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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
35 | // + this list of conditions and the following disclaimer. |
35 | // + this list of conditions and the following disclaimer. |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
37 | // + from this software without specific prior written permission. |
37 | // + from this software without specific prior written permission. |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
39 | // + for non-commercial use (directly or indirectly) |
39 | // + for non-commercial use (directly or indirectly) |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
41 | // + with our written permission |
41 | // + with our written permission |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
43 | // + clearly linked as origin |
43 | // + clearly linked as origin |
44 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
45 | // |
45 | // |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
58 | //#define MCLK96MHZ |
58 | //#define MCLK96MHZ |
59 | const unsigned long _Main_Crystal = 25000; |
59 | const unsigned long _Main_Crystal = 25000; |
60 | #include <stdio.h> |
60 | #include <stdio.h> |
61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
62 | #include "led.h" |
62 | #include "led.h" |
63 | #include "uart0.h" |
63 | #include "uart0.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "uart2.h" |
65 | #include "uart2.h" |
66 | #include "gps.h" |
66 | #include "gps.h" |
67 | #include "i2c.h" |
67 | #include "i2c.h" |
68 | #include "compass.h" |
68 | #include "compass.h" |
69 | #include "timer1.h" |
69 | #include "timer1.h" |
70 | #include "timer2.h" |
70 | #include "timer2.h" |
71 | #include "analog.h" |
71 | #include "analog.h" |
72 | #include "spi_slave.h" |
72 | #include "spi_slave.h" |
73 | #include "fat16.h" |
73 | #include "fat16.h" |
74 | #include "usb.h" |
74 | #include "usb.h" |
75 | #include "sdc.h" |
75 | #include "sdc.h" |
76 | #include "logging.h" |
76 | #include "logging.h" |
77 | #include "params.h" |
77 | #include "params.h" |
78 | #include "settings.h" |
78 | #include "settings.h" |
79 | #include "config.h" |
79 | #include "config.h" |
80 | #include "main.h" |
80 | #include "main.h" |
81 | #include "debug.h" |
81 | #include "debug.h" |
82 | 82 | ||
83 | #include "eeprom.h" |
83 | #include "eeprom.h" |
84 | 84 | ||
85 | u8 BoardRelease = 0; |
85 | u8 BoardRelease = 0; |
86 | u32 TimerCheckError; |
86 | u32 TimerCheckError; |
87 | u8 ErrorCode = 0; |
87 | u8 ErrorCode = 0; |
88 | u16 BeepTime; |
88 | u16 BeepTime; |
89 | u8 NCFlags = 0; |
89 | u8 NCFlags = 0; |
90 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
90 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
91 | 91 | ||
92 | u8 ClearFCStatusFlags = 0; |
92 | u8 ClearFCStatusFlags = 0; |
93 | u8 StopNavigation = 0; |
93 | u8 StopNavigation = 0; |
94 | Param_t Parameter; |
94 | Param_t Parameter; |
95 | volatile FC_t FC; |
95 | volatile FC_t FC; |
96 | 96 | ||
97 | s8 ErrorMSG[25]; |
97 | s8 ErrorMSG[25]; |
98 | 98 | ||
99 | //---------------------------------------------------------------------------------------------------- |
99 | //---------------------------------------------------------------------------------------------------- |
100 | void SCU_Config(void) |
100 | void SCU_Config(void) |
101 | { |
101 | { |
102 | /* configure PLL and set it as master clock source */ |
102 | /* configure PLL and set it as master clock source */ |
103 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
103 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
104 | SCU_PLLCmd(DISABLE); // now disable the PLL |
104 | SCU_PLLCmd(DISABLE); // now disable the PLL |
105 | #ifdef MCLK96MHZ |
105 | #ifdef MCLK96MHZ |
106 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
106 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
107 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
107 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
108 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
108 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
109 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
109 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
110 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
110 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
