WebSVN - NaviCtrl - Diff - Rev 255 and 256


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c.h"
#include "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
 
#include "eeprom.h"
 
u8 BoardRelease = 0;
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearFCStatusFlags = 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)
{
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(/*(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) ||*/ CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08;
        else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_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] |= NC_ERROR0_SPI_RX;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no compass communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                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] |= NC_ERROR0_FC_INCOMPATIBLE;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                ErrorCode = 10;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                ErrorCode = 11;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                ErrorCode = 12;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                ErrorCode = 13;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                ErrorCode = 14;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Z-ACC");
                ErrorCode = 15;
        }
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Pressure sensor");
                ErrorCode = 16;
        }
        else if(FC.Error[1] &  FC_ERROR1_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC I2C");
                ErrorCode = 17;
        }
        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                ErrorCode = 18;
        }
        else if(FC.Error[1] &  FC_ERROR1_MIXER)
        {
                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] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
        } */
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if((FC.Error[1] &  FC_ERROR1_SPI_RX))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                ErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                ErrorCode = 20;
        }
        else if(FC.Error[1] &  FC_ERROR1_PPM)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                ErrorCode = 7;
        }
        else // no error occured
        {
                sprintf(ErrorMSG,"No Error               ");
                ErrorCode = 0;
                StopNavigation = 0;
                LED_RED_OFF;
        }
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04;
        else DebugOut.Status[1] &= ~0x04;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_UpdateHeading();        // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize usb
        USB_ConfigInit();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag
        DebugOut.Status[1] = 0x00;
 
        Compass_Init();
       
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
 
        GPS_Init();    
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        Debug_OK("START");
 
