WebSVN - NaviCtrl - Diff - Rev 149 and 150


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + 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 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 this software (or part of it) to systems (other than 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 "settings.h"
#include "main.h"
 
u32 TimerCheckError;
u32 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s32 GeoMag = 0;
 
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;
        }
}
 
 
 
//----------------------------------------------------------------------------------------------------
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)
        GPS_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_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();
 
        UART1_PutString("\r\n---------------------------------------------\r\n\r\n");
 
        for (;;)
        {
                UART1_ProcessRxData();  // process request
                UART1_TransmitTxData(); // send answer
 
                UART0_ProcessRxData();  // process request
                UART0_TransmitTxData(); // send answer
 
                USB_ProcessRxData();    // process request
                USB_TransmitTxData();   // send answer
 
                SPI0_UpdateBuffer();    // handle new SPI Data
 
                //I2C1_UpdateCompass(); moved to Timer1 ISR to avoid timing problems
 
                // ---------------- 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 -----------------------------------
                Analog_Update();
        }
}
 
 
 

Rev 149	Rev 150
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	6	// + Nur für den privaten Gebrauch
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 der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG 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 this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	44	// + * PORTING this software (or part of it) to systems (other than 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 "settings.h"	76	#include "settings.h"
77	#include "main.h"	77	#include "main.h"
78		78
79	u32 TimerCheckError;	79	u32 TimerCheckError;
80	u32 ErrorCode = 0;	80	u32 ErrorCode = 0;
81	u16 BeepTime;	81	u16 BeepTime;
82	u8 NCFlags = 0;	82	u8 NCFlags = 0;
83	s32 GeoMag = 0;	83	s32 GeoMag = 0;
84		84
85	u8 ClearMKFlags = 0;	85	u8 ClearMKFlags = 0;
86	u8 StopNavigation = 0;	86	u8 StopNavigation = 0;
87	Param_t Parameter;	87	Param_t Parameter;
88	volatile FC_t FC;	88	volatile FC_t FC;
89		89
90	s8 ErrorMSG[25];	90	s8 ErrorMSG[25];
91		91
92	//----------------------------------------------------------------------------------------------------	92	//----------------------------------------------------------------------------------------------------
93	void SCU_Config(void)	93	void SCU_Config(void)
94	{	94	{
95	/* configure PLL and set it as master clock source */	95	/* configure PLL and set it as master clock source */
96	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	96	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
97	SCU_PLLCmd(DISABLE); // now disable the PLL	97	SCU_PLLCmd(DISABLE); // now disable the PLL
98	#ifdef MCLK96MHZ	98	#ifdef MCLK96MHZ
99	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	99	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
100	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	100	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
101	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	101	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
102	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	102	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
103	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	103	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
104	#else	104	#else
105	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	105	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
106	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	106	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
107	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	107	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
108	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	108	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
109	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	109	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
110	#endif	110	#endif
111	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	111	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
112	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	112	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
113	}	113	}
114		114
115	//----------------------------------------------------------------------------------------------------	115	//----------------------------------------------------------------------------------------------------
116	void GetNaviCtrlVersion(void)	116	void GetNaviCtrlVersion(void)
