WebSVN - NaviCtrl - Diff - Rev 244 and 247


/*#######################################################################################*/
/* !!! 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 "compass.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"
 
u8 BoardRelease = 0;
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearFCFlags = 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);
}
 
//----------------------------------------------------------------------------------------------------
#define DEFEKT_G_NICK           0x01
#define DEFEKT_G_ROLL           0x02
#define DEFEKT_G_GIER           0x04
#define DEFEKT_A_NICK           0x08
#define DEFEKT_A_ROLL           0x10
#define DEFEKT_A_Z              0x20
#define DEFEKT_PRESSURE         0x40
#define DEFEKT_CAREFREE_ERR 0x80
 
#define DEFEKT_I2C              0x01
#define DEFEKT_BL_MISSING       0x02
#define DEFEKT_SPI_RX_ERR       0x04
#define DEFEKT_PPM_ERR          0x08
#define DEFEKT_MIXER_ERR    0x10
//----------------------------------------------------------------------------------------------------
#define ERROR_FC_COMMUNICATION          0x01
#define ERROR_MK3_COMMUNICATION         0x02
#define ERROR_FC_INCOMPATIBLE           0x04
#define ERROR_MK3_INCOMPATIBLE          0x08
#define ERROR_GPS_COMMUNICATION         0x10
#define ERROR_COMPASS_VALUE                     0x20
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(/*(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) ||*/ CheckDelay(I2C1_Timeout) || (CompassHeading < 0)) DebugOut.Status[1] |= 0x08;
        else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
 
        if((FC_ErrorCode[1] & DEFEKT_I2C) || (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] |= 0x02;
        else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                ErrorCode = 3;
                StopNavigation = 1;
                DebugOut.Status[0] &= ~0x01; // status of FC Present
                DebugOut.Status[0] &= ~0x02; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= ERROR_FC_COMMUNICATION;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no MK3Mag communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_MK3_COMMUNICATION;
                DebugOut.Status[1] |= 0x08;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC not compatible ");
                ErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_FC_INCOMPATIBLE;
        }
 
        else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                ErrorCode = 10;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                ErrorCode = 11;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                ErrorCode = 12;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                ErrorCode = 13;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                ErrorCode = 14;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_Z)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Z-ACC");
                ErrorCode = 15;
        }
        else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Pressure sensor");
                ErrorCode = 16;
        }
        else if(FC_ErrorCode[1] & DEFEKT_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC I2C");
                ErrorCode = 17;
        }
        else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                ErrorCode = 18;
        }
        else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                ErrorCode = 19;
        }
/*      else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                sprintf(ErrorMSG,"MK3Mag not compatible ");
                LED_RED_ON;
                ErrorCode = 2;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_MK3_INCOMPATIBLE;
        } */
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_GPS_COMMUNICATION;
        }
        else if(CompassHeading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_COMPASS_VALUE;
        }
        else if(FC.Flags & FCFLAG_SPI_RX_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                ErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                ErrorCode = 20;
        }
        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;
        }
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04;
        else DebugOut.Status[1] &= ~0x04;
}
 
// 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)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_UpdateHeading();        // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
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.
        VIC_InitDefaultVectors();
 
        // 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 (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (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();
        DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag
        DebugOut.Status[1] = 0x00;
 
        Compass_Init();
       
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
 
        GPS_Init();    
 
 
 
 
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable 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
                UART2_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(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
                        CheckErrors();
                        if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0; // not the time per flight
                        if(SerialLinkOkay) SerialLinkOkay--;
                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50)) BeepTime = 1000;
                }
                // ---------------- 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
        }
}
 
 
 

