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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 "sdc.h" |
73 | #include "sdc.h" |
74 | #include "logging.h" |
74 | #include "logging.h" |
75 | #include "params.h" |
75 | #include "params.h" |
76 | #include "settings.h" |
76 | #include "settings.h" |
77 | #include "config.h" |
77 | #include "config.h" |
78 | #include "main.h" |
78 | #include "main.h" |
79 | #include "debug.h" |
79 | #include "debug.h" |
80 | #include "eeprom.h" |
80 | #include "eeprom.h" |
81 | #include "ssc.h" |
81 | #include "ssc.h" |
82 | #include "sdc.h" |
82 | #include "sdc.h" |
83 | #include "uart1.h" |
83 | #include "uart1.h" |
84 | 84 | ||
85 | 85 | ||
86 | #ifdef FOLLOW_ME |
86 | #ifdef FOLLOW_ME |
87 | u8 TransmitAlsoToFC = 0; |
87 | u8 TransmitAlsoToFC = 0; |
88 | #endif |
88 | #endif |
89 | u32 TimerCheckError; |
89 | u32 TimerCheckError; |
90 | u8 ErrorCode = 0; |
90 | u8 ErrorCode = 0; |
91 | u16 BeepTime; |
91 | u16 BeepTime; |
92 | u8 NCFlags = 0; |
92 | u8 NCFlags = 0; |
93 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
93 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
94 | u8 ErrorGpsFixLost = 0; |
94 | u8 ErrorGpsFixLost = 0; |
95 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
95 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
96 | u8 ToFC_MaxWpListIndex = 4; |
96 | u8 ToFC_MaxWpListIndex = 4; |
97 | u8 ClearFCStatusFlags = 0; |
97 | u8 ClearFCStatusFlags = 0; |
98 | u8 StopNavigation = 0; |
98 | u8 StopNavigation = 0; |
99 | volatile u32 PollingTimeout = 10000; |
99 | volatile u32 PollingTimeout = 10000; |
100 | Param_t Parameter; |
100 | Param_t Parameter; |
101 | volatile FC_t FC; |
101 | volatile FC_t FC; |
102 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
102 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
103 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
103 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
104 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
104 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
105 | u8 NewWPL_Name = 0; |
105 | u8 NewWPL_Name = 0; |
106 | u32 MaxWP_Radius_in_m = 0; |
106 | u32 MaxWP_Radius_in_m = 0; |
107 | s8 ErrorMSG[25]; |
107 | s8 ErrorMSG[25]; |
108 | u32 TimeSinceMotorStart = 0; |
108 | u32 TimeSinceMotorStart = 0; |
109 | 109 | ||
110 | //---------------------------------------------------------------------------------------------------- |
110 | //---------------------------------------------------------------------------------------------------- |
111 | void SCU_Config(void) |
111 | void SCU_Config(void) |
112 | { |
112 | { |
113 | /* configure PLL and set it as master clock source */ |
113 | /* configure PLL and set it as master clock source */ |
114 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
114 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
115 | SCU_PLLCmd(DISABLE); // now disable the PLL |
115 | SCU_PLLCmd(DISABLE); // now disable the PLL |
116 | #ifdef MCLK96MHZ |
116 | #ifdef MCLK96MHZ |
117 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
117 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
118 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
118 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
119 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
119 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
120 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
120 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
121 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
121 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
122 | #else |
122 | #else |
123 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
123 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
124 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
124 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
125 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
125 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
126 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
126 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
127 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
127 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
128 | #endif |
128 | #endif |
129 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
129 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
130 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
130 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
131 | } |
131 | } |
132 | 132 | ||
133 | //---------------------------------------------------------------------------------------------------- |
133 | //---------------------------------------------------------------------------------------------------- |
134 | void GetNaviCtrlVersion(void) |
134 | void GetNaviCtrlVersion(void) |
135 | { |
135 | { |
136 | u8 msg[25]; |
136 | u8 msg[25]; |
137 | 137 | ||
138 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
138 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
139 | UART1_PutString(msg); |
139 | UART1_PutString(msg); |
140 | } |
140 | } |
141 | 141 | ||