117	{	117	{
118	u8 msg[25];	118	u8 msg[25];
119		119
120	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	120	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
121	UART1_PutString(msg);	121	UART1_PutString(msg);
122	}	122	}
123		123
124	//----------------------------------------------------------------------------------------------------	124	//----------------------------------------------------------------------------------------------------
125	void CheckErrors(void)	125	void CheckErrors(void)
126	{	126	{
127	if(CheckDelay(SPI0_Timeout))	127	if(CheckDelay(SPI0_Timeout))
128	{	128	{
129	LED_RED_ON;	129	LED_RED_ON;
130	sprintf(ErrorMSG,"no FC communication ");	130	sprintf(ErrorMSG,"no FC communication ");
131	ErrorCode = 3;	131	ErrorCode = 3;
132	StopNavigation = 1;	132	StopNavigation = 1;
133	}	133	}
134	else if(CheckDelay(I2C1_Timeout))	134	else if(CheckDelay(I2C1_Timeout))
135	{	135	{
136	LED_RED_ON;	136	LED_RED_ON;
137	sprintf(ErrorMSG,"no MK3Mag communication ");	137	sprintf(ErrorMSG,"no MK3Mag communication ");
138	//Reset I2CBus	138	//Reset I2CBus
139	I2C1_Deinit();	139	I2C1_Deinit();
140	I2C1_Init();	140	I2C1_Init();
141	ErrorCode = 4;	141	ErrorCode = 4;
142	StopNavigation = 1;	142	StopNavigation = 1;
143	}	143	}
144	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	144	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
145	{	145	{
146	LED_RED_ON;	146	LED_RED_ON;
147	sprintf(ErrorMSG,"FC not compatible ");	147	sprintf(ErrorMSG,"FC not compatible ");
148	ErrorCode = 1;	148	ErrorCode = 1;
149	StopNavigation = 1;	149	StopNavigation = 1;
150	}	150	}
151	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	151	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
152	{	152	{
153	sprintf(ErrorMSG,"MK3Mag not compatible ");	153	sprintf(ErrorMSG,"MK3Mag not compatible ");
154	LED_RED_ON;	154	LED_RED_ON;
155	ErrorCode = 2;	155	ErrorCode = 2;
156	StopNavigation = 1;	156	StopNavigation = 1;
157	}	157	}
158	else if(CheckDelay(UBX_Timeout))	158	else if(CheckDelay(UBX_Timeout))
159	{	159	{
160	LED_RED_ON;	160	LED_RED_ON;
161	sprintf(ErrorMSG,"no GPS communication ");	161	sprintf(ErrorMSG,"no GPS communication ");
162	ErrorCode = 5;	162	ErrorCode = 5;
163	StopNavigation = 1;	163	StopNavigation = 1;
164	}	164	}
165	else if(I2C_Heading.Heading < 0)	165	else if(I2C_Heading.Heading < 0)
166	{	166	{
167	LED_RED_ON;	167	LED_RED_ON;
168	sprintf(ErrorMSG,"bad compass value ");	168	sprintf(ErrorMSG,"bad compass value ");
169	ErrorCode = 6;	169	ErrorCode = 6;
170	StopNavigation = 1;	170	StopNavigation = 1;
171	}	171	}
172	else if(FC.RC_Quality < 100)	172	else if(FC.RC_Quality < 100)
173	{	173	{
174	LED_RED_ON;	174	LED_RED_ON;
175	sprintf(ErrorMSG,"RC Signal lost ");	175	sprintf(ErrorMSG,"RC Signal lost ");
176	ErrorCode = 7;	176	ErrorCode = 7;
177	}	177	}
178	else // no error occured	178	else // no error occured
179	{	179	{
180	sprintf(ErrorMSG,"No Error ");	180	sprintf(ErrorMSG,"No Error ");
181	ErrorCode = 0;	181	ErrorCode = 0;
182	StopNavigation = 0;	182	StopNavigation = 0;
183	LED_RED_OFF;	183	LED_RED_OFF;
184	}	184	}
185	}	185	}
186		186
187		187
188		188
189	//----------------------------------------------------------------------------------------------------	189	//----------------------------------------------------------------------------------------------------
190	int main(void)	190	int main(void)
191	{	191	{
192	/* Configure the system clocks */	192	/* Configure the system clocks */
193	SCU_Config();	193	SCU_Config();
194	/* init VIC (Vectored Interrupt Controller) */	194	/* init VIC (Vectored Interrupt Controller) */
195	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	195	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
196	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	196	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
197	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	197	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
198	// initialize the interrupt handler	198	// initialize the interrupt handler
199	Interrupt_Init();	199	Interrupt_Init();
200	// initialize timer 1 for System Clock and delay rountines	200	// initialize timer 1 for System Clock and delay rountines
201	TIMER1_Init();	201	TIMER1_Init();
202	// initialize the LEDs (needs Timer 1)	202	// initialize the LEDs (needs Timer 1)
203	Led_Init();	203	Led_Init();
204	// initialize the debug UART1	204	// initialize the debug UART1
205	UART1_Init();	205	UART1_Init();
206	UART1_PutString("\r\n---------------------------------------------");	206	UART1_PutString("\r\n---------------------------------------------");
207	// initialize timer 2 for servo outputs	207	// initialize timer 2 for servo outputs
208	TIMER2_Init();	208	TIMER2_Init();
209	// initialize UART2 to FLIGHTCTRL	209	// initialize UART2 to FLIGHTCTRL
210	UART2_Init();	210	UART2_Init();
211	// initialize UART0 (to MKGPS or MK3MAG)	211	// initialize UART0 (to MKGPS or MK3MAG)
