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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | //#define MCLK96MHZ |
56 | //#define MCLK96MHZ |
57 | const unsigned long _Main_Crystal = 25000; |
57 | const unsigned long _Main_Crystal = 25000; |
58 | #include <stdio.h> |
58 | #include <stdio.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "uart0.h" |
61 | #include "uart0.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "uart2.h" |
63 | #include "uart2.h" |
64 | #include "gps.h" |
64 | #include "gps.h" |
65 | #include "i2c.h" |
65 | #include "i2c.h" |
66 | #include "compass.h" |
66 | #include "compass.h" |
67 | #include "ncmag.h" |
67 | #include "ncmag.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 | #include "debug.h" |
80 | #include "debug.h" |
81 | #include "eeprom.h" |
81 | #include "eeprom.h" |
82 | #include "ssc.h" |
82 | #include "ssc.h" |
83 | #include "sdc.h" |
83 | #include "sdc.h" |
84 | #include "uart1.h" |
84 | #include "uart1.h" |
85 | 85 | ||
86 | 86 | ||
87 | 87 | ||
88 | #ifdef FOLLOW_ME |
88 | #ifdef FOLLOW_ME |
89 | u8 TransmitAlsoToFC = 0; |
89 | u8 TransmitAlsoToFC = 0; |
90 | #endif |
90 | #endif |
91 | u32 TimerCheckError; |
91 | u32 TimerCheckError; |
92 | u8 ErrorCode = 0; |
92 | u8 ErrorCode = 0; |
93 | u16 BeepTime; |
93 | u16 BeepTime; |
94 | u8 NCFlags = 0; |
94 | u8 NCFlags = 0; |
95 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
95 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
96 | u8 ErrorGpsFixLost = 0; |
96 | u8 ErrorGpsFixLost = 0; |
97 | 97 | ||
98 | u8 ClearFCStatusFlags = 0; |
98 | u8 ClearFCStatusFlags = 0; |
99 | u8 StopNavigation = 0; |
99 | u8 StopNavigation = 0; |
100 | volatile u32 PollingTimeout = 10000; |
100 | volatile u32 PollingTimeout = 10000; |
101 | Param_t Parameter; |
101 | Param_t Parameter; |
102 | volatile FC_t FC; |
102 | volatile FC_t FC; |
103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
- | 105 | u32 CountGpsProcessedFromStart = 0,CountNewGpsDataFromStart = 0, FreqGpsProcessedFromStart = 0, FreqNewGpsDataFromStart = 0; |
|
105 | 106 | ||
106 | s8 ErrorMSG[25]; |
107 | s8 ErrorMSG[25]; |
107 | 108 | ||
108 | //---------------------------------------------------------------------------------------------------- |
109 | //---------------------------------------------------------------------------------------------------- |
109 | void SCU_Config(void) |
110 | void SCU_Config(void) |
110 | { |
111 | { |
111 | /* configure PLL and set it as master clock source */ |
112 | /* configure PLL and set it as master clock source */ |
112 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
113 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
113 | SCU_PLLCmd(DISABLE); // now disable the PLL |
114 | SCU_PLLCmd(DISABLE); // now disable the PLL |
114 | #ifdef MCLK96MHZ |
115 | #ifdef MCLK96MHZ |
115 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
116 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
116 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
117 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
117 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
118 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
118 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
119 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
119 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
120 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
120 | #else |
121 | #else |
121 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
122 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
123 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
123 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
124 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
124 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
125 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
125 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
126 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
126 | #endif |
127 | #endif |
127 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
128 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
128 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
129 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
