WebSVN - NaviCtrl - Diff - Rev 179 and 180


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "GPS.h"
#include "i2c.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
 
u32 TimerCheckError;
u32 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearMKFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl V%d.%d%c",  VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
void CheckErrors(void)
{
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
 
                ErrorCode = 3;
                StopNavigation = 1;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no MK3Mag communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC not compatible ");
                ErrorCode = 1;
                StopNavigation = 1;
        }
        else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                sprintf(ErrorMSG,"MK3Mag not compatible ");
                LED_RED_ON;
                ErrorCode = 2;
                StopNavigation = 1;
        }
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
        }
        else if(I2C_Heading.Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
        }
        else if(FC.RC_Quality < 100)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                ErrorCode = 7;
        }
        else // no error occured
        {
                sprintf(ErrorMSG,"No Error               ");
 
 
 
 
                ErrorCode = 0;
                StopNavigation = 0;
                LED_RED_OFF;
        }
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled 
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
 
        I2C1_UpdateCompass();   // update compass communication 
        Analog_Update();                // get new ADC values
 
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        // initialize the interrupt handler
        Interrupt_Init();
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize usb
        //USB_ConfigInit();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus to MK3MAG (needs Timer 1)
        I2C1_Init();
        // initialize the gps position controller (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
 
        I2C1_GetMK3MagVersion();
        if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                UART1_PutString("\n\r MK3Mag not compatible");
                LED_RED_ON;
        }
 
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
 
        UART0_GetMKOSDVersion();
 
        GPS_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
   
        // ---------- Prepare the isr driven 
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enanble interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        for (;;) // the endless main loop
        {
                UART0_ProcessRxData();  // process request
                UART1_ProcessRxData();  // process request
                USB_ProcessRxData();    // process request
                UART0_TransmitTxData(); // send answer
                UART1_TransmitTxData(); // send answer
                USB_TransmitTxData();   // send answer
 
                SPI0_UpdateBuffer();    // handle new SPI Data
 
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected
                        CheckErrors();
                        if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0; // not the time per flight
                        UART1_Request_SendFollowMe = TRUE;
                        if(SerialLinkOkay) SerialLinkOkay--;
                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                }
                // ---------------- Logging  ---------------------------------------
                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
                // ---------------- ADC readings -----------------------------------
        }
}
 
 
 

