 | Led_Init(); |
312 | // initialize the debug UART1 |
316 | // initialize the debug UART1 |
313 | UART1_Init(); |
317 | UART1_Init(); |
314 | UART1_PutString("\r\n---------------------------------------------"); |
318 | UART1_PutString("\r\n---------------------------------------------"); |
315 | // initialize usb |
319 | // initialize usb |
316 | USB_ConfigInit(); |
320 | USB_ConfigInit(); |
317 | // initialize timer 2 for servo outputs |
321 | // initialize timer 2 for servo outputs |
318 | //TIMER2_Init(); |
322 | //TIMER2_Init(); |
319 | // initialize UART2 to FLIGHTCTRL |
323 | // initialize UART2 to FLIGHTCTRL |
320 | UART2_Init(); |
324 | UART2_Init(); |
321 | // initialize UART0 (to MKGPS or MK3MAG) |
325 | // initialize UART0 (to MKGPS or MK3MAG) |
322 | UART0_Init(); |
326 | UART0_Init(); |
323 | // initialize adc |
327 | // initialize adc |
324 | Analog_Init(); |
328 | Analog_Init(); |
325 | // initialize SPI0 to FC |
329 | // initialize SPI0 to FC |
326 | SPI0_Init(); |
330 | SPI0_Init(); |
327 | // initialize i2c bus (needs Timer 1) |
331 | // initialize i2c bus (needs Timer 1) |
328 | I2C1_Init(); |
332 | I2C1_Init(); |
329 | // initialize fat16 partition on sd card (needs Timer 1) |
333 | // initialize fat16 partition on sd card (needs Timer 1) |
330 | Fat16_Init(); |
334 | Fat16_Init(); |
331 | // initialize NC params |
335 | // initialize NC params |
332 | NCParams_Init(); |
336 | NCParams_Init(); |
333 | // initialize the settings |
337 | // initialize the settings |
334 | Settings_Init(); |
338 | Settings_Init(); |
335 | // initialize logging (needs settings) |
339 | // initialize logging (needs settings) |
336 | Logging_Init(); |
340 | Logging_Init(); |
337 | 341 | ||
338 | TimerCheckError = SetDelay(3000); |
342 | TimerCheckError = SetDelay(3000); |
339 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
343 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
340 | UART1_PutString("\n\r Version information:"); |
344 | UART1_PutString("\n\r Version information:"); |
341 | 345 | ||
342 | GetNaviCtrlVersion(); |
346 | GetNaviCtrlVersion(); |
343 | DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag |
347 | DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag |
344 | DebugOut.Status[1] = 0x00; |
348 | DebugOut.Status[1] = 0x00; |
345 | 349 | ||
346 | Compass_Init(); |
350 | Compass_Init(); |
347 | 351 | ||
348 | #ifdef FOLLOW_ME |
352 | #ifdef FOLLOW_ME |
349 | TransmitAlsoToFC = 1; |
353 | TransmitAlsoToFC = 1; |
350 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
354 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
351 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
355 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
352 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
356 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
353 | TransmitAlsoToFC = 0; |
357 | TransmitAlsoToFC = 0; |
354 | #else |
358 | #else |
355 | SPI0_GetFlightCtrlVersion(); |
359 | SPI0_GetFlightCtrlVersion(); |
356 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
360 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
357 | { |
361 | { |
358 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
362 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
359 | LED_RED_ON; |
363 | LED_RED_ON; |
360 | } |
364 | } |
361 | #endif |
365 | #endif |
362 | 366 | ||
363 | GPS_Init(); |
367 | GPS_Init(); |
364 | 368 | ||
365 | // ---------- Prepare the isr driven |
369 | // ---------- Prepare the isr driven |
366 | // set to absolute lowest priority |
370 | // set to absolute lowest priority |
367 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
371 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
368 | // enable interrupts |
372 | // enable interrupts |
369 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
373 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
370 | 374 | ||
371 | Debug_OK("START"); |
375 | Debug_OK("START"); |
372 | 376 | ||
373 | for (;;) // the endless main loop |
377 | for (;;) // the endless main loop |
374 | { |
378 | { |
375 | UART0_ProcessRxData(); // process request |
379 | UART0_ProcessRxData(); // process request |
376 | UART1_ProcessRxData(); // process request |
380 | UART1_ProcessRxData(); // process request |
377 | USB_ProcessRxData(); // process request |
381 | USB_ProcessRxData(); // process request |
378 | UART0_TransmitTxData(); // send answer |
382 | UART0_TransmitTxData(); // send answer |
379 | UART1_TransmitTxData(); // send answer |
383 | UART1_TransmitTxData(); // send answer |
380 | UART2_TransmitTxData(); // send answer |
384 | UART2_TransmitTxData(); // send answer |
381 | USB_TransmitTxData(); // send answer |
385 | USB_TransmitTxData(); // send answer |
382 | SPI0_UpdateBuffer(); // handle new SPI Data |
386 | SPI0_UpdateBuffer(); // handle new SPI Data |
383 | // ---------------- Error Check Timing ---------------------------- |
387 | // ---------------- Error Check Timing ---------------------------- |
384 | if(CheckDelay(TimerCheckError)) |
388 | if(CheckDelay(TimerCheckError)) |
385 | { |
389 | { |
386 | TimerCheckError = SetDelay(1000); |
390 | TimerCheckError = SetDelay(1000); |
387 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
391 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
388 | CheckErrors(); |
392 | CheckErrors(); |
389 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
393 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
390 | // else NaviData.FlyingTime = 0; // not the time per flight |
394 | // else NaviData.FlyingTime = 0; // not the time per flight |
391 | if(SerialLinkOkay) SerialLinkOkay--; |
395 | if(SerialLinkOkay) SerialLinkOkay--; |
392 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
396 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
393 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
397 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
394 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000; |
398 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000; |
395 | } |
399 | } |
396 | // ---------------- Logging --------------------------------------- |
400 | // ---------------- Logging --------------------------------------- |
397 | 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 |
401 | 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 |
398 | } |
402 | } |
399 | } |
403 | } |
400 | 404 | ||
401 | 405 | ||
402 | 406 |