129 | } |
130 | } |
130 | 131 | ||
131 | //---------------------------------------------------------------------------------------------------- |
132 | //---------------------------------------------------------------------------------------------------- |
132 | void GetNaviCtrlVersion(void) |
133 | void GetNaviCtrlVersion(void) |
133 | { |
134 | { |
134 | u8 msg[25]; |
135 | u8 msg[25]; |
135 | 136 | ||
136 | 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); |
137 | 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); |
137 | UART1_PutString(msg); |
138 | UART1_PutString(msg); |
138 | } |
139 | } |
139 | 140 | ||
140 | //---------------------------------------------------------------------------------------------------- |
141 | //---------------------------------------------------------------------------------------------------- |
141 | 142 | ||
142 | void CheckErrors(void) |
143 | void CheckErrors(void) |
143 | { |
144 | { |
144 | static s32 no_error_delay = 0; |
145 | static s32 no_error_delay = 0; |
145 | s32 newErrorCode = 0; |
146 | s32 newErrorCode = 0; |
146 | UART_VersionInfo.HardwareError[0] = 0; |
147 | UART_VersionInfo.HardwareError[0] = 0; |
147 | 148 | ||
148 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
149 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
149 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
150 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
150 | 151 | ||
151 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
152 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
152 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
153 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
153 | 154 | ||
154 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
155 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
155 | else DebugOut.StatusRed &= ~AMPEL_NC; |
156 | else DebugOut.StatusRed &= ~AMPEL_NC; |
156 | 157 | ||
157 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
158 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
158 | { |
159 | { |
159 | sprintf(ErrorMSG,"Calibrate... "); |
160 | sprintf(ErrorMSG,"Calibrate... "); |
160 | newErrorCode = 0; |
161 | newErrorCode = 0; |
161 | ErrorCode = 0; |
162 | ErrorCode = 0; |
162 | no_error_delay = 1; |
163 | no_error_delay = 1; |
163 | } |
164 | } |
164 | else |
165 | else |
165 | if(CheckDelay(SPI0_Timeout)) |
166 | if(CheckDelay(SPI0_Timeout)) |
166 | { |
167 | { |
167 | LED_RED_ON; |
168 | LED_RED_ON; |
168 | sprintf(ErrorMSG,"no FC communication "); |
169 | sprintf(ErrorMSG,"no FC communication "); |
169 | newErrorCode = 3; |
170 | newErrorCode = 3; |
170 | StopNavigation = 1; |
171 | StopNavigation = 1; |
171 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
172 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
172 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
173 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
173 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
174 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
174 | } |
175 | } |
175 | else if(CheckDelay(I2C1_Timeout)) |
176 | else if(CheckDelay(I2C1_Timeout)) |
176 | { |
177 | { |
177 | LED_RED_ON; |
178 | LED_RED_ON; |
178 | sprintf(ErrorMSG,"no compass communica"); |
179 | sprintf(ErrorMSG,"no compass communica"); |
179 | //Reset I2CBus |
180 | //Reset I2CBus |
180 | I2C1_Deinit(); |
181 | I2C1_Deinit(); |
181 | I2C1_Init(); |
182 | I2C1_Init(); |
182 | newErrorCode = 4; |
183 | newErrorCode = 4; |
183 | StopNavigation = 1; |
184 | StopNavigation = 1; |
184 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
185 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
185 | DebugOut.StatusRed |= AMPEL_COMPASS; |
186 | DebugOut.StatusRed |= AMPEL_COMPASS; |
186 | } |
187 | } |
187 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
188 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
188 | { |
189 | { |
189 | LED_RED_ON; |
190 | LED_RED_ON; |
190 | #ifndef FOLLOW_ME |
191 | #ifndef FOLLOW_ME |
191 | sprintf(ErrorMSG,"FC not compatible "); |
192 | sprintf(ErrorMSG,"FC not compatible "); |
192 | #else |
193 | #else |
193 | sprintf(ErrorMSG,"! FollowMe only ! "); |
194 | sprintf(ErrorMSG,"! FollowMe only ! "); |
194 | #endif |