142 | //---------------------------------------------------------------------------------------------------- |
142 | //---------------------------------------------------------------------------------------------------- |
143 | 143 | ||
144 | void CheckErrors(void) |
144 | void CheckErrors(void) |
145 | { |
145 | { |
146 | static s32 no_error_delay = 0; |
146 | static s32 no_error_delay = 0; |
147 | s32 newErrorCode = 0; |
147 | s32 newErrorCode = 0; |
148 | UART_VersionInfo.HardwareError[0] = 0; |
148 | UART_VersionInfo.HardwareError[0] = 0; |
149 | 149 | ||
150 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
150 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
152 | 152 | ||
153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
155 | 155 | ||
156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
158 | 158 | ||
159 | 159 | ||
160 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
160 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
161 | { |
161 | { |
162 | LED_RED_ON; |
162 | LED_RED_ON; |
163 | sprintf(ErrorMSG,"no compass communica"); |
163 | sprintf(ErrorMSG,"no compass communica"); |
164 | //Reset Compass communication |
164 | //Reset Compass communication |
165 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
165 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
166 | Compass_Init(); |
166 | Compass_Init(); |
167 | newErrorCode = 4; |
167 | newErrorCode = 4; |
168 | StopNavigation = 1; |
168 | StopNavigation = 1; |
169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
171 | } |
171 | } |
172 | else if(CompassValueErrorCount > 30) |
172 | else if(CompassValueErrorCount > 30) |
173 | { |
173 | { |
174 | LED_RED_ON; |
174 | LED_RED_ON; |
175 | sprintf(ErrorMSG,"compass sensor error"); |
175 | sprintf(ErrorMSG,"compass sensor error"); |
176 | newErrorCode = 34; |
176 | newErrorCode = 34; |
177 | StopNavigation = 1; |
177 | StopNavigation = 1; |
178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
179 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
179 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
180 | Compass_Init(); |
180 | Compass_Init(); |
181 | } |
181 | } |
182 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
182 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
183 | { |
183 | { |
184 | sprintf(ErrorMSG,"Calibrate... "); |
184 | sprintf(ErrorMSG,"Calibrate... "); |
185 | newErrorCode = 0; |
185 | newErrorCode = 0; |
186 | ErrorCode = 0; |
186 | ErrorCode = 0; |
187 | no_error_delay = 1; |
187 | no_error_delay = 1; |
188 | } |
188 | } |
189 | else if(CheckDelay(SPI0_Timeout)) |
189 | else if(CheckDelay(SPI0_Timeout)) |
190 | { |
190 | { |
191 | LED_RED_ON; |
191 | LED_RED_ON; |
192 | sprintf(ErrorMSG,"no FC communication "); |
192 | sprintf(ErrorMSG,"no FC communication "); |
193 | newErrorCode = 3; |
193 | newErrorCode = 3; |
194 | StopNavigation = 1; |
194 | StopNavigation = 1; |
195 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
195 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
196 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
196 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
197 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
197 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
198 | } |
198 | } |
199 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
199 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
200 | { |
200 | { |
201 | LED_RED_ON; |
201 | LED_RED_ON; |
202 | #ifndef FOLLOW_ME |
202 | #ifndef FOLLOW_ME |
203 | sprintf(ErrorMSG,"FC not compatible "); |
203 | sprintf(ErrorMSG,"FC not compatible "); |
204 | #else |
204 | #else |
205 | sprintf(ErrorMSG,"! FollowMe only ! "); |
205 | sprintf(ErrorMSG,"! FollowMe only ! "); |
206 | #endif |
206 | #endif |
207 | newErrorCode = 1; |
207 | newErrorCode = 1; |
208 | StopNavigation = 1; |
208 | StopNavigation = 1; |
209 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
209 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
210 | DebugOut.StatusRed |= AMPEL_NC; |
210 | DebugOut.StatusRed |= AMPEL_NC; |
211 | } |
211 | } |
212 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
212 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
213 | { |
213 | { |
214 | LED_RED_ON; |
214 | LED_RED_ON; |
215 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
215 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
216 | newErrorCode = 10; |
216 | newErrorCode = 10; |
217 | } |
217 | } |
218 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
218 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
219 | { |
219 | { |
220 | LED_RED_ON; |
220 | LED_RED_ON; |
221 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
221 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
222 | newErrorCode = 11; |
222 | newErrorCode = 11; |
223 | } |
223 | } |
224 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
224 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
225 | { |
225 | { |
226 | LED_RED_ON; |
226 | LED_RED_ON; |
227 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
227 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
228 | newErrorCode = 12; |