Rev 179	Rev 180
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:	31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz	32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
35	// + this list of conditions and the following disclaimer.	35	// + this list of conditions and the following disclaimer.
36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
37	// + from this software without specific prior written permission.	37	// + from this software without specific prior written permission.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
39	// + for non-commercial use (directly or indirectly)	39	// + for non-commercial use (directly or indirectly)
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
41	// + with our written permission	41	// + with our written permission
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
43	// + clearly linked as origin	43	// + clearly linked as origin
44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
45	//	45	//
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
56	// + POSSIBILITY OF SUCH DAMAGE.	56	// + POSSIBILITY OF SUCH DAMAGE.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	58	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	59	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	60	#include <stdio.h>
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "led.h"	62	#include "led.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "uart2.h"	65	#include "uart2.h"
66	#include "GPS.h"	66	#include "GPS.h"
67	#include "i2c.h"	67	#include "i2c.h"
68	#include "timer1.h"	68	#include "timer1.h"
69	#include "timer2.h"	69	#include "timer2.h"
70	#include "analog.h"	70	#include "analog.h"
71	#include "spi_slave.h"	71	#include "spi_slave.h"
72	#include "fat16.h"	72	#include "fat16.h"
73	#include "usb.h"	73	#include "usb.h"
74	#include "sdc.h"	74	#include "sdc.h"
75	#include "logging.h"	75	#include "logging.h"
76	#include "params.h"	76	#include "params.h"
77	#include "settings.h"	77	#include "settings.h"
78	#include "config.h"	78	#include "config.h"
79	#include "main.h"	79	#include "main.h"
80		80
81	u32 TimerCheckError;	81	u32 TimerCheckError;
82	u32 ErrorCode = 0;	82	u32 ErrorCode = 0;
83	u16 BeepTime;	83	u16 BeepTime;
84	u8 NCFlags = 0;	84	u8 NCFlags = 0;
85	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	85	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
86		86
87	u8 ClearMKFlags = 0;	87	u8 ClearMKFlags = 0;
88	u8 StopNavigation = 0;	88	u8 StopNavigation = 0;
89	Param_t Parameter;	89	Param_t Parameter;
90	volatile FC_t FC;	90	volatile FC_t FC;
91		91
92	s8 ErrorMSG[25];	92	s8 ErrorMSG[25];
93		93
94	//----------------------------------------------------------------------------------------------------	94	//----------------------------------------------------------------------------------------------------
95	void SCU_Config(void)	95	void SCU_Config(void)
96	{	96	{
97	/* configure PLL and set it as master clock source */	97	/* configure PLL and set it as master clock source */
98	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	98	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
99	SCU_PLLCmd(DISABLE); // now disable the PLL	99	SCU_PLLCmd(DISABLE); // now disable the PLL
100	#ifdef MCLK96MHZ	100	#ifdef MCLK96MHZ
101	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	101	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
102	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	102	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
103	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	103	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
104	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	104	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
105	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	105	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
106	#else	106	#else
107	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	107	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
108	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	108	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
109	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	109	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
110	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	110	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
111	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	111	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
112	#endif	112	#endif
113	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	113	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
114	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	114	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
115	}	115	}
116		116
117	//----------------------------------------------------------------------------------------------------	117	//----------------------------------------------------------------------------------------------------
118	void GetNaviCtrlVersion(void)	118	void GetNaviCtrlVersion(void)
119	{	119	{
120	u8 msg[25];	120	u8 msg[25];
121		121
122	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	122	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
123	UART1_PutString(msg);	123	UART1_PutString(msg);
124	}	124	}
125		125
126	//----------------------------------------------------------------------------------------------------	126	//----------------------------------------------------------------------------------------------------