195 | #endif |
195 | newErrorCode = 1; |
196 | newErrorCode = 1; |
196 | StopNavigation = 1; |
197 | StopNavigation = 1; |
197 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
198 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
198 | DebugOut.StatusRed |= AMPEL_NC; |
199 | DebugOut.StatusRed |= AMPEL_NC; |
199 | } |
200 | } |
200 | 201 | ||
201 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
202 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
202 | { |
203 | { |
203 | LED_RED_ON; |
204 | LED_RED_ON; |
204 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
205 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
205 | newErrorCode = 10; |
206 | newErrorCode = 10; |
206 | } |
207 | } |
207 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
208 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
208 | { |
209 | { |
209 | LED_RED_ON; |
210 | LED_RED_ON; |
210 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
211 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
211 | newErrorCode = 11; |
212 | newErrorCode = 11; |
212 | } |
213 | } |
213 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
214 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
214 | { |
215 | { |
215 | LED_RED_ON; |
216 | LED_RED_ON; |
216 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
217 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
217 | newErrorCode = 12; |
218 | newErrorCode = 12; |
218 | } |
219 | } |
219 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
220 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
220 | { |
221 | { |
221 | LED_RED_ON; |
222 | LED_RED_ON; |
222 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
223 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
223 | newErrorCode = 13; |
224 | newErrorCode = 13; |
224 | } |
225 | } |
225 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
226 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
226 | { |
227 | { |
227 | LED_RED_ON; |
228 | LED_RED_ON; |
228 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
229 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
229 | newErrorCode = 14; |
230 | newErrorCode = 14; |
230 | } |
231 | } |
231 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
232 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
232 | { |
233 | { |
233 | LED_RED_ON; |
234 | LED_RED_ON; |
234 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
235 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
235 | newErrorCode = 15; |
236 | newErrorCode = 15; |
236 | } |
237 | } |
237 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
238 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
238 | { |
239 | { |
239 | LED_RED_ON; |
240 | LED_RED_ON; |
240 | sprintf(ErrorMSG,"ERR:Flying range!"); |
241 | sprintf(ErrorMSG,"ERR:Flying range!"); |
241 | newErrorCode = 28; |
242 | newErrorCode = 28; |
242 | } |
243 | } |
243 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
244 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
244 | { |
245 | { |
245 | LED_RED_ON; |
246 | LED_RED_ON; |
246 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
247 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
247 | newErrorCode = 16; |
248 | newErrorCode = 16; |
248 | } |
249 | } |
249 | else if(FC.Error[1] & FC_ERROR1_I2C) |
250 | else if(FC.Error[1] & FC_ERROR1_I2C) |
250 | { |
251 | { |
251 | LED_RED_ON; |
252 | LED_RED_ON; |
252 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
253 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
253 | newErrorCode = 17; |
254 | newErrorCode = 17; |
254 | } |
255 | } |
255 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
256 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
256 | { |
257 | { |
257 | LED_RED_ON; |
258 | LED_RED_ON; |
258 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
259 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
259 | newErrorCode = 18; |
260 | newErrorCode = 18; |
260 | } |
261 | } |
261 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
262 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
262 | { |
263 | { |
263 | LED_RED_ON; |
264 | LED_RED_ON; |
264 | sprintf(ErrorMSG,"Mixer Error"); |
265 | sprintf(ErrorMSG,"Mixer Error"); |
