WebSVN - NaviCtrl - Diff - Rev 231 and 232


/*#######################################################################################*/
/* !!! 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) || (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]) 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
        }
}
 
 
 

Rev 231	Rev 232
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:	31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz	32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
35	// + this list of conditions and the following disclaimer.	35	// + this list of conditions and the following disclaimer.
36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
37	// + from this software without specific prior written permission.	37	// + from this software without specific prior written permission.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
39	// + for non-commercial use (directly or indirectly)	39	// + for non-commercial use (directly or indirectly)
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
41	// + with our written permission	41	// + with our written permission
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
43	// + clearly linked as origin	43	// + clearly linked as origin
44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
45	//	45	//
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
56	// + POSSIBILITY OF SUCH DAMAGE.	56	// + POSSIBILITY OF SUCH DAMAGE.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	58	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	59	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	60	#include <stdio.h>
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "led.h"	62	#include "led.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "uart2.h"	65	#include "uart2.h"
66	#include "gps.h"	66	#include "gps.h"
67	#include "i2c.h"	67	#include "i2c.h"
68	#include "timer1.h"	68	#include "timer1.h"
69	#include "timer2.h"	69	#include "timer2.h"
70	#include "analog.h"	70	#include "analog.h"
71	#include "spi_slave.h"	71	#include "spi_slave.h"
72	#include "fat16.h"	72	#include "fat16.h"
73	#include "usb.h"	73	#include "usb.h"
74	#include "sdc.h"	74	#include "sdc.h"
75	#include "logging.h"	75	#include "logging.h"
76	#include "params.h"	76	#include "params.h"
77	#include "settings.h"	77	#include "settings.h"
78	#include "config.h"	78	#include "config.h"
79	#include "main.h"	79	#include "main.h"
80		80
81	u8 BoardRelease = 0;	81	u8 BoardRelease = 0;
82	u32 TimerCheckError;	82	u32 TimerCheckError;
83	u32 ErrorCode = 0;	83	u32 ErrorCode = 0;
84	u16 BeepTime;	84	u16 BeepTime;
85	u8 NCFlags = 0;	85	u8 NCFlags = 0;
86	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	86	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
87		87
88	u8 ClearFCFlags = 0;	88	u8 ClearFCFlags = 0;
89	u8 StopNavigation = 0;	89	u8 StopNavigation = 0;
90	Param_t Parameter;	90	Param_t Parameter;
91	volatile FC_t FC;	91	volatile FC_t FC;
92		92
93	s8 ErrorMSG[25];	93	s8 ErrorMSG[25];
94		94
95	//----------------------------------------------------------------------------------------------------	95	//----------------------------------------------------------------------------------------------------
96	void SCU_Config(void)	96	void SCU_Config(void)
97	{	97	{
98	/* configure PLL and set it as master clock source */	98	/* configure PLL and set it as master clock source */
99	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	99	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
100	SCU_PLLCmd(DISABLE); // now disable the PLL	100	SCU_PLLCmd(DISABLE); // now disable the PLL
101	#ifdef MCLK96MHZ	101	#ifdef MCLK96MHZ
102	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	102	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
103	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	103	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
104	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	104	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
105	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	105	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
106	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	106	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
107	#else	107	#else
108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
109	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	109	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
110	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	110	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
111	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	111	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
112	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	112	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
113	#endif	113	#endif