212	UART0_Init();	212	UART0_Init();
213	// initialize adc	213	// initialize adc
214	Analog_Init();	214	Analog_Init();
215	// initialize usb	215	// initialize usb
216	//USB_ConfigInit();	216	//USB_ConfigInit();
217	// initialize SPI0 to FC	217	// initialize SPI0 to FC
218	SPI0_Init();	218	SPI0_Init();
219	// initialize i2c bus to MK3MAG (needs Timer 1)	219	// initialize i2c bus to MK3MAG (needs Timer 1)
220	I2C1_Init();	220	I2C1_Init();
221	// initialize the gps position controller (needs Timer 1)	221	// initialize the gps position controller (needs Timer 1)
222	GPS_Init();	222	GPS_Init();
223	// initialize fat16 partition on sd card (needs Timer 1)	223	// initialize fat16 partition on sd card (needs Timer 1)
224	Fat16_Init();	224	Fat16_Init();
225	// initialize the settings	225	// initialize the settings
226	Settings_Init();	226	Settings_Init();
227	// initialize logging (needs settings)	227	// initialize logging (needs settings)
228	Logging_Init();	228	Logging_Init();
229		229
230	TimerCheckError = SetDelay(3000);	230	TimerCheckError = SetDelay(3000);
231	UART1_PutString("\r\n---------------------------------------------");	231	UART1_PutString("\r\n---------------------------------------------");
232	UART1_PutString("\n\r Version information:");	232	UART1_PutString("\n\r Version information:");
233		233
234	GetNaviCtrlVersion();	234	GetNaviCtrlVersion();
235		235
236	SPI0_GetFlightCtrlVersion();	236	I2C1_GetMK3MagVersion();
237	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	237	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
238	{	238	{
239	UART1_PutString("\n\r Flight-Ctrl not compatible");	239	UART1_PutString("\n\r MK3Mag not compatible");
240	LED_RED_ON;	240	LED_RED_ON;
241	}	241	}
242		242
243	I2C1_GetMK3MagVersion();	243	SPI0_GetFlightCtrlVersion();
244	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	244	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
245	{	245	{
246	UART1_PutString("\n\r MK3Mag not compatible");	246	UART1_PutString("\n\r Flight-Ctrl not compatible");
247	LED_RED_ON;	247	LED_RED_ON;
248	}	248	}
249		249
250	UART0_GetMKOSDVersion();	250	UART0_GetMKOSDVersion();
251		251
252	UART1_PutString("\r\n---------------------------------------------\r\n\r\n");	252	UART1_PutString("\r\n---------------------------------------------\r\n\r\n");
253		253
254	for (;;)	254	for (;;)
255	{	255	{
256	UART1_ProcessRxData(); // process request	256	UART1_ProcessRxData(); // process request
257	UART1_TransmitTxData(); // send answer	257	UART1_TransmitTxData(); // send answer
258		258
259	UART0_ProcessRxData(); // process request	259	UART0_ProcessRxData(); // process request
260	UART0_TransmitTxData(); // send answer	260	UART0_TransmitTxData(); // send answer
261		261
262	USB_ProcessRxData(); // process request	262	USB_ProcessRxData(); // process request
263	USB_TransmitTxData(); // send answer	263	USB_TransmitTxData(); // send answer
264		264
265	SPI0_UpdateBuffer(); // handle new SPI Data	265	SPI0_UpdateBuffer(); // handle new SPI Data
266		266
267	//I2C1_UpdateCompass(); moved to Timer1 ISR to avoid timing problems	267	//I2C1_UpdateCompass(); moved to Timer1 ISR to avoid timing problems
268		268
269	// ---------------- Error Check Timing ----------------------------	269	// ---------------- Error Check Timing ----------------------------
270	if(CheckDelay(TimerCheckError))	270	if(CheckDelay(TimerCheckError))
271	{	271	{
272	TimerCheckError = SetDelay(1000);	272	TimerCheckError = SetDelay(1000);
273	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected	273	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected
274	CheckErrors();	274	CheckErrors();
275	if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	275	if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
276	// else NaviData.FlyingTime = 0; // not the time per flight	276	// else NaviData.FlyingTime = 0; // not the time per flight
277	UART1_Request_SendFollowMe = TRUE;	277	UART1_Request_SendFollowMe = TRUE;
278	if(SerialLinkOkay) SerialLinkOkay--;	278	if(SerialLinkOkay) SerialLinkOkay--;
279	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	279	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
280	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	280	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
281	}	281	}
282	// ---------------- Logging ---------------------------------------	282	// ---------------- Logging ---------------------------------------
283	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	283	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
284	// ---------------- ADC readings -----------------------------------	284	// ---------------- ADC readings -----------------------------------
285	Analog_Update();	285	Analog_Update();
286	}	286	}
287	}	287	}
288		288
289		289
290		290

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/main.c @ 454 - Rev 149 → 150