228 | newErrorCode = 12; |
229 | } |
229 | } |
230 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
230 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | { |
231 | { |
232 | LED_RED_ON; |
232 | LED_RED_ON; |
233 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
233 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
234 | newErrorCode = 13; |
234 | newErrorCode = 13; |
235 | } |
235 | } |
236 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
236 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
237 | { |
237 | { |
238 | LED_RED_ON; |
238 | LED_RED_ON; |
239 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
239 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
240 | newErrorCode = 14; |
240 | newErrorCode = 14; |
241 | } |
241 | } |
242 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
242 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
243 | { |
243 | { |
244 | LED_RED_ON; |
244 | LED_RED_ON; |
245 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
245 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
246 | newErrorCode = 15; |
246 | newErrorCode = 15; |
247 | } |
247 | } |
248 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
248 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
249 | { |
249 | { |
250 | LED_RED_ON; |
250 | LED_RED_ON; |
251 | sprintf(ErrorMSG,"ERR:Flying range!"); |
251 | sprintf(ErrorMSG,"ERR:Flying range!"); |
252 | newErrorCode = 28; |
252 | newErrorCode = 28; |
253 | } |
253 | } |
254 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
254 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
255 | { |
255 | { |
256 | LED_RED_ON; |
256 | LED_RED_ON; |
257 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
257 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
258 | newErrorCode = 16; |
258 | newErrorCode = 16; |
259 | } |
259 | } |
260 | else if(FC.Error[1] & FC_ERROR1_I2C) |
260 | else if(FC.Error[1] & FC_ERROR1_I2C) |
261 | { |
261 | { |
262 | LED_RED_ON; |
262 | LED_RED_ON; |
263 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
263 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
264 | newErrorCode = 17; |
264 | newErrorCode = 17; |
265 | } |
265 | } |
266 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
266 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
267 | { |
267 | { |
268 | LED_RED_ON; |
268 | LED_RED_ON; |
269 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
269 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
270 | newErrorCode = 18; |
270 | newErrorCode = 18; |
271 | } |
271 | } |
272 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
272 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
273 | { |
273 | { |
274 | LED_RED_ON; |
274 | LED_RED_ON; |
275 | sprintf(ErrorMSG,"Mixer Error"); |
275 | sprintf(ErrorMSG,"Mixer Error"); |
276 | newErrorCode = 19; |
276 | newErrorCode = 19; |
277 | } |
277 | } |
278 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
278 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
279 | { |
279 | { |
280 | LED_RED_ON; |
280 | LED_RED_ON; |
281 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
281 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
282 | // else |
282 | // else |
283 | { |
283 | { |
284 | sprintf(ErrorMSG,"no GPS communication"); |
284 | sprintf(ErrorMSG,"no GPS communication"); |
285 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
285 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
286 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
286 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
287 | newErrorCode = 5; |
287 | newErrorCode = 5; |
288 | } |
288 | } |
289 | StopNavigation = 1; |
289 | StopNavigation = 1; |
290 | // UBX_Timeout = SetDelay(500); |
290 | // UBX_Timeout = SetDelay(500); |
291 | } |
291 | } |
292 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
292 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
293 | { |
293 | { |
294 | LED_RED_ON; |
294 | LED_RED_ON; |
295 | sprintf(ErrorMSG,"compass not calibr."); |
295 | sprintf(ErrorMSG,"compass not calibr."); |
296 | newErrorCode = 31; |
296 | newErrorCode = 31; |
297 | StopNavigation = 1; |
297 | StopNavigation = 1; |
298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
299 | } |
299 | } |
300 | else if(Compass_Heading < 0) |
300 | else if(Compass_Heading < 0) |
301 | { |
301 | { |
302 | LED_RED_ON; |
302 | LED_RED_ON; |
303 | sprintf(ErrorMSG,"bad compass value "); |
303 | sprintf(ErrorMSG,"bad compass value "); |
304 | newErrorCode = 6; |
304 | newErrorCode = 6; |
305 | StopNavigation = 1; |
305 | StopNavigation = 1; |
306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
307 | } |
307 | } |
308 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
308 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
309 | { |
309 | { |
310 | LED_RED_ON; |
310 | LED_RED_ON; |
311 | sprintf(ErrorMSG,"FC spi rx error "); |
311 | sprintf(ErrorMSG,"FC spi rx error "); |
312 | newErrorCode = 8; |
312 | newErrorCode = 8; |
313 | StopNavigation = 1; |
313 | StopNavigation = 1; |
314 | } |
314 | } |
315 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