114	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	114	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
115	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	115	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
116	}	116	}
117		117
118	//----------------------------------------------------------------------------------------------------	118	//----------------------------------------------------------------------------------------------------
119	void GetNaviCtrlVersion(void)	119	void GetNaviCtrlVersion(void)
120	{	120	{
121	u8 msg[25];	121	u8 msg[25];
122		122
123	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	123	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
124	UART1_PutString(msg);	124	UART1_PutString(msg);
125	}	125	}
126		126
127	//----------------------------------------------------------------------------------------------------	127	//----------------------------------------------------------------------------------------------------
128	#define DEFEKT_G_NICK 0x01	128	#define DEFEKT_G_NICK 0x01
129	#define DEFEKT_G_ROLL 0x02	129	#define DEFEKT_G_ROLL 0x02
130	#define DEFEKT_G_GIER 0x04	130	#define DEFEKT_G_GIER 0x04
131	#define DEFEKT_A_NICK 0x08	131	#define DEFEKT_A_NICK 0x08
132	#define DEFEKT_A_ROLL 0x10	132	#define DEFEKT_A_ROLL 0x10
133	#define DEFEKT_A_Z 0x20	133	#define DEFEKT_A_Z 0x20
134	#define DEFEKT_PRESSURE 0x40	134	#define DEFEKT_PRESSURE 0x40
135	#define DEFEKT_CAREFREE_ERR 0x80	135	#define DEFEKT_CAREFREE_ERR 0x80
136		136
137	#define DEFEKT_I2C 0x01	137	#define DEFEKT_I2C 0x01
138	#define DEFEKT_BL_MISSING 0x02	138	#define DEFEKT_BL_MISSING 0x02
139	#define DEFEKT_SPI_RX_ERR 0x04	139	#define DEFEKT_SPI_RX_ERR 0x04
140	#define DEFEKT_PPM_ERR 0x08	140	#define DEFEKT_PPM_ERR 0x08
141	#define DEFEKT_MIXER_ERR 0x10	141	#define DEFEKT_MIXER_ERR 0x10
142	//----------------------------------------------------------------------------------------------------	142	//----------------------------------------------------------------------------------------------------
143	#define ERROR_FC_COMMUNICATION 0x01	143	#define ERROR_FC_COMMUNICATION 0x01
144	#define ERROR_MK3_COMMUNICATION 0x02	144	#define ERROR_MK3_COMMUNICATION 0x02
145	#define ERROR_FC_INCOMPATIBLE 0x04	145	#define ERROR_FC_INCOMPATIBLE 0x04
146	#define ERROR_MK3_INCOMPATIBLE 0x08	146	#define ERROR_MK3_INCOMPATIBLE 0x08
147	#define ERROR_GPS_COMMUNICATION 0x10	147	#define ERROR_GPS_COMMUNICATION 0x10
148	#define ERROR_COMPASS_VALUE 0x20	148	#define ERROR_COMPASS_VALUE 0x20
149	//----------------------------------------------------------------------------------------------------	149	//----------------------------------------------------------------------------------------------------
150		150
151	void CheckErrors(void)	151	void CheckErrors(void)
152	{	152	{
153	UART_VersionInfo.HardwareError[0] = 0;	153	UART_VersionInfo.HardwareError[0] = 0;
154		-
155		154
156	if((MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\| (CheckDelay(I2C1_Timeout)) \|\| (MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\| (I2C_Heading.Heading < 0)) DebugOut.Status[1] \|= 0x08;	155	if((MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\| CheckDelay(I2C1_Timeout) \|\| (I2C_Heading.Heading < 0)) DebugOut.Status[1] \|= 0x08;
157	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	156	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
158		157
159	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	158	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	159	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
161		160
162	if(CheckDelay(SPI0_Timeout))	161	if(CheckDelay(SPI0_Timeout))
163	{	162	{
164	LED_RED_ON;	163	LED_RED_ON;
165	sprintf(ErrorMSG,"no FC communication ");	164	sprintf(ErrorMSG,"no FC communication ");
166	ErrorCode = 3;	165	ErrorCode = 3;
167	StopNavigation = 1;	166	StopNavigation = 1;
168	DebugOut.Status[0] &= ~0x01; // status of FC Present	167	DebugOut.Status[0] &= ~0x01; // status of FC Present
169	DebugOut.Status[0] &= ~0x02; // status of BL Present	168	DebugOut.Status[0] &= ~0x02; // status of BL Present
170	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;	169	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;
171	}	170	}
172	else if(CheckDelay(I2C1_Timeout))	171	else if(CheckDelay(I2C1_Timeout))
173	{	172	{
174	LED_RED_ON;	173	LED_RED_ON;
175	sprintf(ErrorMSG,"no MK3Mag communication ");	174	sprintf(ErrorMSG,"no MK3Mag communication ");
176	//Reset I2CBus	175	//Reset I2CBus
177	I2C1_Deinit();	176	I2C1_Deinit();
178	I2C1_Init();	177	I2C1_Init();
179	ErrorCode = 4;	178	ErrorCode = 4;
180	StopNavigation = 1;	179	StopNavigation = 1;
181	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;	180	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;