111 | #else |
111 | #else |
112 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
112 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
113 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
113 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
114 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
114 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
115 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
115 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
116 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
116 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
117 | #endif |
117 | #endif |
118 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
118 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
119 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
119 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
120 | } |
120 | } |
121 | 121 | ||
122 | //---------------------------------------------------------------------------------------------------- |
122 | //---------------------------------------------------------------------------------------------------- |
123 | void GetNaviCtrlVersion(void) |
123 | void GetNaviCtrlVersion(void) |
124 | { |
124 | { |
125 | u8 msg[25]; |
125 | u8 msg[25]; |
126 | 126 | ||
127 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
127 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
128 | UART1_PutString(msg); |
128 | UART1_PutString(msg); |
129 | } |
129 | } |
130 | 130 | ||
131 | //---------------------------------------------------------------------------------------------------- |
131 | //---------------------------------------------------------------------------------------------------- |
132 | #define ERROR_FC_COMMUNICATION 0x01 |
- | |
133 | #define ERROR_MK3_COMMUNICATION 0x02 |
- | |
134 | #define ERROR_FC_INCOMPATIBLE 0x04 |
- | |
135 | #define ERROR_MK3_INCOMPATIBLE 0x08 |
- | |
136 | #define ERROR_GPS_COMMUNICATION 0x10 |
- | |
137 | #define ERROR_COMPASS_VALUE 0x20 |
- | |
138 | //---------------------------------------------------------------------------------------------------- |
- | |
139 | 132 | ||
140 | void CheckErrors(void) |
133 | void CheckErrors(void) |
141 | { |
134 | { |
142 | UART_VersionInfo.HardwareError[0] = 0; |
135 | UART_VersionInfo.HardwareError[0] = 0; |
143 | 136 | ||
144 | if(/*(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) ||*/ CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08; |
137 | if(/*(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) ||*/ CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08; |
145 | else DebugOut.Status[1] &= ~0x08; // MK3Mag green status |
138 | else DebugOut.Status[1] &= ~0x08; // MK3Mag green status |
146 | 139 | ||
147 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02; |
140 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02; |
148 | else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status |
141 | else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status |
149 | 142 | ||
150 | if(CheckDelay(SPI0_Timeout)) |
143 | if(CheckDelay(SPI0_Timeout)) |
151 | { |
144 | { |
152 | LED_RED_ON; |
145 | LED_RED_ON; |
153 | sprintf(ErrorMSG,"no FC communication "); |
146 | sprintf(ErrorMSG,"no FC communication "); |
154 | ErrorCode = 3; |
147 | ErrorCode = 3; |
155 | StopNavigation = 1; |
148 | StopNavigation = 1; |
156 | DebugOut.Status[0] &= ~0x01; // status of FC Present |
149 | DebugOut.Status[0] &= ~0x01; // status of FC Present |
157 | DebugOut.Status[0] &= ~0x02; // status of BL Present |
150 | DebugOut.Status[0] &= ~0x02; // status of BL Present |
158 | UART_VersionInfo.HardwareError[0] |= ERROR_FC_COMMUNICATION; |
151 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
159 | } |
152 | } |
160 | else if(CheckDelay(I2C1_Timeout)) |
153 | else if(CheckDelay(I2C1_Timeout)) |
161 | { |
154 | { |
162 | LED_RED_ON; |
155 | LED_RED_ON; |
163 | sprintf(ErrorMSG,"no MK3Mag communication "); |
156 | sprintf(ErrorMSG,"no compass communication "); |
164 | //Reset I2CBus |
157 | //Reset I2CBus |
165 | I2C1_Deinit(); |
158 | I2C1_Deinit(); |
166 | I2C1_Init(); |
159 | I2C1_Init(); |
167 | ErrorCode = 4; |
160 | ErrorCode = 4; |
168 | StopNavigation = 1; |
161 | StopNavigation = 1; |
169 | UART_VersionInfo.HardwareError[0] |= ERROR_MK3_COMMUNICATION; |