315 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
316 | { |
316 | { |
317 | LED_RED_ON; |
317 | LED_RED_ON; |
318 | sprintf(ErrorMSG,"FC: Carefree Error"); |
318 | sprintf(ErrorMSG,"FC: Carefree Error"); |
319 | newErrorCode = 20; |
319 | newErrorCode = 20; |
320 | } |
320 | } |
321 | else if(FC.Error[1] & FC_ERROR1_PPM) |
321 | else if(FC.Error[1] & FC_ERROR1_PPM) |
322 | { |
322 | { |
323 | LED_RED_ON; |
323 | LED_RED_ON; |
324 | sprintf(ErrorMSG,"RC Signal lost "); |
324 | sprintf(ErrorMSG,"RC Signal lost "); |
325 | newErrorCode = 7; |
325 | newErrorCode = 7; |
326 | } |
326 | } |
327 | else if(ErrorGpsFixLost) |
327 | else if(ErrorGpsFixLost) |
328 | { |
328 | { |
329 | LED_RED_ON; |
329 | LED_RED_ON; |
330 | sprintf(ErrorMSG,"GPS Fix lost "); |
330 | sprintf(ErrorMSG,"GPS Fix lost "); |
331 | newErrorCode = 21; |
331 | newErrorCode = 21; |
332 | } |
332 | } |
333 | else if(ErrorDisturbedEarthMagnetField) |
333 | else if(ErrorDisturbedEarthMagnetField) |
334 | { |
334 | { |
335 | LED_RED_ON; |
335 | LED_RED_ON; |
336 | sprintf(ErrorMSG,"Magnet error "); |
336 | sprintf(ErrorMSG,"Magnet error "); |
337 | newErrorCode = 22; |
337 | newErrorCode = 22; |
338 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
338 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
339 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
339 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
340 | } |
340 | } |
341 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
341 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
342 | { |
342 | { |
343 | LED_RED_ON; |
343 | LED_RED_ON; |
344 | sprintf(ErrorMSG,"ERR:Motor restart "); |
344 | sprintf(ErrorMSG,"ERR:Motor restart "); |
345 | newErrorCode = 23; |
345 | newErrorCode = 23; |
346 | DebugOut.StatusRed |= AMPEL_BL; |
346 | DebugOut.StatusRed |= AMPEL_BL; |
347 | } |
347 | } |
348 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
348 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
349 | { |
349 | { |
350 | u16 i; |
350 | u16 i; |
351 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
351 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
352 | LED_RED_ON; |
352 | LED_RED_ON; |
353 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
353 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
354 | newErrorCode = 32; |
354 | newErrorCode = 32; |
355 | DebugOut.StatusRed |= AMPEL_BL; |
355 | DebugOut.StatusRed |= AMPEL_BL; |
356 | } |
356 | } |
357 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
357 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
358 | { |
358 | { |
359 | LED_RED_ON; |
359 | LED_RED_ON; |
360 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
360 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
361 | newErrorCode = 24; |
361 | newErrorCode = 24; |
362 | DebugOut.StatusRed |= AMPEL_BL; |
362 | DebugOut.StatusRed |= AMPEL_BL; |
363 | } |
363 | } |
364 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
364 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
365 | { |
365 | { |
366 | LED_RED_ON; |
366 | LED_RED_ON; |
367 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
367 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
368 | newErrorCode = 25; |
368 | newErrorCode = 25; |
369 | DebugOut.StatusRed |= AMPEL_NC; |
369 | DebugOut.StatusRed |= AMPEL_NC; |
370 | } |
370 | } |
371 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
371 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
372 | { |
372 | { |
373 | LED_RED_ON; |
373 | LED_RED_ON; |
374 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
374 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
375 | newErrorCode = 26; |
375 | newErrorCode = 26; |
376 | DebugOut.StatusRed |= AMPEL_NC; |
376 | DebugOut.StatusRed |= AMPEL_NC; |
377 | } |
377 | } |
378 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
378 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
379 | { |
379 | { |
380 | LED_RED_ON; |
380 | LED_RED_ON; |
381 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
381 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
382 | newErrorCode = 27; |
382 | newErrorCode = 27; |
383 | DebugOut.StatusRed |= AMPEL_NC; |
383 | DebugOut.StatusRed |= AMPEL_NC; |
384 | SD_LoggingError = 0; |
384 | SD_LoggingError = 0; |
385 | } |
385 | } |
386 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
386 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
387 | { |
387 | { |
388 | LED_RED_ON; |
388 | LED_RED_ON; |
389 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
389 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
390 | newErrorCode = 29; |
390 | newErrorCode = 29; |
391 | DebugOut.StatusRed |= AMPEL_NC; |
391 | DebugOut.StatusRed |= AMPEL_NC; |
392 | } |
392 | } |
393 | 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))) |
393 | 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))) |
394 | { |
394 | { |
395 | LED_RED_ON; |
395 | LED_RED_ON; |
396 | sprintf(ErrorMSG,"No GPS Fix "); |
396 | sprintf(ErrorMSG,"No GPS Fix "); |
397 | newErrorCode = 30; |
397 | newErrorCode = 30; |
398 | } |
398 | } |
399 | else // no error occured |