182	DebugOut.Status[1] \|= 0x08;	181	DebugOut.Status[1] \|= 0x08;
183	}	182	}
184	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	183	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
185	{	184	{
186	LED_RED_ON;	185	LED_RED_ON;
187	sprintf(ErrorMSG,"FC not compatible ");	186	sprintf(ErrorMSG,"FC not compatible ");
188	ErrorCode = 1;	187	ErrorCode = 1;
189	StopNavigation = 1;	188	StopNavigation = 1;
190	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;	189	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;
191	}	190	}
192		191
193	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)	192	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
194	{	193	{
195	LED_RED_ON;	194	LED_RED_ON;
196	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	195	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
197	ErrorCode = 10;	196	ErrorCode = 10;
198	}	197	}
199	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)	198	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
200	{	199	{
201	LED_RED_ON;	200	LED_RED_ON;
202	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	201	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
203	ErrorCode = 11;	202	ErrorCode = 11;
204	}	203	}
205	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)	204	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
206	{	205	{
207	LED_RED_ON;	206	LED_RED_ON;
208	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	207	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
209	ErrorCode = 12;	208	ErrorCode = 12;
210	}	209	}
211	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)	210	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
212	{	211	{
213	LED_RED_ON;	212	LED_RED_ON;
214	sprintf(ErrorMSG,"ERR: FC Nick ACC");	213	sprintf(ErrorMSG,"ERR: FC Nick ACC");
215	ErrorCode = 13;	214	ErrorCode = 13;
216	}	215	}
217	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)	216	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
218	{	217	{
219	LED_RED_ON;	218	LED_RED_ON;
220	sprintf(ErrorMSG,"ERR: FC Roll ACC");	219	sprintf(ErrorMSG,"ERR: FC Roll ACC");
221	ErrorCode = 14;	220	ErrorCode = 14;
222	}	221	}
223	else if(FC_ErrorCode[0] & DEFEKT_A_Z)	222	else if(FC_ErrorCode[0] & DEFEKT_A_Z)
224	{	223	{
225	LED_RED_ON;	224	LED_RED_ON;
226	sprintf(ErrorMSG,"ERR: FC Z-ACC");	225	sprintf(ErrorMSG,"ERR: FC Z-ACC");
227	ErrorCode = 15;	226	ErrorCode = 15;
228	}	227	}
229	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)	228	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
230	{	229	{
231	LED_RED_ON;	230	LED_RED_ON;
232	sprintf(ErrorMSG,"ERR: Pressure sensor");	231	sprintf(ErrorMSG,"ERR: Pressure sensor");
233	ErrorCode = 16;	232	ErrorCode = 16;
234	}	233	}
235	else if(FC_ErrorCode[1] & DEFEKT_I2C)	234	else if(FC_ErrorCode[1] & DEFEKT_I2C)
236	{	235	{
237	LED_RED_ON;	236	LED_RED_ON;
238	sprintf(ErrorMSG,"ERR: FC I2C");	237	sprintf(ErrorMSG,"ERR: FC I2C");
239	ErrorCode = 17;	238	ErrorCode = 17;
240	}	239	}
241	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)	240	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
242	{	241	{
243	LED_RED_ON;	242	LED_RED_ON;
244	sprintf(ErrorMSG,"ERR: Bl Missing");	243	sprintf(ErrorMSG,"ERR: Bl Missing");
245	ErrorCode = 18;	244	ErrorCode = 18;
246	}	245	}
247	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)	246	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
248	{	247	{
249	LED_RED_ON;	248	LED_RED_ON;
250	sprintf(ErrorMSG,"Mixer Error");	249	sprintf(ErrorMSG,"Mixer Error");
251	ErrorCode = 19;	250	ErrorCode = 19;
252	}	251	}
253	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	252	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
254	{	253	{
255	sprintf(ErrorMSG,"MK3Mag not compatible ");	254	sprintf(ErrorMSG,"MK3Mag not compatible ");
256	LED_RED_ON;	255	LED_RED_ON;
257	ErrorCode = 2;	256	ErrorCode = 2;
258	StopNavigation = 1;	257	StopNavigation = 1;
259	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;	258	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;
260	}	259	}
261	else if(CheckDelay(UBX_Timeout))	260	else if(CheckDelay(UBX_Timeout))
262	{	261	{
263	LED_RED_ON;	262	LED_RED_ON;
264	sprintf(ErrorMSG,"no GPS communication ");	263	sprintf(ErrorMSG,"no GPS communication ");
265	ErrorCode = 5;	264	ErrorCode = 5;
266	StopNavigation = 1;	265	StopNavigation = 1;
267	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;	266	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;
268	}	267	}
269	else if(I2C_Heading.Heading < 0)	268	else if(I2C_Heading.Heading < 0)
270	{	269	{
271	LED_RED_ON;	270	LED_RED_ON;
272	sprintf(ErrorMSG,"bad compass value ");	271	sprintf(ErrorMSG,"bad compass value ");
273	ErrorCode = 6;	272	ErrorCode = 6;
274	StopNavigation = 1;	273	StopNavigation = 1;
275	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;	274	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;