162 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
170 | DebugOut.Status[1] |= 0x08; |
163 | DebugOut.Status[1] |= 0x08; |
171 | } |
164 | } |
172 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
165 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
173 | { |
166 | { |
174 | LED_RED_ON; |
167 | LED_RED_ON; |
175 | sprintf(ErrorMSG,"FC not compatible "); |
168 | sprintf(ErrorMSG,"FC not compatible "); |
176 | ErrorCode = 1; |
169 | ErrorCode = 1; |
177 | StopNavigation = 1; |
170 | StopNavigation = 1; |
178 | UART_VersionInfo.HardwareError[0] |= ERROR_FC_INCOMPATIBLE; |
171 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
179 | } |
172 | } |
180 | 173 | ||
181 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
174 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
182 | { |
175 | { |
183 | LED_RED_ON; |
176 | LED_RED_ON; |
184 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
177 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
185 | ErrorCode = 10; |
178 | ErrorCode = 10; |
186 | } |
179 | } |
187 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
180 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
188 | { |
181 | { |
189 | LED_RED_ON; |
182 | LED_RED_ON; |
190 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
183 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
191 | ErrorCode = 11; |
184 | ErrorCode = 11; |
192 | } |
185 | } |
193 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
186 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
194 | { |
187 | { |
195 | LED_RED_ON; |
188 | LED_RED_ON; |
196 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
189 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
197 | ErrorCode = 12; |
190 | ErrorCode = 12; |
198 | } |
191 | } |
199 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
192 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
200 | { |
193 | { |
201 | LED_RED_ON; |
194 | LED_RED_ON; |
202 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
195 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
203 | ErrorCode = 13; |
196 | ErrorCode = 13; |
204 | } |
197 | } |
205 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
198 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
206 | { |
199 | { |
207 | LED_RED_ON; |
200 | LED_RED_ON; |
208 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
201 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
209 | ErrorCode = 14; |
202 | ErrorCode = 14; |
210 | } |
203 | } |
211 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
204 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
212 | { |
205 | { |
213 | LED_RED_ON; |
206 | LED_RED_ON; |
214 | sprintf(ErrorMSG,"ERR: FC Z-ACC"); |
207 | sprintf(ErrorMSG,"ERR: FC Z-ACC"); |
215 | ErrorCode = 15; |
208 | ErrorCode = 15; |
216 | } |
209 | } |
217 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
210 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
218 | { |
211 | { |
219 | LED_RED_ON; |
212 | LED_RED_ON; |
220 | sprintf(ErrorMSG,"ERR: Pressure sensor"); |
213 | sprintf(ErrorMSG,"ERR: Pressure sensor"); |
221 | ErrorCode = 16; |
214 | ErrorCode = 16; |
222 | } |
215 | } |
223 | else if(FC.Error[1] & FC_ERROR1_I2C) |
216 | else if(FC.Error[1] & FC_ERROR1_I2C) |
224 | { |
217 | { |
225 | LED_RED_ON; |
218 | LED_RED_ON; |
226 | sprintf(ErrorMSG,"ERR: FC I2C"); |
219 | sprintf(ErrorMSG,"ERR: FC I2C"); |
227 | ErrorCode = 17; |
220 | ErrorCode = 17; |
228 | } |
221 | } |
229 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
222 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
230 | { |
223 | { |
231 | LED_RED_ON; |
224 | LED_RED_ON; |
232 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
225 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
233 | ErrorCode = 18; |
226 | ErrorCode = 18; |
234 | } |
227 | } |
235 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
228 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
236 | { |
229 | { |
237 | LED_RED_ON; |
230 | LED_RED_ON; |
238 | sprintf(ErrorMSG,"Mixer Error"); |
231 | sprintf(ErrorMSG,"Mixer Error"); |
239 | ErrorCode = 19; |
232 | ErrorCode = 19; |
240 | } |
233 | } |
241 | /* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
234 | /* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
242 | { |
235 | { |