399 | else // no error occured |
400 | { |
400 | { |
401 | StopNavigation = 0; |
401 | StopNavigation = 0; |
402 | LED_RED_OFF; |
402 | LED_RED_OFF; |
403 | if(no_error_delay) { no_error_delay--; } |
403 | if(no_error_delay) { no_error_delay--; } |
404 | else |
404 | else |
405 | { |
405 | { |
406 | sprintf(ErrorMSG,"No Error "); |
406 | sprintf(ErrorMSG,"No Error "); |
407 | ErrorCode = 0; |
407 | ErrorCode = 0; |
408 | } |
408 | } |
409 | } |
409 | } |
410 | 410 | ||
411 | if(newErrorCode) |
411 | if(newErrorCode) |
412 | { |
412 | { |
413 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
413 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
414 | ErrorCode = newErrorCode; |
414 | ErrorCode = newErrorCode; |
415 | } |
415 | } |
416 | FC.Error[0] = 0; |
416 | FC.Error[0] = 0; |
417 | FC.Error[1] = 0; |
417 | FC.Error[1] = 0; |
418 | FC.Error[2] = 0; |
418 | FC.Error[2] = 0; |
419 | FC.Error[3] = 0; |
419 | FC.Error[3] = 0; |
420 | FC.Error[4] = 0; |
420 | FC.Error[4] = 0; |
421 | ErrorGpsFixLost = 0; |
421 | ErrorGpsFixLost = 0; |
422 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
422 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
423 | } |
423 | } |
424 | 424 | ||
425 | 425 | ||
426 | 426 | ||
427 | u8 Polling(void) |
427 | u8 Polling(void) |
428 | { |
428 | { |
429 | static u8 running = 0, oldFcFlags = 0, count5sec; |
429 | static u8 running = 0, oldFcFlags = 0, count5sec; |
430 | static u32 old_ms = 0; |
430 | static u32 old_ms = 0; |
431 | 431 | ||
432 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
432 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
433 | running = 1; |
433 | running = 1; |
434 | 434 | ||
435 | if(CountMilliseconds != old_ms) // 1 ms |
435 | if(CountMilliseconds != old_ms) // 1 ms |
436 | { |
436 | { |
437 | old_ms = CountMilliseconds; |
437 | old_ms = CountMilliseconds; |
438 | Compass_Update(); // update compass communication |
438 | Compass_Update(); // update compass communication |
439 | Analog_Update(); // get new ADC values |
439 | Analog_Update(); // get new ADC values |
440 | CalcHeadFree(); |
440 | CalcHeadFree(); |
441 | } |
441 | } |
442 | 442 | ||
443 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
443 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
444 | UART0_ProcessRxData(); // GPS process request |
444 | UART0_ProcessRxData(); // GPS process request |
445 | UART0_TransmitTxData(); // GPS send answer |
445 | UART0_TransmitTxData(); // GPS send answer |
446 | UART1_ProcessRxData(); // PC process request |
446 | UART1_ProcessRxData(); // PC process request |
447 | UART1_TransmitTxData(); // PC send answer |
447 | UART1_TransmitTxData(); // PC send answer |
448 | UART2_TransmitTxData(); // FC send answer |
448 | UART2_TransmitTxData(); // FC send answer |
449 | 449 | ||
450 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
450 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
451 | 451 | ||
452 | // ---------------- Error Check Timing ---------------------------- |
452 | // ---------------- Error Check Timing ---------------------------- |
453 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
453 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
454 | { |
454 | { |
455 | if(CheckDelay(TimerCheckError)) |
455 | if(CheckDelay(TimerCheckError)) |
456 | { |
456 | { |
457 | TimerCheckError = SetDelay(1000); |
457 | TimerCheckError = SetDelay(1000); |
458 | if(CompassValueErrorCount) CompassValueErrorCount--; |
458 | if(CompassValueErrorCount) CompassValueErrorCount--; |
459 | if(++count5sec == 5) |
459 | if(++count5sec == 5) |
460 | { |
460 | { |
461 | count5sec = 0; |
461 | count5sec = 0; |
462 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
462 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
463 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
463 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
464 | CountGpsProcessedIn5Sec = 0; |
464 | CountGpsProcessedIn5Sec = 0; |
465 | CountNewGpsDataIn5Sec = 0; |
465 | CountNewGpsDataIn5Sec = 0; |
466 | } |
466 | } |
467 | } |
467 | } |
468 | oldFcFlags = FC.StatusFlags; |
468 | oldFcFlags = FC.StatusFlags; |
469 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
469 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
470 | 470 | ||
471 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
471 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
472 | 472 | ||
473 | if(FC.StatusFlags & FC_STATUS_FLY) |
473 | if(FC.StatusFlags & FC_STATUS_FLY) |
474 | { |
474 | { |
475 | NaviData.FlyingTime++; // we want to count the battery-time |
475 | NaviData.FlyingTime++; // we want to count the battery-time |
476 | TimeSinceMotorStart++; |
476 | TimeSinceMotorStart++; |
477 | } |
477 | } |
478 | 478 | ||
479 | if(SerialLinkOkay) SerialLinkOkay--; |
479 | if(SerialLinkOkay) SerialLinkOkay--; |
480 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
480 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
481 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
481 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
482 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