Rev 244	Rev 247
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		81
82	u8 BoardRelease = 0;	82	u8 BoardRelease = 0;
83	u32 TimerCheckError;	83	u32 TimerCheckError;
84	u8 ErrorCode = 0;	84	u8 ErrorCode = 0;
85	u16 BeepTime;	85	u16 BeepTime;
86	u8 NCFlags = 0;	86	u8 NCFlags = 0;
87	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	87	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
88		88
89	u8 ClearFCFlags = 0;	89	u8 ClearFCFlags = 0;
90	u8 StopNavigation = 0;	90	u8 StopNavigation = 0;
91	Param_t Parameter;	91	Param_t Parameter;
92	volatile FC_t FC;	92	volatile FC_t FC;
93		93
94	s8 ErrorMSG[25];	94	s8 ErrorMSG[25];
95		95
96	//----------------------------------------------------------------------------------------------------	96	//----------------------------------------------------------------------------------------------------
97	void SCU_Config(void)	97	void SCU_Config(void)
98	{	98	{
99	/* configure PLL and set it as master clock source */	99	/* configure PLL and set it as master clock source */
100	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	100	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
101	SCU_PLLCmd(DISABLE); // now disable the PLL	101	SCU_PLLCmd(DISABLE); // now disable the PLL
102	#ifdef MCLK96MHZ	102	#ifdef MCLK96MHZ
103	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	103	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
104	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	104	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
105	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	105	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
106	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	106	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
107	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	107	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
108	#else	108	#else
109	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	109	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
110	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	110	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
111	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	111	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
112	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	112	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
113	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	113	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
114	#endif	114	#endif
115	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	115	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
116	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	116	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
117	}	117	}
118		118
119	//----------------------------------------------------------------------------------------------------	119	//----------------------------------------------------------------------------------------------------
120	void GetNaviCtrlVersion(void)	120	void GetNaviCtrlVersion(void)
121	{	121	{
122	u8 msg[25];	122	u8 msg[25];
123		123
124	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	124	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
125	UART1_PutString(msg);	125	UART1_PutString(msg);
126	}	126	}
127		127
128	//----------------------------------------------------------------------------------------------------	128	//----------------------------------------------------------------------------------------------------
129	#define DEFEKT_G_NICK 0x01	129	#define DEFEKT_G_NICK 0x01
130	#define DEFEKT_G_ROLL 0x02	130	#define DEFEKT_G_ROLL 0x02
131	#define DEFEKT_G_GIER 0x04	131	#define DEFEKT_G_GIER 0x04
132	#define DEFEKT_A_NICK 0x08	132	#define DEFEKT_A_NICK 0x08
133	#define DEFEKT_A_ROLL 0x10	133	#define DEFEKT_A_ROLL 0x10
134	#define DEFEKT_A_Z 0x20	134	#define DEFEKT_A_Z 0x20
135	#define DEFEKT_PRESSURE 0x40	135	#define DEFEKT_PRESSURE 0x40
136	#define DEFEKT_CAREFREE_ERR 0x80	136	#define DEFEKT_CAREFREE_ERR 0x80
137		137
138	#define DEFEKT_I2C 0x01	138	#define DEFEKT_I2C 0x01
139	#define DEFEKT_BL_MISSING 0x02	139	#define DEFEKT_BL_MISSING 0x02
140	#define DEFEKT_SPI_RX_ERR 0x04	140	#define DEFEKT_SPI_RX_ERR 0x04