243 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
236 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
244 | LED_RED_ON; |
237 | LED_RED_ON; |
245 | ErrorCode = 2; |
238 | ErrorCode = 2; |
246 | StopNavigation = 1; |
239 | StopNavigation = 1; |
247 | UART_VersionInfo.HardwareError[0] |= ERROR_MK3_INCOMPATIBLE; |
240 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
248 | } */ |
241 | } */ |
249 | else if(CheckDelay(UBX_Timeout)) |
242 | else if(CheckDelay(UBX_Timeout)) |
250 | { |
243 | { |
251 | LED_RED_ON; |
244 | LED_RED_ON; |
252 | sprintf(ErrorMSG,"no GPS communication "); |
245 | sprintf(ErrorMSG,"no GPS communication "); |
253 | ErrorCode = 5; |
246 | ErrorCode = 5; |
254 | StopNavigation = 1; |
247 | StopNavigation = 1; |
255 | UART_VersionInfo.HardwareError[0] |= ERROR_GPS_COMMUNICATION; |
248 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
256 | } |
249 | } |
257 | else if(Compass_Heading < 0) |
250 | else if(Compass_Heading < 0) |
258 | { |
251 | { |
259 | LED_RED_ON; |
252 | LED_RED_ON; |
260 | sprintf(ErrorMSG,"bad compass value "); |
253 | sprintf(ErrorMSG,"bad compass value "); |
261 | ErrorCode = 6; |
254 | ErrorCode = 6; |
262 | StopNavigation = 1; |
255 | StopNavigation = 1; |
263 | UART_VersionInfo.HardwareError[0] |= ERROR_COMPASS_VALUE; |
256 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
264 | } |
257 | } |
265 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
258 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
266 | { |
259 | { |
267 | LED_RED_ON; |
260 | LED_RED_ON; |
268 | sprintf(ErrorMSG,"FC spi rx error "); |
261 | sprintf(ErrorMSG,"FC spi rx error "); |
269 | ErrorCode = 8; |
262 | ErrorCode = 8; |
270 | StopNavigation = 1; |
263 | StopNavigation = 1; |
271 | } |
264 | } |
272 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
265 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
273 | { |
266 | { |
274 | LED_RED_ON; |
267 | LED_RED_ON; |
275 | sprintf(ErrorMSG,"FC: Carefree Error"); |
268 | sprintf(ErrorMSG,"FC: Carefree Error"); |
276 | ErrorCode = 20; |
269 | ErrorCode = 20; |
277 | } |
270 | } |
278 | else if(FC.Error[1] & FC_ERROR1_PPM) |
271 | else if(FC.Error[1] & FC_ERROR1_PPM) |
279 | { |
272 | { |
280 | LED_RED_ON; |
273 | LED_RED_ON; |
281 | sprintf(ErrorMSG,"RC Signal lost "); |
274 | sprintf(ErrorMSG,"RC Signal lost "); |
282 | ErrorCode = 7; |
275 | ErrorCode = 7; |
283 | } |
276 | } |
284 | else // no error occured |
277 | else // no error occured |
285 | { |
278 | { |
286 | sprintf(ErrorMSG,"No Error "); |
279 | sprintf(ErrorMSG,"No Error "); |
287 | ErrorCode = 0; |
280 | ErrorCode = 0; |
288 | StopNavigation = 0; |
281 | StopNavigation = 0; |
289 | LED_RED_OFF; |
282 | LED_RED_OFF; |
290 | } |
283 | } |
291 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04; |
284 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04; |
292 | else DebugOut.Status[1] &= ~0x04; |
285 | else DebugOut.Status[1] &= ~0x04; |
293 | } |
286 | } |
294 | 287 | ||
295 | // the handler will be cyclic called by the timer 1 ISR |
288 | // the handler will be cyclic called by the timer 1 ISR |
296 | // used is for critical timing parts that normaly would handled |
289 | // used is for critical timing parts that normaly would handled |
297 | // within the main loop that could block longer at logging activities |
290 | // within the main loop that could block longer at logging activities |
298 | void EXTIT3_IRQHandler(void) |
291 | void EXTIT3_IRQHandler(void) |
299 | { |
292 | { |
300 | IENABLE; |
293 | IENABLE; |
301 | 294 | ||
302 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
295 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
303 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
296 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
304 | Compass_UpdateHeading(); // update compass communication |
297 | Compass_UpdateHeading(); // update compass communication |
305 | Analog_Update(); // get new ADC values |
298 | Analog_Update(); // get new ADC values |
306 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
299 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
307 | 300 | ||
308 | IDISABLE; |
301 | IDISABLE; |
309 | } |
302 | } |
310 | 303 | ||
311 | //---------------------------------------------------------------------------------------------------- |