482 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
483 | } |
483 | } |
484 | running = 0; |
484 | running = 0; |
485 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
485 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
486 | return(0); |
486 | return(0); |
487 | } |
487 | } |
488 | 488 | ||
489 | // the handler will be cyclic called by the timer 1 ISR |
489 | // the handler will be cyclic called by the timer 1 ISR |
490 | // used is for critical timing parts that normaly would handled |
490 | // used is for critical timing parts that normaly would handled |
491 | // within the main loop that could block longer at logging activities |
491 | // within the main loop that could block longer at logging activities |
492 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
492 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
493 | { |
493 | { |
494 | IENABLE; |
494 | IENABLE; |
495 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
495 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
496 | 496 | ||
497 | if(PollingTimeout == 0) |
497 | if(PollingTimeout == 0) |
498 | { |
498 | { |
499 | PollingTimeout = 5; |
499 | PollingTimeout = 5; |
500 | //if(Polling() == 0) DebugOut.Analog[]++; |
500 | //if(Polling() == 0) DebugOut.Analog[]++; |
501 | Polling(); |
501 | Polling(); |
502 | } |
502 | } |
503 | 503 | ||
504 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
504 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
505 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
505 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
506 | IDISABLE; |
506 | IDISABLE; |
507 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
507 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
508 | } |
508 | } |
509 | 509 | ||
510 | //---------------------------------------------------------------------------------------------------- |
510 | //---------------------------------------------------------------------------------------------------- |
511 | int main(void) |
511 | int main(void) |
512 | { |
512 | { |
513 | 513 | ||
514 | // static u32 ftimer =0; |
514 | // static u32 ftimer =0; |
515 | // static u8 fstate = 0; |
515 | // static u8 fstate = 0; |
516 | // static File_t* f = NULL; |
516 | // static File_t* f = NULL; |
517 | 517 | ||
518 | 518 | ||
519 | /* Configure the system clocks */ |
519 | /* Configure the system clocks */ |
520 | SCU_Config(); |
520 | SCU_Config(); |
521 | /* init VIC (Vectored Interrupt Controller) */ |
521 | /* init VIC (Vectored Interrupt Controller) */ |
522 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
522 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
523 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
523 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
524 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
524 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
525 | VIC_InitDefaultVectors(); |
525 | VIC_InitDefaultVectors(); |
526 | 526 | ||
527 | // initialize timer 1 for System Clock and delay rountines |
527 | // initialize timer 1 for System Clock and delay rountines |
528 | TIMER1_Init(); |
528 | TIMER1_Init(); |
529 | // initialize the LEDs (needs Timer 1) |
529 | // initialize the LEDs (needs Timer 1) |
530 | Led_Init(); |
530 | Led_Init(); |
531 | // initialize the debug UART1 |
531 | // initialize the debug UART1 |
532 | UART1_Init(); |
532 | UART1_Init(); |
533 | UART1_PutString("\r\n---------------------------------------------"); |
533 | UART1_PutString("\r\n---------------------------------------------"); |
534 | // initialize timer 2 for servo outputs |
534 | // initialize timer 2 for servo outputs |
535 | //TIMER2_Init(); |
535 | //TIMER2_Init(); |
536 | // initialize UART2 to FLIGHTCTRL |
536 | // initialize UART2 to FLIGHTCTRL |
537 | UART2_Init(); |
537 | UART2_Init(); |
538 | // initialize UART0 (to MKGPS or MK3MAG) |
538 | // initialize UART0 (to MKGPS or MK3MAG) |
539 | UART0_Init(); |
539 | UART0_Init(); |
540 | // initialize adc |
540 | // initialize adc |
541 | Analog_Init(); |
541 | Analog_Init(); |
542 | // initialize SPI0 to FC |
542 | // initialize SPI0 to FC |
543 | SPI0_Init(); |
543 | SPI0_Init(); |
544 | // initialize i2c busses (needs Timer 1) |
544 | // initialize i2c busses (needs Timer 1) |
545 | I2CBus_Init(I2C0); |
545 | I2CBus_Init(I2C0); |
546 | I2CBus_Init(I2C1); |
546 | I2CBus_Init(I2C1); |
547 | // initialize fat16 partition on sd card (needs Timer 1) |
547 | // initialize fat16 partition on sd card (needs Timer 1) |
548 | Fat16_Init(); |
548 | Fat16_Init(); |
549 | // initialize NC params |
549 | // initialize NC params |
550 | NCParams_Init(); |
550 | NCParams_Init(); |
551 | // initialize the settings |
551 | // initialize the settings |
552 | Settings_Init(); |
552 | Settings_Init(); |
553 | // initialize logging (needs settings) |
553 | // initialize logging (needs settings) |
554 | Logging_Init(); |
554 | Logging_Init(); |
555 | 555 | ||
556 | LED_GRN_ON; |
556 | LED_GRN_ON; |
557 | TimerCheckError = SetDelay(3000); |
557 | TimerCheckError = SetDelay(3000); |