127	void CheckErrors(void)	127	void CheckErrors(void)
128	{	128	{
129	if(CheckDelay(SPI0_Timeout))	129	if(CheckDelay(SPI0_Timeout))
130	{	130	{
131	LED_RED_ON;	131	LED_RED_ON;
132	sprintf(ErrorMSG,"no FC communication ");	132	sprintf(ErrorMSG,"no FC communication ");
133	TIMER2_Deinit(); // reduce irq load	-
134	ErrorCode = 3;	133	ErrorCode = 3;
135	StopNavigation = 1;	134	StopNavigation = 1;
136	}	135	}
137	else if(CheckDelay(I2C1_Timeout))	136	else if(CheckDelay(I2C1_Timeout))
138	{	137	{
139	LED_RED_ON;	138	LED_RED_ON;
140	sprintf(ErrorMSG,"no MK3Mag communication ");	139	sprintf(ErrorMSG,"no MK3Mag communication ");
141	//Reset I2CBus	140	//Reset I2CBus
142	I2C1_Deinit();	141	I2C1_Deinit();
143	I2C1_Init();	142	I2C1_Init();
144	ErrorCode = 4;	143	ErrorCode = 4;
145	StopNavigation = 1;	144	StopNavigation = 1;
146	}	145	}
147	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	146	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
148	{	147	{
149	LED_RED_ON;	148	LED_RED_ON;
150	sprintf(ErrorMSG,"FC not compatible ");	149	sprintf(ErrorMSG,"FC not compatible ");
151	ErrorCode = 1;	150	ErrorCode = 1;
152	StopNavigation = 1;	151	StopNavigation = 1;
153	}	152	}
154	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	153	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
155	{	154	{
156	sprintf(ErrorMSG,"MK3Mag not compatible ");	155	sprintf(ErrorMSG,"MK3Mag not compatible ");
157	LED_RED_ON;	156	LED_RED_ON;
158	ErrorCode = 2;	157	ErrorCode = 2;
159	StopNavigation = 1;	158	StopNavigation = 1;
160	}	159	}
161	else if(CheckDelay(UBX_Timeout))	160	else if(CheckDelay(UBX_Timeout))
162	{	161	{
163	LED_RED_ON;	162	LED_RED_ON;
164	sprintf(ErrorMSG,"no GPS communication ");	163	sprintf(ErrorMSG,"no GPS communication ");
165	ErrorCode = 5;	164	ErrorCode = 5;
166	StopNavigation = 1;	165	StopNavigation = 1;
167	}	166	}
168	else if(I2C_Heading.Heading < 0)	167	else if(I2C_Heading.Heading < 0)
169	{	168	{
170	LED_RED_ON;	169	LED_RED_ON;
171	sprintf(ErrorMSG,"bad compass value ");	170	sprintf(ErrorMSG,"bad compass value ");
172	ErrorCode = 6;	171	ErrorCode = 6;
173	StopNavigation = 1;	172	StopNavigation = 1;
174	}	173	}
175	else if(FC.RC_Quality < 100)	174	else if(FC.RC_Quality < 100)
176	{	175	{
177	LED_RED_ON;	176	LED_RED_ON;
178	sprintf(ErrorMSG,"RC Signal lost ");	177	sprintf(ErrorMSG,"RC Signal lost ");
179	ErrorCode = 7;	178	ErrorCode = 7;
180	}	179	}
181	else // no error occured	180	else // no error occured
182	{	181	{
183	sprintf(ErrorMSG,"No Error ");	182	sprintf(ErrorMSG,"No Error ");
184	if(ErrorCode == 3)	-
185	{	-
186	TIMER2_Init(); // enbable servo outputs	-
187	}	-
188	ErrorCode = 0;	183	ErrorCode = 0;
189	StopNavigation = 0;	184	StopNavigation = 0;
190	LED_RED_OFF;	185	LED_RED_OFF;
191	}	186	}
192	}	187	}
193		188
194	// the handler will be cyclic called by the timer 1 ISR	189	// the handler will be cyclic called by the timer 1 ISR
195	// used is for critical timing parts that normaly would handled	190	// used is for critical timing parts that normaly would handled
196	// within the main loop that could block longer at logging activities	191	// within the main loop that could block longer at logging activities
197	void EXTIT3_IRQHandler(void)	192	void EXTIT3_IRQHandler(void)
198	{	193	{
199	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	194	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
200		195
201	I2C1_UpdateCompass(); // update compass communication	196	I2C1_UpdateCompass(); // update compass communication
202	Analog_Update(); // get new ADC values	197	Analog_Update(); // get new ADC values
203		198
204	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	199	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
205	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	200	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
206	}	201	}
207		202
208	//----------------------------------------------------------------------------------------------------	203	//----------------------------------------------------------------------------------------------------
209	int main(void)	204	int main(void)
210	{	205	{
211	/* Configure the system clocks */	206	/* Configure the system clocks */
212	SCU_Config();	207	SCU_Config();
213	/* init VIC (Vectored Interrupt Controller) */	208	/* init VIC (Vectored Interrupt Controller) */
214	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	209	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
215	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	210	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
216	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	211	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
217	// initialize the interrupt handler	212	// initialize the interrupt handler
218	Interrupt_Init();	213	Interrupt_Init();
219	// initialize timer 1 for System Clock and delay rountines	214	// initialize timer 1 for System Clock and delay rountines
220	TIMER1_Init();	215	TIMER1_Init();
221	// initialize the LEDs (needs Timer 1)	216	// initialize the LEDs (needs Timer 1)
222	Led_Init();	217	Led_Init();
223	// initialize the debug UART1	218	// initialize the debug UART1
224	UART1_Init();	219	UART1_Init();
225	UART1_PutString("\r\n---------------------------------------------");	220	UART1_PutString("\r\n---------------------------------------------");