304 | //---------------------------------------------------------------------------------------------------- |
312 | int main(void) |
305 | int main(void) |
313 | { |
306 | { |
314 | /* Configure the system clocks */ |
307 | /* Configure the system clocks */ |
315 | SCU_Config(); |
308 | SCU_Config(); |
316 | /* init VIC (Vectored Interrupt Controller) */ |
309 | /* init VIC (Vectored Interrupt Controller) */ |
317 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
310 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
318 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
311 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
319 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
312 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
320 | VIC_InitDefaultVectors(); |
313 | VIC_InitDefaultVectors(); |
321 | 314 | ||
322 | // initialize timer 1 for System Clock and delay rountines |
315 | // initialize timer 1 for System Clock and delay rountines |
323 | TIMER1_Init(); |
316 | TIMER1_Init(); |
324 | // initialize the LEDs (needs Timer 1) |
317 | // initialize the LEDs (needs Timer 1) |
325 | Led_Init(); |
318 | Led_Init(); |
326 | // initialize the debug UART1 |
319 | // initialize the debug UART1 |
327 | UART1_Init(); |
320 | UART1_Init(); |
328 | UART1_PutString("\r\n---------------------------------------------"); |
321 | UART1_PutString("\r\n---------------------------------------------"); |
329 | // initialize timer 2 for servo outputs |
322 | // initialize timer 2 for servo outputs |
330 | //TIMER2_Init(); |
323 | //TIMER2_Init(); |
331 | // initialize UART2 to FLIGHTCTRL |
324 | // initialize UART2 to FLIGHTCTRL |
332 | UART2_Init(); |
325 | UART2_Init(); |
333 | // initialize UART0 (to MKGPS or MK3MAG) |
326 | // initialize UART0 (to MKGPS or MK3MAG) |
334 | UART0_Init(); |
327 | UART0_Init(); |
335 | // initialize adc |
328 | // initialize adc |
336 | Analog_Init(); |
329 | Analog_Init(); |
337 | // initialize usb |
330 | // initialize usb |
338 | USB_ConfigInit(); |
331 | USB_ConfigInit(); |
339 | // initialize SPI0 to FC |
332 | // initialize SPI0 to FC |
340 | SPI0_Init(); |
333 | SPI0_Init(); |
341 | // initialize i2c bus (needs Timer 1) |
334 | // initialize i2c bus (needs Timer 1) |
342 | I2C1_Init(); |
335 | I2C1_Init(); |
343 | // initialize fat16 partition on sd card (needs Timer 1) |
336 | // initialize fat16 partition on sd card (needs Timer 1) |
344 | Fat16_Init(); |
337 | Fat16_Init(); |
345 | // initialize NC params |
338 | // initialize NC params |
346 | NCParams_Init(); |
339 | NCParams_Init(); |
347 | // initialize the settings |
340 | // initialize the settings |
348 | Settings_Init(); |
341 | Settings_Init(); |
349 | // initialize logging (needs settings) |
342 | // initialize logging (needs settings) |
350 | Logging_Init(); |
343 | Logging_Init(); |
351 | 344 | ||
352 | TimerCheckError = SetDelay(3000); |
345 | TimerCheckError = SetDelay(3000); |
353 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
346 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
354 | UART1_PutString("\n\r Version information:"); |
347 | UART1_PutString("\n\r Version information:"); |
355 | 348 | ||
356 | GetNaviCtrlVersion(); |
349 | GetNaviCtrlVersion(); |
357 | DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag |
350 | DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag |
358 | DebugOut.Status[1] = 0x00; |
351 | DebugOut.Status[1] = 0x00; |
359 | 352 | ||
360 | Compass_Init(); |
353 | Compass_Init(); |
361 | 354 | ||
362 | SPI0_GetFlightCtrlVersion(); |
355 | SPI0_GetFlightCtrlVersion(); |
363 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
356 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
364 | { |
357 | { |
365 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
358 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
366 | LED_RED_ON; |
359 | LED_RED_ON; |
367 | } |
360 | } |
368 | 361 | ||
369 | GPS_Init(); |
362 | GPS_Init(); |
370 | - | ||
371 | /*{ |
- | |
372 | u8 i; |
- | |
373 | u8 text[20]; |
- | |
374 | u8 mesg[10]; |
- | |
375 | UART1_PutString("\r\nFill\r\n"); |
- | |
376 | for(i=0;i<20;i++) |
- | |
377 | { |
- | |
378 | text[i] = 0xAA; |
- | |
379 | sprintf(mesg,"%02X ", text[i]); |
- | |
380 | UART1_PutString(mesg); |
- | |
381 | } |
- | |