141	#define DEFEKT_PPM_ERR 0x08	141	#define DEFEKT_PPM_ERR 0x08
142	#define DEFEKT_MIXER_ERR 0x10	142	#define DEFEKT_MIXER_ERR 0x10
143	//----------------------------------------------------------------------------------------------------	143	//----------------------------------------------------------------------------------------------------
144	#define ERROR_FC_COMMUNICATION 0x01	144	#define ERROR_FC_COMMUNICATION 0x01
145	#define ERROR_MK3_COMMUNICATION 0x02	145	#define ERROR_MK3_COMMUNICATION 0x02
146	#define ERROR_FC_INCOMPATIBLE 0x04	146	#define ERROR_FC_INCOMPATIBLE 0x04
147	#define ERROR_MK3_INCOMPATIBLE 0x08	147	#define ERROR_MK3_INCOMPATIBLE 0x08
148	#define ERROR_GPS_COMMUNICATION 0x10	148	#define ERROR_GPS_COMMUNICATION 0x10
149	#define ERROR_COMPASS_VALUE 0x20	149	#define ERROR_COMPASS_VALUE 0x20
150	//----------------------------------------------------------------------------------------------------	150	//----------------------------------------------------------------------------------------------------
151		151
152	void CheckErrors(void)	152	void CheckErrors(void)
153	{	153	{
154	UART_VersionInfo.HardwareError[0] = 0;	154	UART_VersionInfo.HardwareError[0] = 0;
155		155
156	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (CompassHeading < 0)) DebugOut.Status[1] \|= 0x08;	156	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (CompassHeading < 0)) DebugOut.Status[1] \|= 0x08;
157	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	157	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
158		158
159	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	159	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
160	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	160	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
161		161
162	if(CheckDelay(SPI0_Timeout))	162	if(CheckDelay(SPI0_Timeout))
163	{	163	{
164	LED_RED_ON;	164	LED_RED_ON;
165	sprintf(ErrorMSG,"no FC communication ");	165	sprintf(ErrorMSG,"no FC communication ");
166	ErrorCode = 3;	166	ErrorCode = 3;
167	StopNavigation = 1;	167	StopNavigation = 1;
168	DebugOut.Status[0] &= ~0x01; // status of FC Present	168	DebugOut.Status[0] &= ~0x01; // status of FC Present
169	DebugOut.Status[0] &= ~0x02; // status of BL Present	169	DebugOut.Status[0] &= ~0x02; // status of BL Present
170	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;	170	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;
171	}	171	}
172	else if(CheckDelay(I2C1_Timeout))	172	else if(CheckDelay(I2C1_Timeout))
173	{	173	{
174	LED_RED_ON;	174	LED_RED_ON;
175	sprintf(ErrorMSG,"no MK3Mag communication ");	175	sprintf(ErrorMSG,"no MK3Mag communication ");
176	//Reset I2CBus	176	//Reset I2CBus
177	I2C1_Deinit();	177	I2C1_Deinit();
178	I2C1_Init();	178	I2C1_Init();
179	ErrorCode = 4;	179	ErrorCode = 4;
180	StopNavigation = 1;	180	StopNavigation = 1;
181	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;	181	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;
182	DebugOut.Status[1] \|= 0x08;	182	DebugOut.Status[1] \|= 0x08;
183	}	183	}
184	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	184	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
185	{	185	{
186	LED_RED_ON;	186	LED_RED_ON;
187	sprintf(ErrorMSG,"FC not compatible ");	187	sprintf(ErrorMSG,"FC not compatible ");
188	ErrorCode = 1;	188	ErrorCode = 1;
189	StopNavigation = 1;	189	StopNavigation = 1;
190	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;	190	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;
191	}	191	}
192		192
193	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)	193	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
194	{	194	{
195	LED_RED_ON;	195	LED_RED_ON;
196	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	196	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
197	ErrorCode = 10;	197	ErrorCode = 10;
198	}	198	}
199	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)	199	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
200	{	200	{
201	LED_RED_ON;	201	LED_RED_ON;
202	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	202	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
203	ErrorCode = 11;	203	ErrorCode = 11;
204	}	204	}
