WebSVN - NaviCtrl - Diff - Rev 229 and 231

 /*#######################################################################################*/
 /* !!! 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"
 u8 BoardRelease = 0;
 u32 TimerCheckError;
 u32 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)) || (MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) || (I2C_Heading.Heading < 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(I2C_Heading.Heading < 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] || UART_VersionInfo.HardwareError[0]) 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
         I2C1_UpdateCompass();   // 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 to MK3MAG (needs Timer 1)
         I2C_Heading.Heading = -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();
+        DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag
+        DebugOut.Status[1] = 0x00;
         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);
         // 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
+        }
+}

Subversion Repositories NaviCtrl

(root)/tags/V0.26e/main.c @ 811 - Rev 229 → 231