276	}	275	}
277	else if(FC.Flags & FCFLAG_SPI_RX_ERR)	276	else if(FC.Flags & FCFLAG_SPI_RX_ERR)
278	{	277	{
279	LED_RED_ON;	278	LED_RED_ON;
280	sprintf(ErrorMSG,"FC spi rx error ");	279	sprintf(ErrorMSG,"FC spi rx error ");
281	ErrorCode = 8;	280	ErrorCode = 8;
282	StopNavigation = 1;	281	StopNavigation = 1;
283	}	282	}
284	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)	283	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
285	{	284	{
286	LED_RED_ON;	285	LED_RED_ON;
287	sprintf(ErrorMSG,"FC: Carefree Error");	286	sprintf(ErrorMSG,"FC: Carefree Error");
288	ErrorCode = 20;	287	ErrorCode = 20;
289	}	288	}
290	else if(FC.RC_Quality < 100)	289	else if(FC.RC_Quality < 100)
291	{	290	{
292	LED_RED_ON;	291	LED_RED_ON;
293	sprintf(ErrorMSG,"RC Signal lost ");	292	sprintf(ErrorMSG,"RC Signal lost ");
294	ErrorCode = 7;	293	ErrorCode = 7;
295	}	294	}
296	else // no error occured	295	else // no error occured
297	{	296	{
298	sprintf(ErrorMSG,"No Error ");	297	sprintf(ErrorMSG,"No Error ");
299	ErrorCode = 0;	298	ErrorCode = 0;
300	StopNavigation = 0;	299	StopNavigation = 0;
301	LED_RED_OFF;	300	LED_RED_OFF;
302	}	301	}
303	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1] \|\| UART_VersionInfo.HardwareError[0]) DebugOut.Status[1] \|= 0x04;	302	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
304	else DebugOut.Status[1] &= ~0x04;	303	else DebugOut.Status[1] &= ~0x04;
305	}	304	}
306		305
307	// the handler will be cyclic called by the timer 1 ISR	306	// the handler will be cyclic called by the timer 1 ISR
308	// used is for critical timing parts that normaly would handled	307	// used is for critical timing parts that normaly would handled
309	// within the main loop that could block longer at logging activities	308	// within the main loop that could block longer at logging activities
310	void EXTIT3_IRQHandler(void)	309	void EXTIT3_IRQHandler(void)
311	{	310	{
312	IENABLE;	311	IENABLE;
313		312
314	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	313	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
315	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	314	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
316	I2C1_UpdateCompass(); // update compass communication	315	I2C1_UpdateCompass(); // update compass communication
317	Analog_Update(); // get new ADC values	316	Analog_Update(); // get new ADC values
318	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	317	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
319		318
320	IDISABLE;	319	IDISABLE;
321	}	320	}
322		321
323	//----------------------------------------------------------------------------------------------------	322	//----------------------------------------------------------------------------------------------------
324	int main(void)	323	int main(void)
325	{	324	{
326	/* Configure the system clocks */	325	/* Configure the system clocks */
327	SCU_Config();	326	SCU_Config();
328	/* init VIC (Vectored Interrupt Controller) */	327	/* init VIC (Vectored Interrupt Controller) */
329	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	328	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
330	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	329	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
331	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	330	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
332	VIC_InitDefaultVectors();	331	VIC_InitDefaultVectors();
333		332
334	// initialize timer 1 for System Clock and delay rountines	333	// initialize timer 1 for System Clock and delay rountines
335	TIMER1_Init();	334	TIMER1_Init();
336	// initialize the LEDs (needs Timer 1)	335	// initialize the LEDs (needs Timer 1)
337	Led_Init();	336	Led_Init();
338	// initialize the debug UART1	337	// initialize the debug UART1
339	UART1_Init();	338	UART1_Init();
340	UART1_PutString("\r\n---------------------------------------------");	339	UART1_PutString("\r\n---------------------------------------------");
341	// initialize timer 2 for servo outputs	340	// initialize timer 2 for servo outputs
342	//TIMER2_Init();	341	//TIMER2_Init();
343	// initialize UART2 to FLIGHTCTRL	342	// initialize UART2 to FLIGHTCTRL
344	UART2_Init();	343	UART2_Init();
345	// initialize UART0 (to MKGPS or MK3MAG)	344	// initialize UART0 (to MKGPS or MK3MAG)
346	UART0_Init();	345	UART0_Init();
347	// initialize adc	346	// initialize adc
348	Analog_Init();	347	Analog_Init();
349	// initialize usb	348	// initialize usb
350	//USB_ConfigInit();	349	//USB_ConfigInit();
351	// initialize SPI0 to FC	350	// initialize SPI0 to FC
352	SPI0_Init();	351	SPI0_Init();
353	// initialize i2c bus to MK3MAG (needs Timer 1)	352	// initialize i2c bus to MK3MAG (needs Timer 1)
354	I2C_Heading.Heading = -1;	353	I2C_Heading.Heading = -1;