558 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
558 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
559 | UART1_PutString("\n\r Version information:"); |
559 | UART1_PutString("\n\r Version information:"); |
560 | 560 | ||
561 | GetNaviCtrlVersion(); |
561 | GetNaviCtrlVersion(); |
562 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
562 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
563 | DebugOut.StatusRed = 0x00; |
563 | DebugOut.StatusRed = 0x00; |
564 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
564 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
565 | 565 | ||
566 | Compass_Init(); |
566 | Compass_Init(); |
567 | 567 | ||
568 | GPS_Init(); |
568 | GPS_Init(); |
569 | 569 | ||
570 | 570 | ||
571 | #ifdef FOLLOW_ME |
571 | #ifdef FOLLOW_ME |
572 | TransmitAlsoToFC = 1; |
572 | TransmitAlsoToFC = 1; |
573 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
573 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
574 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
574 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
575 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
575 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
576 | TransmitAlsoToFC = 0; |
576 | TransmitAlsoToFC = 0; |
577 | #else |
577 | #else |
578 | SPI0_GetFlightCtrlVersion(); |
578 | SPI0_GetFlightCtrlVersion(); |
579 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
579 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
580 | { |
580 | { |
581 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
581 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
582 | LED_RED_ON; |
582 | LED_RED_ON; |
583 | } |
583 | } |
584 | #endif |
584 | #endif |
585 | 585 | ||
586 | // ---------- Prepare the isr driven |
586 | // ---------- Prepare the isr driven |
587 | // set to absolute lowest priority |
587 | // set to absolute lowest priority |
588 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
588 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
589 | // enable interrupts |
589 | // enable interrupts |
590 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
590 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
591 | 591 | ||
592 | Debug_OK("START"); |
592 | Debug_OK("START"); |
593 | UART1_PutString("\r\n"); |
593 | UART1_PutString("\r\n"); |
594 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
594 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
595 | LED_GRN_ON; |
595 | LED_GRN_ON; |
596 | LED_RED_OFF; |
596 | LED_RED_OFF; |
597 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
597 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
598 | UART1_PutString("\r\n"); |
598 | UART1_PutString("\r\n"); |
599 | 599 | ||
600 | CompassValueErrorCount = 0; |
600 | CompassValueErrorCount = 0; |
601 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
601 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
602 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
602 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
603 | for (;;) // the endless main loop |
603 | for (;;) // the endless main loop |
604 | { |
604 | { |
605 | PollingTimeout = 5; |
605 | PollingTimeout = 5; |
606 | Polling(); |
606 | Polling(); |
607 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
607 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
608 | if(FromFC_LoadWP_List) |
608 | if(FromFC_LoadWP_List) |
609 | { |
609 | { |
610 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
610 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
611 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
611 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
612 | { |
612 | { |
613 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
613 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
614 | { |
614 | { |
615 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
615 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
616 | { |
616 | { |
- | 617 | u32 angle; |
|
- | 618 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
|
617 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
619 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
618 | { // take actual position |
620 | { // take actual position |
619 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
621 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
620 | } |
622 | } |
621 | else |
623 | else |
622 | { // take last target position |
624 | { // take last target position |
623 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
625 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
624 | } |
626 | } |
625 | } |
627 | } |
626 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
628 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
627 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
629 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
628 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
630 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
629 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
631 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
630 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