226	// initialize timer 2 for servo outputs	221	// initialize timer 2 for servo outputs
227	TIMER2_Init();	222	//TIMER2_Init();
228	// initialize UART2 to FLIGHTCTRL	223	// initialize UART2 to FLIGHTCTRL
229	UART2_Init();	224	UART2_Init();
230	// initialize UART0 (to MKGPS or MK3MAG)	225	// initialize UART0 (to MKGPS or MK3MAG)
231	UART0_Init();	226	UART0_Init();
232	// initialize adc	227	// initialize adc
233	Analog_Init();	228	Analog_Init();
234	// initialize usb	229	// initialize usb
235	//USB_ConfigInit();	230	//USB_ConfigInit();
236	// initialize SPI0 to FC	231	// initialize SPI0 to FC
237	SPI0_Init();	232	SPI0_Init();
238	// initialize i2c bus to MK3MAG (needs Timer 1)	233	// initialize i2c bus to MK3MAG (needs Timer 1)
239	I2C1_Init();	234	I2C1_Init();
240	// initialize the gps position controller (needs Timer 1)	235	// initialize the gps position controller (needs Timer 1)
241	Fat16_Init();	236	Fat16_Init();
242	// initialize NC params	237	// initialize NC params
243	NCParams_Init();	238	NCParams_Init();
244	// initialize the settings	239	// initialize the settings
245	Settings_Init();	240	Settings_Init();
246	// initialize logging (needs settings)	241	// initialize logging (needs settings)
247	Logging_Init();	242	Logging_Init();
248		243
249	TimerCheckError = SetDelay(3000);	244	TimerCheckError = SetDelay(3000);
250	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	245	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
251	UART1_PutString("\n\r Version information:");	246	UART1_PutString("\n\r Version information:");
252		247
253	GetNaviCtrlVersion();	248	GetNaviCtrlVersion();
254		249
255	I2C1_GetMK3MagVersion();	250	I2C1_GetMK3MagVersion();
256	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	251	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
257	{	252	{
258	UART1_PutString("\n\r MK3Mag not compatible");	253	UART1_PutString("\n\r MK3Mag not compatible");
259	LED_RED_ON;	254	LED_RED_ON;
260	}	255	}
261		256
262	SPI0_GetFlightCtrlVersion();	257	SPI0_GetFlightCtrlVersion();
263	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	258	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
264	{	259	{
265	UART1_PutString("\n\r Flight-Ctrl not compatible");	260	UART1_PutString("\n\r Flight-Ctrl not compatible");
266	LED_RED_ON;	261	LED_RED_ON;
267	}	262	}
268		263
269	UART0_GetMKOSDVersion();	264	UART0_GetMKOSDVersion();
270		265
271	GPS_Init();	266	GPS_Init();
272	// initialize fat16 partition on sd card (needs Timer 1)	267	// initialize fat16 partition on sd card (needs Timer 1)
273		268
274	// ---------- Prepare the isr driven	269	// ---------- Prepare the isr driven
275	// set to absolute lowest priority	270	// set to absolute lowest priority
276	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	271	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
277	// enanble interrupts	272	// enanble interrupts
278	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	273	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
279		274
280	for (;;) // the endless main loop	275	for (;;) // the endless main loop
281	{	276	{
282	UART0_ProcessRxData(); // process request	277	UART0_ProcessRxData(); // process request
283	UART1_ProcessRxData(); // process request	278	UART1_ProcessRxData(); // process request
284	USB_ProcessRxData(); // process request	279	USB_ProcessRxData(); // process request
285	UART0_TransmitTxData(); // send answer	280	UART0_TransmitTxData(); // send answer
286	UART1_TransmitTxData(); // send answer	281	UART1_TransmitTxData(); // send answer
287	USB_TransmitTxData(); // send answer	282	USB_TransmitTxData(); // send answer
288		283
289	SPI0_UpdateBuffer(); // handle new SPI Data	284	SPI0_UpdateBuffer(); // handle new SPI Data
290		285
291	// ---------------- Error Check Timing ----------------------------	286	// ---------------- Error Check Timing ----------------------------
292	if(CheckDelay(TimerCheckError))	287	if(CheckDelay(TimerCheckError))
293	{	288	{
294	TimerCheckError = SetDelay(1000);	289	TimerCheckError = SetDelay(1000);
295	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected	290	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected
296	CheckErrors();	291	CheckErrors();
297	if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	292	if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
298	// else NaviData.FlyingTime = 0; // not the time per flight	293	// else NaviData.FlyingTime = 0; // not the time per flight
299	UART1_Request_SendFollowMe = TRUE;	294	UART1_Request_SendFollowMe = TRUE;
300	if(SerialLinkOkay) SerialLinkOkay--;	295	if(SerialLinkOkay) SerialLinkOkay--;
301	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	296	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
302	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	297	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
303	}	298	}
304	// ---------------- Logging ---------------------------------------	299	// ---------------- Logging ---------------------------------------
305	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	300	Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
306	// ---------------- ADC readings -----------------------------------	301	// ---------------- ADC readings -----------------------------------
307	}	302	}
308	}	303	}
309		304
310		305
311		306

Subversion Repositories NaviCtrl

(root)/tags/V0.22a/main.c @ 748 - Rev 179 → 180