382 | - | ||
383 | sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(50, text, 18)); |
- | |
384 | UART1_PutString(mesg); |
- | |
385 | for(i=0;i<20;i++) |
- | |
386 | { |
- | |
387 | sprintf(mesg,"%02X ", text[i]); |
- | |
388 | UART1_PutString(mesg); |
- | |
389 | text[i] = i; |
- | |
390 | } |
- | |
391 | UART1_PutString("\r\nFill\r\n"); |
- | |
392 | for(i=0;i<20;i++) |
- | |
393 | { |
- | |
394 | sprintf(mesg,"%02X ", text[i]); |
- | |
395 | UART1_PutString(mesg); |
- | |
396 | } |
- | |
397 | sprintf(mesg, "\r\nEEWrite = %d\r\n", EEPROM_WriteBlock(0, text, 18)); |
- | |
398 | UART1_PutString(mesg); |
- | |
399 | for(i=0;i<20;i++) |
- | |
400 | { |
- | |
401 | sprintf(mesg,"%02X ", text[i]); |
- | |
402 | UART1_PutString(mesg); |
- | |
403 | text[i]=0xAA; |
- | |
404 | } |
- | |
405 | UART1_PutString("\r\nFill\r\n"); |
- | |
406 | for(i=0;i<20;i++) |
- | |
407 | { |
- | |
408 | sprintf(mesg,"%02X ", text[i]); |
- | |
409 | UART1_PutString(mesg); |
- | |
410 | } |
- | |
411 | sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(0, text, 18)); |
- | |
412 | UART1_PutString(mesg); |
- | |
413 | for(i=0;i<20;i++) |
- | |
414 | { |
- | |
415 | sprintf(mesg,"%02X ", text[i]); |
- | |
416 | UART1_PutString(mesg); |
- | |
417 | } |
- | |
418 | }*/ |
- | |
419 | 363 | ||
420 | // ---------- Prepare the isr driven |
364 | // ---------- Prepare the isr driven |
421 | // set to absolute lowest priority |
365 | // set to absolute lowest priority |
422 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
366 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
423 | // enable interrupts |
367 | // enable interrupts |
424 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
368 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
425 | 369 | ||
426 | Debug_OK("START"); |
370 | Debug_OK("START"); |
427 | - | ||
428 | 371 | ||
429 | for (;;) // the endless main loop |
372 | for (;;) // the endless main loop |
430 | { |
373 | { |
431 | UART0_ProcessRxData(); // process request |
374 | UART0_ProcessRxData(); // process request |
432 | UART1_ProcessRxData(); // process request |
375 | UART1_ProcessRxData(); // process request |
433 | USB_ProcessRxData(); // process request |
376 | USB_ProcessRxData(); // process request |
434 | UART0_TransmitTxData(); // send answer |
377 | UART0_TransmitTxData(); // send answer |
435 | UART1_TransmitTxData(); // send answer |
378 | UART1_TransmitTxData(); // send answer |
436 | UART2_TransmitTxData(); // send answer |
379 | UART2_TransmitTxData(); // send answer |
437 | USB_TransmitTxData(); // send answer |
380 | USB_TransmitTxData(); // send answer |
438 | SPI0_UpdateBuffer(); // handle new SPI Data |
381 | SPI0_UpdateBuffer(); // handle new SPI Data |
439 | // ---------------- Error Check Timing ---------------------------- |
382 | // ---------------- Error Check Timing ---------------------------- |
440 | if(CheckDelay(TimerCheckError)) |
383 | if(CheckDelay(TimerCheckError)) |
441 | { |
384 | { |
442 | TimerCheckError = SetDelay(1000); |
385 | TimerCheckError = SetDelay(1000); |
443 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
386 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
444 | CheckErrors(); |
387 | CheckErrors(); |
445 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
388 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
446 | // else NaviData.FlyingTime = 0; // not the time per flight |
389 | // else NaviData.FlyingTime = 0; // not the time per flight |
447 | if(SerialLinkOkay) SerialLinkOkay--; |
390 | if(SerialLinkOkay) SerialLinkOkay--; |
448 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
391 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
449 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
392 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
450 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000; |
393 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000; |
451 | } |
394 | } |
452 | // ---------------- Logging --------------------------------------- |
395 | // ---------------- Logging --------------------------------------- |
453 | 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 |
396 | 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 |
454 | } |
397 | } |
455 | } |
398 | } |
456 | 399 | ||
457 | 400 | ||
458 | 401 |