205	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)	205	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
206	{	206	{
207	LED_RED_ON;	207	LED_RED_ON;
208	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	208	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
209	ErrorCode = 12;	209	ErrorCode = 12;
210	}	210	}
211	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)	211	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
212	{	212	{
213	LED_RED_ON;	213	LED_RED_ON;
214	sprintf(ErrorMSG,"ERR: FC Nick ACC");	214	sprintf(ErrorMSG,"ERR: FC Nick ACC");
215	ErrorCode = 13;	215	ErrorCode = 13;
216	}	216	}
217	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)	217	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
218	{	218	{
219	LED_RED_ON;	219	LED_RED_ON;
220	sprintf(ErrorMSG,"ERR: FC Roll ACC");	220	sprintf(ErrorMSG,"ERR: FC Roll ACC");
221	ErrorCode = 14;	221	ErrorCode = 14;
222	}	222	}
223	else if(FC_ErrorCode[0] & DEFEKT_A_Z)	223	else if(FC_ErrorCode[0] & DEFEKT_A_Z)
224	{	224	{
225	LED_RED_ON;	225	LED_RED_ON;
226	sprintf(ErrorMSG,"ERR: FC Z-ACC");	226	sprintf(ErrorMSG,"ERR: FC Z-ACC");
227	ErrorCode = 15;	227	ErrorCode = 15;
228	}	228	}
229	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)	229	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
230	{	230	{
231	LED_RED_ON;	231	LED_RED_ON;
232	sprintf(ErrorMSG,"ERR: Pressure sensor");	232	sprintf(ErrorMSG,"ERR: Pressure sensor");
233	ErrorCode = 16;	233	ErrorCode = 16;
234	}	234	}
235	else if(FC_ErrorCode[1] & DEFEKT_I2C)	235	else if(FC_ErrorCode[1] & DEFEKT_I2C)
236	{	236	{
237	LED_RED_ON;	237	LED_RED_ON;
238	sprintf(ErrorMSG,"ERR: FC I2C");	238	sprintf(ErrorMSG,"ERR: FC I2C");
239	ErrorCode = 17;	239	ErrorCode = 17;
240	}	240	}
241	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)	241	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
242	{	242	{
243	LED_RED_ON;	243	LED_RED_ON;
244	sprintf(ErrorMSG,"ERR: Bl Missing");	244	sprintf(ErrorMSG,"ERR: Bl Missing");
245	ErrorCode = 18;	245	ErrorCode = 18;
246	}	246	}
247	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)	247	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
248	{	248	{
249	LED_RED_ON;	249	LED_RED_ON;
250	sprintf(ErrorMSG,"Mixer Error");	250	sprintf(ErrorMSG,"Mixer Error");
251	ErrorCode = 19;	251	ErrorCode = 19;
252	}	252	}
253	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	253	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
254	{	254	{
255	sprintf(ErrorMSG,"MK3Mag not compatible ");	255	sprintf(ErrorMSG,"MK3Mag not compatible ");
256	LED_RED_ON;	256	LED_RED_ON;
257	ErrorCode = 2;	257	ErrorCode = 2;
258	StopNavigation = 1;	258	StopNavigation = 1;
259	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;	259	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;
260	} */	260	} */
261	else if(CheckDelay(UBX_Timeout))	261	else if(CheckDelay(UBX_Timeout))
262	{	262	{
263	LED_RED_ON;	263	LED_RED_ON;
264	sprintf(ErrorMSG,"no GPS communication ");	264	sprintf(ErrorMSG,"no GPS communication ");
265	ErrorCode = 5;	265	ErrorCode = 5;
266	StopNavigation = 1;	266	StopNavigation = 1;
267	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;	267	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;
268	}	268	}
269	else if(CompassHeading < 0)	269	else if(CompassHeading < 0)
270	{	270	{
271	LED_RED_ON;	271	LED_RED_ON;
272	sprintf(ErrorMSG,"bad compass value ");	272	sprintf(ErrorMSG,"bad compass value ");
273	ErrorCode = 6;	273	ErrorCode = 6;
274	StopNavigation = 1;	274	StopNavigation = 1;
275	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;	275	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;
276	}	276	}
277	else if(FC.Flags & FCFLAG_SPI_RX_ERR)	277	else if(FC.Flags & FCFLAG_SPI_RX_ERR)
278	{	278	{
279	LED_RED_ON;	279	LED_RED_ON;
280	sprintf(ErrorMSG,"FC spi rx error ");	280	sprintf(ErrorMSG,"FC spi rx error ");
281	ErrorCode = 8;	281	ErrorCode = 8;
282	StopNavigation = 1;	282	StopNavigation = 1;
283	}	283	}
284	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)	284	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
285	{	285	{
286	LED_RED_ON;	286	LED_RED_ON;
287	sprintf(ErrorMSG,"FC: Carefree Error");	287	sprintf(ErrorMSG,"FC: Carefree Error");
288	ErrorCode = 20;	288	ErrorCode = 20;
289	}	289	}