265 | newErrorCode = 19; |
266 | newErrorCode = 19; |
266 | } |
267 | } |
267 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
268 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
268 | { |
269 | { |
269 | LED_RED_ON; |
270 | LED_RED_ON; |
270 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
271 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
271 | // else |
272 | // else |
272 | { |
273 | { |
273 | sprintf(ErrorMSG,"no GPS communication"); |
274 | sprintf(ErrorMSG,"no GPS communication"); |
274 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
275 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
275 | newErrorCode = 5; |
276 | newErrorCode = 5; |
276 | } |
277 | } |
277 | StopNavigation = 1; |
278 | StopNavigation = 1; |
278 | // UBX_Timeout = SetDelay(500); |
279 | // UBX_Timeout = SetDelay(500); |
279 | } |
280 | } |
280 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
281 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
281 | { |
282 | { |
282 | LED_RED_ON; |
283 | LED_RED_ON; |
283 | sprintf(ErrorMSG,"compass not calibr."); |
284 | sprintf(ErrorMSG,"compass not calibr."); |
284 | newErrorCode = 31; |
285 | newErrorCode = 31; |
285 | StopNavigation = 1; |
286 | StopNavigation = 1; |
286 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
287 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
287 | } |
288 | } |
288 | else if(Compass_Heading < 0) |
289 | else if(Compass_Heading < 0) |
289 | { |
290 | { |
290 | LED_RED_ON; |
291 | LED_RED_ON; |
291 | sprintf(ErrorMSG,"bad compass value "); |
292 | sprintf(ErrorMSG,"bad compass value "); |
292 | newErrorCode = 6; |
293 | newErrorCode = 6; |
293 | StopNavigation = 1; |
294 | StopNavigation = 1; |
294 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
295 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
295 | } |
296 | } |
296 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
297 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
297 | { |
298 | { |
298 | LED_RED_ON; |
299 | LED_RED_ON; |
299 | sprintf(ErrorMSG,"FC spi rx error "); |
300 | sprintf(ErrorMSG,"FC spi rx error "); |
300 | newErrorCode = 8; |
301 | newErrorCode = 8; |
301 | StopNavigation = 1; |
302 | StopNavigation = 1; |
302 | } |
303 | } |
303 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
304 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
304 | { |
305 | { |
305 | LED_RED_ON; |
306 | LED_RED_ON; |
306 | sprintf(ErrorMSG,"FC: Carefree Error"); |
307 | sprintf(ErrorMSG,"FC: Carefree Error"); |
307 | newErrorCode = 20; |
308 | newErrorCode = 20; |
308 | } |
309 | } |
309 | else if(FC.Error[1] & FC_ERROR1_PPM) |
310 | else if(FC.Error[1] & FC_ERROR1_PPM) |
310 | { |
311 | { |
311 | LED_RED_ON; |
312 | LED_RED_ON; |
312 | sprintf(ErrorMSG,"RC Signal lost "); |
313 | sprintf(ErrorMSG,"RC Signal lost "); |
313 | newErrorCode = 7; |
314 | newErrorCode = 7; |
314 | } |
315 | } |
315 | else if(ErrorGpsFixLost) |
316 | else if(ErrorGpsFixLost) |
316 | { |
317 | { |
317 | LED_RED_ON; |
318 | LED_RED_ON; |
318 | sprintf(ErrorMSG,"GPS Fix lost "); |
319 | sprintf(ErrorMSG,"GPS Fix lost "); |
319 | newErrorCode = 21; |
320 | newErrorCode = 21; |
320 | } |
321 | } |
321 | else if(ErrorDisturbedEarthMagnetField) |
322 | else if(ErrorDisturbedEarthMagnetField) |
322 | { |
323 | { |
323 | LED_RED_ON; |
324 | LED_RED_ON; |
324 | sprintf(ErrorMSG,"Magnet error "); |
325 | sprintf(ErrorMSG,"Magnet error "); |
325 | newErrorCode = 22; |
326 | newErrorCode = 22; |
326 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
327 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
327 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
328 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
328 | } |
329 | } |
329 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
330 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
330 | { |
331 | { |
331 | LED_RED_ON; |
332 | LED_RED_ON; |
332 | sprintf(ErrorMSG,"ERR:Motor restart "); |
333 | sprintf(ErrorMSG,"ERR:Motor restart "); |
333 | newErrorCode = 23; |
334 | newErrorCode = 23; |
334 | DebugOut.StatusRed |= AMPEL_BL; |
335 | DebugOut.StatusRed |= AMPEL_BL; |
335 | } |
336 | } |
336 | else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