355	I2C1_Init();	354	I2C1_Init();
356	// initialize the gps position controller (needs Timer 1)	355	// initialize the gps position controller (needs Timer 1)
357	Fat16_Init();	356	Fat16_Init();
358	// initialize NC params	357	// initialize NC params
359	NCParams_Init();	358	NCParams_Init();
360	// initialize the settings	359	// initialize the settings
361	Settings_Init();	360	Settings_Init();
362	// initialize logging (needs settings)	361	// initialize logging (needs settings)
363	Logging_Init();	362	Logging_Init();
364		363
365	TimerCheckError = SetDelay(3000);	364	TimerCheckError = SetDelay(3000);
366	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	365	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
367	UART1_PutString("\n\r Version information:");	366	UART1_PutString("\n\r Version information:");
368		367
369	GetNaviCtrlVersion();	368	GetNaviCtrlVersion();
370	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	369	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
371	DebugOut.Status[1] = 0x00;	370	DebugOut.Status[1] = 0x00;
372		371
373	I2C1_GetMK3MagVersion();	372	I2C1_GetMK3MagVersion();
374	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	373	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
375	{	374	{
376	UART1_PutString("\n\r MK3Mag not compatible");	375	UART1_PutString("\n\r MK3Mag not compatible");
377	LED_RED_ON;	376	LED_RED_ON;
378	}	377	}
379		378
380	SPI0_GetFlightCtrlVersion();	379	SPI0_GetFlightCtrlVersion();
381	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	380	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
382	{	381	{
383	UART1_PutString("\n\r Flight-Ctrl not compatible");	382	UART1_PutString("\n\r Flight-Ctrl not compatible");
384	LED_RED_ON;	383	LED_RED_ON;
385	}	384	}
386		385
387	UART0_GetMKOSDVersion();	386	UART0_GetMKOSDVersion();
388		387
389	GPS_Init();	388	GPS_Init();
390	// initialize fat16 partition on sd card (needs Timer 1)	389	// initialize fat16 partition on sd card (needs Timer 1)
391		390
392	// ---------- Prepare the isr driven	391	// ---------- Prepare the isr driven
393	// set to absolute lowest priority	392	// set to absolute lowest priority
394	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	393	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
395	// enable interrupts	394	// enable interrupts
396	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	395	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
397	for (;;) // the endless main loop	396	for (;;) // the endless main loop
398	{	397	{
399	UART0_ProcessRxData(); // process request	398	UART0_ProcessRxData(); // process request
400	UART1_ProcessRxData(); // process request	399	UART1_ProcessRxData(); // process request
401	USB_ProcessRxData(); // process request	400	USB_ProcessRxData(); // process request
402	UART0_TransmitTxData(); // send answer	401	UART0_TransmitTxData(); // send answer
403	UART1_TransmitTxData(); // send answer	402	UART1_TransmitTxData(); // send answer
404	UART2_TransmitTxData(); // send answer	403	UART2_TransmitTxData(); // send answer
405	USB_TransmitTxData(); // send answer	404	USB_TransmitTxData(); // send answer
406		405
407	SPI0_UpdateBuffer(); // handle new SPI Data	406	SPI0_UpdateBuffer(); // handle new SPI Data
408	// ---------------- Error Check Timing ----------------------------	407	// ---------------- Error Check Timing ----------------------------
409	if(CheckDelay(TimerCheckError))	408	if(CheckDelay(TimerCheckError))
410	{	409	{
411	TimerCheckError = SetDelay(1000);	410	TimerCheckError = SetDelay(1000);
412	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	411	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
413	CheckErrors();	412	CheckErrors();
414	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	413	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
415	// else NaviData.FlyingTime = 0; // not the time per flight	414	// else NaviData.FlyingTime = 0; // not the time per flight
416	if(SerialLinkOkay) SerialLinkOkay--;	415	if(SerialLinkOkay) SerialLinkOkay--;
417	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	416	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
418	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	417	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
419	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	418	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
420	}	419	}
421	// ---------------- Logging ---------------------------------------	420	// ---------------- Logging ---------------------------------------
422	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	421	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
423	}	422	}
424	}	423	}
425		424
426		425
427		426

Subversion Repositories NaviCtrl

(root)/tags/V0.28o/main.c @ 736 - Rev 231 → 232