290	else if(FC.RC_Quality < 100)	290	else if(FC.RC_Quality < 100)
291	{	291	{
292	LED_RED_ON;	292	LED_RED_ON;
293	sprintf(ErrorMSG,"RC Signal lost ");	293	sprintf(ErrorMSG,"RC Signal lost ");
294	ErrorCode = 7;	294	ErrorCode = 7;
295	}	295	}
296	else // no error occured	296	else // no error occured
297	{	297	{
298	sprintf(ErrorMSG,"No Error ");	298	sprintf(ErrorMSG,"No Error ");
299	ErrorCode = 0;	299	ErrorCode = 0;
300	StopNavigation = 0;	300	StopNavigation = 0;
301	LED_RED_OFF;	301	LED_RED_OFF;
302	}	302	}
303	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;	303	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
304	else DebugOut.Status[1] &= ~0x04;	304	else DebugOut.Status[1] &= ~0x04;
305	}	305	}
306		306
307	// the handler will be cyclic called by the timer 1 ISR	307	// the handler will be cyclic called by the timer 1 ISR
308	// used is for critical timing parts that normaly would handled	308	// used is for critical timing parts that normaly would handled
309	// within the main loop that could block longer at logging activities	309	// within the main loop that could block longer at logging activities
310	void EXTIT3_IRQHandler(void)	310	void EXTIT3_IRQHandler(void)
311	{	311	{
312	IENABLE;	312	IENABLE;
313		313
314	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	314	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
315	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	315	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
316	Compass_UpdateHeading(); // update compass communication	316	Compass_UpdateHeading(); // update compass communication
317	Analog_Update(); // get new ADC values	317	Analog_Update(); // get new ADC values
318	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	318	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
319		319
320	IDISABLE;	320	IDISABLE;
321	}	321	}
322		322
323	//----------------------------------------------------------------------------------------------------	323	//----------------------------------------------------------------------------------------------------
324	int main(void)	324	int main(void)
325	{	325	{
326	/* Configure the system clocks */	326	/* Configure the system clocks */
327	SCU_Config();	327	SCU_Config();
328	/* init VIC (Vectored Interrupt Controller) */	328	/* init VIC (Vectored Interrupt Controller) */
329	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	329	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
330	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	330	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
331	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	331	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
332	VIC_InitDefaultVectors();	332	VIC_InitDefaultVectors();
333		333
334	// initialize timer 1 for System Clock and delay rountines	334	// initialize timer 1 for System Clock and delay rountines
335	TIMER1_Init();	335	TIMER1_Init();
336	// initialize the LEDs (needs Timer 1)	336	// initialize the LEDs (needs Timer 1)
337	Led_Init();	337	Led_Init();
338	// initialize the debug UART1	338	// initialize the debug UART1
339	UART1_Init();	339	UART1_Init();
340	UART1_PutString("\r\n---------------------------------------------");	340	UART1_PutString("\r\n---------------------------------------------");
341	// initialize timer 2 for servo outputs	341	// initialize timer 2 for servo outputs
342	//TIMER2_Init();	342	//TIMER2_Init();
343	// initialize UART2 to FLIGHTCTRL	343	// initialize UART2 to FLIGHTCTRL
344	UART2_Init();	344	UART2_Init();
345	// initialize UART0 (to MKGPS or MK3MAG)	345	// initialize UART0 (to MKGPS or MK3MAG)
346	UART0_Init();	346	UART0_Init();
347	// initialize adc	347	// initialize adc
348	Analog_Init();	348	Analog_Init();
349	// initialize usb	349	// initialize usb
350	USB_ConfigInit();	350	USB_ConfigInit();
351	// initialize SPI0 to FC	351	// initialize SPI0 to FC
352	SPI0_Init();	352	SPI0_Init();
353	// initialize i2c bus (needs Timer 1)	353	// initialize i2c bus (needs Timer 1)
354	I2C1_Init();	354	I2C1_Init();
355	// initialize the gps position controller (needs Timer 1)	355	// initialize fat16 partition on sd card (needs Timer 1)
356	Fat16_Init();	356	Fat16_Init();