337 | else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
337 | { |
338 | { |
338 | LED_RED_ON; |
339 | LED_RED_ON; |
339 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
340 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
340 | newErrorCode = 24; |
341 | newErrorCode = 24; |
341 | DebugOut.StatusRed |= AMPEL_BL; |
342 | DebugOut.StatusRed |= AMPEL_BL; |
342 | } |
343 | } |
343 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
344 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
344 | { |
345 | { |
345 | LED_RED_ON; |
346 | LED_RED_ON; |
346 | sprintf(ErrorMSG,"ERR:GPS range "); |
347 | sprintf(ErrorMSG,"ERR:GPS range "); |
347 | newErrorCode = 25; |
348 | newErrorCode = 25; |
348 | DebugOut.StatusRed |= AMPEL_NC; |
349 | DebugOut.StatusRed |= AMPEL_NC; |
349 | } |
350 | } |
350 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
351 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
351 | { |
352 | { |
352 | LED_RED_ON; |
353 | LED_RED_ON; |
353 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
354 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
354 | newErrorCode = 26; |
355 | newErrorCode = 26; |
355 | DebugOut.StatusRed |= AMPEL_NC; |
356 | DebugOut.StatusRed |= AMPEL_NC; |
356 | } |
357 | } |
357 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
358 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
358 | { |
359 | { |
359 | LED_RED_ON; |
360 | LED_RED_ON; |
360 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
361 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
361 | newErrorCode = 27; |
362 | newErrorCode = 27; |
362 | DebugOut.StatusRed |= AMPEL_NC; |
363 | DebugOut.StatusRed |= AMPEL_NC; |
363 | SD_LoggingError = 0; |
364 | SD_LoggingError = 0; |
364 | } |
365 | } |
365 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
366 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
366 | { |
367 | { |
367 | LED_RED_ON; |
368 | LED_RED_ON; |
368 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
369 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
369 | newErrorCode = 29; |
370 | newErrorCode = 29; |
370 | DebugOut.StatusRed |= AMPEL_NC; |
371 | DebugOut.StatusRed |= AMPEL_NC; |
371 | } |
372 | } |
372 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
373 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
373 | { |
374 | { |
374 | LED_RED_ON; |
375 | LED_RED_ON; |
375 | sprintf(ErrorMSG,"No GPS Fix "); |
376 | sprintf(ErrorMSG,"No GPS Fix "); |
376 | newErrorCode = 30; |
377 | newErrorCode = 30; |
377 | } |
378 | } |
378 | else // no error occured |
379 | else // no error occured |
379 | { |
380 | { |
380 | StopNavigation = 0; |
381 | StopNavigation = 0; |
381 | LED_RED_OFF; |
382 | LED_RED_OFF; |
382 | if(no_error_delay) { no_error_delay--; } |
383 | if(no_error_delay) { no_error_delay--; } |
383 | else |
384 | else |
384 | { |
385 | { |
385 | sprintf(ErrorMSG,"No Error "); |
386 | sprintf(ErrorMSG,"No Error "); |
386 | ErrorCode = 0; |
387 | ErrorCode = 0; |
387 | } |
388 | } |
388 | } |
389 | } |
389 | 390 | ||
390 | if(newErrorCode) |
391 | if(newErrorCode) |
391 | { |
392 | { |
392 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
393 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
393 | ErrorCode = newErrorCode; |
394 | ErrorCode = newErrorCode; |
394 | } |
395 | } |
395 | FC.Error[0] = 0; |
396 | FC.Error[0] = 0; |
396 | FC.Error[1] = 0; |
397 | FC.Error[1] = 0; |
397 | FC.Error[2] = 0; |
398 | FC.Error[2] = 0; |
398 | FC.Error[3] = 0; |
399 | FC.Error[3] = 0; |
399 | FC.Error[4] = 0; |
400 | FC.Error[4] = 0; |
400 | ErrorGpsFixLost = 0; |
401 | ErrorGpsFixLost = 0; |
401 | } |
402 | } |
402 | 403 | ||
403 | 404 | ||
404 | 405 | ||
405 | void Polling(void) |
406 | void Polling(void) |
406 | { |
407 | { |
407 | static u8 running = 0, oldFcFlags = 0; |
408 | static u8 running = 0, oldFcFlags = 0, count5sec; |
408 | if(running) return; |
409 | if(running) return; |
409 | running = 1; |
410 | running = 1; |
410 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
411 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
411 | UART0_ProcessRxData(); // GPS process request |
412 | UART0_ProcessRxData(); // GPS process request |
412 | UART0_TransmitTxData(); // GPS send answer |