632 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
631 | BeepTime = 150; |
633 | BeepTime = 150; |
632 | } |
634 | } |
633 | } |
635 | } |
634 | FromFC_LoadWP_List = 0; |
636 | FromFC_LoadWP_List = 0; |
635 | } |
637 | } |
636 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
638 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
637 | if(FromFC_Save_SinglePoint) |
639 | if(FromFC_Save_SinglePoint) |
638 | { |
640 | { |
639 | WPL_Store.Index = FromFC_Save_SinglePoint; |
641 | WPL_Store.Index = FromFC_Save_SinglePoint; |
640 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
642 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
641 | FromFC_Save_SinglePoint = 0; |
643 | FromFC_Save_SinglePoint = 0; |
642 | } |
644 | } |
643 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
645 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
644 | if(FromFC_Load_SinglePoint) |
646 | if(FromFC_Load_SinglePoint) |
645 | { |
647 | { |
646 | WPL_Store.Index = FromFC_Load_SinglePoint; |
648 | WPL_Store.Index = FromFC_Load_SinglePoint; |
647 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
649 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
648 | { |
650 | { |
649 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
651 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
650 | { |
652 | { |
651 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
653 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
652 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
654 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
653 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
655 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
654 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
656 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
655 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
657 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
656 | BeepTime = 150; |
658 | BeepTime = 150; |
657 | } |
659 | } |
658 | } |
660 | } |
659 | FromFC_Load_SinglePoint = 0; |
661 | FromFC_Load_SinglePoint = 0; |
660 | } |
662 | } |
661 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
663 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
662 | // ---------------- Logging --------------------------------------- |
664 | // ---------------- Logging --------------------------------------- |
663 | if(SD_WatchDog) |
665 | if(SD_WatchDog) |
664 | { |
666 | { |
665 | SD_WatchDog = 30000; |
667 | SD_WatchDog = 30000; |
666 | 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 |
668 | 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 |
667 | else |
669 | else |
668 | { |
670 | { |
669 | ToFC_MaxWpListIndex = 0; |
671 | ToFC_MaxWpListIndex = 0; |
670 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
672 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
671 | } |
673 | } |
672 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
674 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
673 | } |
675 | } |
674 | 676 | ||
675 | /* |
677 | /* |
676 | if(CheckDelay(ftimer)) |
678 | if(CheckDelay(ftimer)) |
677 | { |
679 | { |
678 | 680 | ||
679 | static s8 filename[35]; |
681 | static s8 filename[35]; |
680 | static u8 i = 0; |
682 | static u8 i = 0; |
681 | s8 dbgmsg[40]; |
683 | s8 dbgmsg[40]; |
682 | 684 | ||
683 | 685 | ||
684 | 686 | ||
685 | ftimer = SetDelay(100); |
687 | ftimer = SetDelay(100); |
686 | if(FC.Poti[3]>100 && fstate == 0) |
688 | if(FC.Poti[3]>100 && fstate == 0) |
687 | { |
689 | { |
688 | fstate = 1; |
690 | fstate = 1; |
689 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
691 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
690 | } |
692 | } |
691 | else if(FC.Poti[3]<100 && fstate == 2) |
693 | else if(FC.Poti[3]<100 && fstate == 2) |
692 | { |
694 | { |
693 | fstate = 3; |
695 | fstate = 3; |
694 | } |
696 | } |
695 | 697 | ||
696 | switch(fstate) |
698 | switch(fstate) |
697 | { |
699 | { |
698 | case 1: |
700 | case 1: |
699 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
701 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
700 | Debug(dbgmsg); |
702 | Debug(dbgmsg); |
701 | f = fopen_(filename, 'a'); |
703 | f = fopen_(filename, 'a'); |
702 | if(f== NULL) Fat16_Init(); |
704 | if(f== NULL) Fat16_Init(); |
703 | fstate = 2; |
705 | fstate = 2; |
704 | break; |
706 | break; |
705 | 707 | ||
706 | case 2: |
708 | case 2: |
707 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
709 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
708 | break; |
710 | break; |
709 | 711 | ||
710 | case 3: |
712 | case 3: |
711 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
713 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
712 | Debug(dbgmsg); |
714 | Debug(dbgmsg); |
713 | fclose_(f); |
715 | fclose_(f); |
714 | fstate = 0; |
716 | fstate = 0; |
715 | break; |
717 | break; |
716 | 718 | ||
717 | default: |
719 | default: |
718 | break; |
720 | break; |
719 | } |
721 | } |
720 | } |
722 | } |
721 | */ |
723 | */ |
722 | } |
724 | } |
723 | } |
725 | } |
724 | //DebugOut.Analog[] |
726 | //DebugOut.Analog[] |
725 | 727 |