357	// initialize NC params	357	// initialize NC params
358	NCParams_Init();	358	NCParams_Init();
359	// initialize the settings	359	// initialize the settings
360	Settings_Init();	360	Settings_Init();
361	// initialize logging (needs settings)	361	// initialize logging (needs settings)
362	Logging_Init();	362	Logging_Init();
363		363
364	TimerCheckError = SetDelay(3000);	364	TimerCheckError = SetDelay(3000);
365	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	365	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
366	UART1_PutString("\n\r Version information:");	366	UART1_PutString("\n\r Version information:");
367		367
368	GetNaviCtrlVersion();	368	GetNaviCtrlVersion();
369	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	369	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
370	DebugOut.Status[1] = 0x00;	370	DebugOut.Status[1] = 0x00;
371		371
372	Compass_Init();	372	Compass_Init();
373		373
374	SPI0_GetFlightCtrlVersion();	374	SPI0_GetFlightCtrlVersion();
375	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	375	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
376	{	376	{
377	UART1_PutString("\n\r Flight-Ctrl not compatible");	377	UART1_PutString("\n\r Flight-Ctrl not compatible");
378	LED_RED_ON;	378	LED_RED_ON;
379	}	379	}
380		380
-		381	GPS_Init();
381	UART0_GetMKOSDVersion();	-
382		-
383	GPS_Init();	382
384	// initialize fat16 partition on sd card (needs Timer 1)	383
385		384
386	// ---------- Prepare the isr driven	385	// ---------- Prepare the isr driven
387	// set to absolute lowest priority	386	// set to absolute lowest priority
388	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	387	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
389	// enable interrupts	388	// enable interrupts
390	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	389	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
391		390
392	for (;;) // the endless main loop	391	for (;;) // the endless main loop
393	{	392	{
394	UART0_ProcessRxData(); // process request	393	UART0_ProcessRxData(); // process request
395	UART1_ProcessRxData(); // process request	394	UART1_ProcessRxData(); // process request
396	USB_ProcessRxData(); // process request	395	USB_ProcessRxData(); // process request
397	UART0_TransmitTxData(); // send answer	396	UART0_TransmitTxData(); // send answer
398	UART1_TransmitTxData(); // send answer	397	UART1_TransmitTxData(); // send answer
399	UART2_TransmitTxData(); // send answer	398	UART2_TransmitTxData(); // send answer
400	USB_TransmitTxData(); // send answer	399	USB_TransmitTxData(); // send answer
401	SPI0_UpdateBuffer(); // handle new SPI Data	400	SPI0_UpdateBuffer(); // handle new SPI Data
402	// ---------------- Error Check Timing ----------------------------	401	// ---------------- Error Check Timing ----------------------------
403	if(CheckDelay(TimerCheckError))	402	if(CheckDelay(TimerCheckError))
404	{	403	{
405	TimerCheckError = SetDelay(1000);	404	TimerCheckError = SetDelay(1000);
406	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	405	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
407	CheckErrors();	406	CheckErrors();
408	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	407	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
409	// else NaviData.FlyingTime = 0; // not the time per flight	408	// else NaviData.FlyingTime = 0; // not the time per flight
410	if(SerialLinkOkay) SerialLinkOkay--;	409	if(SerialLinkOkay) SerialLinkOkay--;
411	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	410	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
412	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	411	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
413	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	412	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
414	}	413	}
415	// ---------------- Logging ---------------------------------------	414	// ---------------- Logging ---------------------------------------
416	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	415	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
417	}	416	}
418	}	417	}
419		418
420		419
421		420

Subversion Repositories NaviCtrl

(root)/tags/V0.26b/main.c @ 756 - Rev 244 → 247