413 | UART0_TransmitTxData(); // GPS send answer |
413 | UART1_ProcessRxData(); // PC process request |
414 | UART1_ProcessRxData(); // PC process request |
414 | UART1_TransmitTxData(); // PC send answer |
415 | UART1_TransmitTxData(); // PC send answer |
415 | UART2_TransmitTxData(); // FC send answer |
416 | UART2_TransmitTxData(); // FC send answer |
416 | CalcHeadFree(); |
417 | CalcHeadFree(); |
417 | // ---------------- Error Check Timing ---------------------------- |
418 | // ---------------- Error Check Timing ---------------------------- |
418 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
419 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
419 | { |
420 | { |
- | 421 | if(CheckDelay(TimerCheckError)) |
|
- | 422 | { |
|
420 | TimerCheckError = SetDelay(1000); |
423 | TimerCheckError = SetDelay(1000); |
- | 424 | if(++count5sec == 5) |
|
- | 425 | { |
|
- | 426 | count5sec = 0; |
|
- | 427 | FreqGpsProcessedFromStart = CountGpsProcessedFromStart * 2; |
|
- | 428 | FreqNewGpsDataFromStart = CountNewGpsDataFromStart * 2; |
|
- | 429 | CountGpsProcessedFromStart = 0; |
|
- | 430 | CountNewGpsDataFromStart = 0; |
|
- | 431 | } |
|
- | 432 | } |
|
421 | oldFcFlags = FC.StatusFlags; |
433 | oldFcFlags = FC.StatusFlags; |
422 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
434 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
423 | 435 | ||
424 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
436 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
425 | 437 | ||
426 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
438 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
427 | // else NaviData.FlyingTime = 0; // not the time per flight |
439 | // else NaviData.FlyingTime = 0; // not the time per flight |
428 | if(SerialLinkOkay) SerialLinkOkay--; |
440 | if(SerialLinkOkay) SerialLinkOkay--; |
429 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
441 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
430 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
442 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
431 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
443 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
432 | } |
444 | } |
433 | running = 0; |
445 | running = 0; |
434 | } |
446 | } |
435 | 447 | ||
436 | // the handler will be cyclic called by the timer 1 ISR |
448 | // the handler will be cyclic called by the timer 1 ISR |
437 | // used is for critical timing parts that normaly would handled |
449 | // used is for critical timing parts that normaly would handled |
438 | // within the main loop that could block longer at logging activities |
450 | // within the main loop that could block longer at logging activities |
439 | void EXTIT3_IRQHandler(void) |
451 | void EXTIT3_IRQHandler(void) |
440 | { |
452 | { |
441 | IENABLE; |
453 | IENABLE; |
442 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
454 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
443 | Compass_Update(); // update compass communication |
455 | Compass_Update(); // update compass communication |
444 | Analog_Update(); // get new ADC values |
456 | Analog_Update(); // get new ADC values |
445 | 457 | ||
446 | if(!PollingTimeout) |
458 | if(!PollingTimeout) |
447 | { |
459 | { |
448 | PollingTimeout = 5; |
460 | PollingTimeout = 5; |
449 | Polling(); |
461 | Polling(); |
450 | } |
462 | } |
451 | 463 | ||
452 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
464 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
453 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
465 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
454 | IDISABLE; |
466 | IDISABLE; |
455 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
467 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
456 | } |
468 | } |
457 | 469 | ||
458 | //---------------------------------------------------------------------------------------------------- |
470 | //---------------------------------------------------------------------------------------------------- |
459 | int main(void) |
471 | int main(void) |
460 | { |
472 | { |
461 | 473 | ||
462 | static u32 ftimer =0; |
474 | static u32 ftimer =0; |
463 | static u8 fstate = 0; |
475 | static u8 fstate = 0; |
464 | static File_t* f = NULL; |
476 | static File_t* f = NULL; |
465 | 477 | ||
466 | 478 | ||
467 | /* Configure the system clocks */ |
479 | /* Configure the system clocks */ |
468 | SCU_Config(); |
480 | SCU_Config(); |
469 | /* init VIC (Vectored Interrupt Controller) */ |
481 | /* init VIC (Vectored Interrupt Controller) */ |
470 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
482 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
471 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
483 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
472 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
484 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
473 | VIC_InitDefaultVectors(); |
485 | VIC_InitDefaultVectors(); |
474 | 486 | ||
475 | // initialize timer 1 for System Clock and delay rountines |
487 | // initialize timer 1 for System Clock and delay rountines |
476 | TIMER1_Init(); |
488 | TIMER1_Init(); |
477 | // initialize the LEDs (needs Timer 1) |
489 | // initialize the LEDs (needs Timer 1) |
478 | Led_Init(); |
490 | Led_Init(); |
479 | // initialize the debug UART1 |
491 | // initialize the debug UART1 |
480 | UART1_Init(); |
492 | UART1_Init(); |
481 | UART1_PutString("\r\n---------------------------------------------"); |
493 | UART1_PutString("\r\n---------------------------------------------"); |
482 | // initialize usb |
494 | // initialize usb |
483 | USB_ConfigInit(); |
495 | USB_ConfigInit(); |
484 | // initialize timer 2 for servo outputs |
496 | // initialize timer 2 for servo outputs |
485 | //TIMER2_Init(); |
497 | //TIMER2_Init(); |
486 | // initialize UART2 to FLIGHTCTRL |
498 | // initialize UART2 to FLIGHTCTRL |
487 | UART2_Init(); |
499 | UART2_Init(); |
488 | // initialize UART0 (to MKGPS or MK3MAG) |
500 | // initialize UART0 (to MKGPS or MK3MAG) |
489 | UART0_Init(); |
501 | UART0_Init(); |
490 | // initialize adc |
502 | // initialize adc |
491 | Analog_Init(); |
503 | Analog_Init(); |
492 | // initialize SPI0 to FC |
504 | // initialize SPI0 to FC |
493 | SPI0_Init(); |
505 | SPI0_Init(); |
494 | // initialize i2c bus (needs Timer 1) |
506 | // initialize i2c bus (needs Timer 1) |
495 | I2C1_Init(); |
507 | I2C1_Init(); |
496 | // initialize fat16 partition on sd card (needs Timer 1) |
508 | // initialize fat16 partition on sd card (needs Timer 1) |
497 | Fat16_Init(); |
509 | Fat16_Init(); |
498 | // initialize NC params |
510 | // initialize NC params |
499 | NCParams_Init(); |
511 | NCParams_Init(); |
500 | // initialize the settings |
512 | // initialize the settings |
501 | Settings_Init(); |
513 | Settings_Init(); |
502 | // initialize logging (needs settings) |
514 | // initialize logging (needs settings) |
503 | Logging_Init(); |
515 | Logging_Init(); |
504 | 516 | ||
505 | LED_GRN_ON; |
517 | LED_GRN_ON; |
506 | TimerCheckError = SetDelay(3000); |
518 | TimerCheckError = SetDelay(3000); |
507 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
519 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
508 | UART1_PutString("\n\r Version information:"); |
520 | UART1_PutString("\n\r Version information:"); |
509 | 521 | ||
510 | GetNaviCtrlVersion(); |
522 | GetNaviCtrlVersion(); |
511 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
523 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
512 | DebugOut.StatusRed = 0x00; |
524 | DebugOut.StatusRed = 0x00; |
513 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
525 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
514 | 526 | ||
515 | Compass_Init(); |
527 | Compass_Init(); |
516 | 528 | ||
517 | GPS_Init(); |
529 | GPS_Init(); |
518 | 530 | ||
519 | #ifdef FOLLOW_ME |
531 | #ifdef FOLLOW_ME |
520 | TransmitAlsoToFC = 1; |
532 | TransmitAlsoToFC = 1; |
521 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
533 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
522 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
534 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
523 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
535 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
524 | TransmitAlsoToFC = 0; |
536 | TransmitAlsoToFC = 0; |
525 | #else |
537 | #else |
526 | SPI0_GetFlightCtrlVersion(); |
538 | SPI0_GetFlightCtrlVersion(); |
527 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
539 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
528 | { |
540 | { |
529 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
541 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
530 | LED_RED_ON; |
542 | LED_RED_ON; |
531 | } |
543 | } |
532 | #endif |
544 | #endif |
533 | // ---------- Prepare the isr driven |
545 | // ---------- Prepare the isr driven |
534 | // set to absolute lowest priority |
546 | // set to absolute lowest priority |
535 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
547 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
536 | // enable interrupts |
548 | // enable interrupts |
537 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
549 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
538 | 550 | ||
539 | Debug_OK("START"); |
551 | Debug_OK("START"); |
540 | UART1_PutString("\r\n"); |
552 | UART1_PutString("\r\n"); |
541 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
553 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
542 | LED_GRN_ON; |
554 | LED_GRN_ON; |
543 | LED_RED_OFF; |
555 | LED_RED_OFF; |
544 | for (;;) // the endless main loop |
556 | for (;;) // the endless main loop |
545 | { |
557 | { |
546 | Polling(); |
558 | Polling(); |
547 | PollingTimeout = 15; |
559 | PollingTimeout = 15; |
548 | // ---------------- Logging --------------------------------------- |
560 | // ---------------- Logging --------------------------------------- |
549 | if(SD_WatchDog) |
561 | if(SD_WatchDog) |
550 | { |
562 | { |
551 | SD_WatchDog = 30000; |
563 | SD_WatchDog = 30000; |
552 | if(SDCardInfo.Valid == 1) 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 |
564 | if(SDCardInfo.Valid == 1) 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 |
553 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
565 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
554 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
566 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
555 | } |
567 | } |
556 | 568 | ||
557 | /* |
569 | /* |
558 | if(CheckDelay(ftimer)) |
570 | if(CheckDelay(ftimer)) |
559 | { |
571 | { |
560 | 572 | ||
561 | static s8 filename[35]; |
573 | static s8 filename[35]; |
562 | static u8 i = 0; |
574 | static u8 i = 0; |
563 | s8 dbgmsg[40]; |
575 | s8 dbgmsg[40]; |
564 | |
576 | |
565 | |
577 | |
566 | 578 | ||
567 | ftimer = SetDelay(100); |
579 | ftimer = SetDelay(100); |
568 | if(FC.Poti[3]>100 && fstate == 0) |
580 | if(FC.Poti[3]>100 && fstate == 0) |
569 | { |
581 | { |
570 | fstate = 1; |
582 | fstate = 1; |
571 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
583 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
572 | } |
584 | } |
573 | else if(FC.Poti[3]<100 && fstate == 2) |
585 | else if(FC.Poti[3]<100 && fstate == 2) |
574 | { |
586 | { |
575 | fstate = 3; |
587 | fstate = 3; |
576 | } |
588 | } |
577 | 589 | ||
578 | switch(fstate) |
590 | switch(fstate) |
579 | { |
591 | { |
580 | case 1: |
592 | case 1: |
581 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
593 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
582 | Debug(dbgmsg); |
594 | Debug(dbgmsg); |
583 | f = fopen_(filename, 'a'); |
595 | f = fopen_(filename, 'a'); |
584 | if(f== NULL) Fat16_Init(); |
596 | if(f== NULL) Fat16_Init(); |
585 | fstate = 2; |
597 | fstate = 2; |
586 | break; |
598 | break; |
587 | 599 | ||
588 | case 2: |
600 | case 2: |
589 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
601 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
590 | break; |
602 | break; |
591 | |
603 | |
592 | case 3: |
604 | case 3: |
593 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
605 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
594 | Debug(dbgmsg); |
606 | Debug(dbgmsg); |
595 | fclose_(f); |
607 | fclose_(f); |
596 | fstate = 0; |
608 | fstate = 0; |
597 | break; |
609 | break; |
598 | 610 | ||
599 | default: |
611 | default: |
600 | break; |
612 | break; |
601 | } |
613 | } |
602 | } |
614 | } |
603 | */ |
615 | */ |
604 | } |
616 | } |
605 | } |
617 | } |
606 | //DebugOut.Analog[16] |
618 | //DebugOut.Analog[16] |
607 | 619 |