       
        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.StatusFlags & FC_STATUS_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 255	Rev 256
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:	31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz	32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
35	// + this list of conditions and the following disclaimer.	35	// + this list of conditions and the following disclaimer.
36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
37	// + from this software without specific prior written permission.	37	// + from this software without specific prior written permission.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
39	// + for non-commercial use (directly or indirectly)	39	// + for non-commercial use (directly or indirectly)
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
41	// + with our written permission	41	// + with our written permission
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
43	// + clearly linked as origin	43	// + clearly linked as origin
44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
45	//	45	//
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
56	// + POSSIBILITY OF SUCH DAMAGE.	56	// + POSSIBILITY OF SUCH DAMAGE.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	58	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	59	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	60	#include <stdio.h>
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "led.h"	62	#include "led.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "uart2.h"	65	#include "uart2.h"
66	#include "gps.h"	66	#include "gps.h"
67	#include "i2c.h"	67	#include "i2c.h"
68	#include "compass.h"	68	#include "compass.h"
69	#include "timer1.h"	69	#include "timer1.h"
70	#include "timer2.h"	70	#include "timer2.h"
71	#include "analog.h"	71	#include "analog.h"
72	#include "spi_slave.h"	72	#include "spi_slave.h"
73	#include "fat16.h"	73	#include "fat16.h"
74	#include "usb.h"	74	#include "usb.h"
75	#include "sdc.h"	75	#include "sdc.h"
76	#include "logging.h"	76	#include "logging.h"
77	#include "params.h"	77	#include "params.h"
78	#include "settings.h"	78	#include "settings.h"
79	#include "config.h"	79	#include "config.h"
80	#include "main.h"	80	#include "main.h"
81	#include "debug.h"	81	#include "debug.h"
82		82
83	#include "eeprom.h"	83	#include "eeprom.h"
84		84
85	u8 BoardRelease = 0;	85	u8 BoardRelease = 0;
86	u32 TimerCheckError;	86	u32 TimerCheckError;
87	u8 ErrorCode = 0;	87	u8 ErrorCode = 0;
88	u16 BeepTime;	88	u16 BeepTime;
89	u8 NCFlags = 0;	89	u8 NCFlags = 0;
90	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	90	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
91		91
92	u8 ClearFCStatusFlags = 0;	92	u8 ClearFCStatusFlags = 0;
93	u8 StopNavigation = 0;	93	u8 StopNavigation = 0;
94	Param_t Parameter;	94	Param_t Parameter;
95	volatile FC_t FC;	95	volatile FC_t FC;
96		96
97	s8 ErrorMSG[25];	97	s8 ErrorMSG[25];
98		98
99	//----------------------------------------------------------------------------------------------------	99	//----------------------------------------------------------------------------------------------------
100	void SCU_Config(void)	100	void SCU_Config(void)
101	{	101	{
102	/* configure PLL and set it as master clock source */	102	/* configure PLL and set it as master clock source */
103	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	103	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
104	SCU_PLLCmd(DISABLE); // now disable the PLL	104	SCU_PLLCmd(DISABLE); // now disable the PLL
105	#ifdef MCLK96MHZ	105	#ifdef MCLK96MHZ
106	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	106	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
107	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	107	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
108	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	108	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
109	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	109	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
110	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	110	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
111	#else	111	#else
112	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	112	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
113	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	113	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
114	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	114	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
115	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	115	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
116	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	116	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
117	#endif	117	#endif
118	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	118	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
119	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	119	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
120	}	120	}
121		121
122	//----------------------------------------------------------------------------------------------------	122	//----------------------------------------------------------------------------------------------------
123	void GetNaviCtrlVersion(void)	123	void GetNaviCtrlVersion(void)
124	{	124	{
125	u8 msg[25];	125	u8 msg[25];
126		126
127	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	127	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
128	UART1_PutString(msg);	128	UART1_PutString(msg);
129	}	129	}
130		130
131	//----------------------------------------------------------------------------------------------------	131	//----------------------------------------------------------------------------------------------------
132	#define ERROR_FC_COMMUNICATION 0x01	-
133	#define ERROR_MK3_COMMUNICATION 0x02	-
134	#define ERROR_FC_INCOMPATIBLE 0x04	-
135	#define ERROR_MK3_INCOMPATIBLE 0x08	-
136	#define ERROR_GPS_COMMUNICATION 0x10	-
137	#define ERROR_COMPASS_VALUE 0x20	-
138	//----------------------------------------------------------------------------------------------------	-
139		132
140	void CheckErrors(void)	133	void CheckErrors(void)
141	{	134	{
142	UART_VersionInfo.HardwareError[0] = 0;	135	UART_VersionInfo.HardwareError[0] = 0;
143		136
144	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;	137	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;
145	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	138	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
146		139
147	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	140	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
148	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	141	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
149		142
150	if(CheckDelay(SPI0_Timeout))	143	if(CheckDelay(SPI0_Timeout))
151	{	144	{
152	LED_RED_ON;	145	LED_RED_ON;
153	sprintf(ErrorMSG,"no FC communication ");	146	sprintf(ErrorMSG,"no FC communication ");
154	ErrorCode = 3;	147	ErrorCode = 3;
155	StopNavigation = 1;	148	StopNavigation = 1;
156	DebugOut.Status[0] &= ~0x01; // status of FC Present	149	DebugOut.Status[0] &= ~0x01; // status of FC Present
157	DebugOut.Status[0] &= ~0x02; // status of BL Present	150	DebugOut.Status[0] &= ~0x02; // status of BL Present
158	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;	151	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
159	}	152	}
160	else if(CheckDelay(I2C1_Timeout))	153	else if(CheckDelay(I2C1_Timeout))
161	{	154	{
162	LED_RED_ON;	155	LED_RED_ON;
163	sprintf(ErrorMSG,"no MK3Mag communication ");	156	sprintf(ErrorMSG,"no compass communication ");
164	//Reset I2CBus	157	//Reset I2CBus
165	I2C1_Deinit();	158	I2C1_Deinit();
166	I2C1_Init();	159	I2C1_Init();
167	ErrorCode = 4;	160	ErrorCode = 4;
168	StopNavigation = 1;	161	StopNavigation = 1;
169	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;	162	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
170	DebugOut.Status[1] \|= 0x08;	163	DebugOut.Status[1] \|= 0x08;
171	}	164	}
172	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	165	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
173	{	166	{
174	LED_RED_ON;	167	LED_RED_ON;
175	sprintf(ErrorMSG,"FC not compatible ");	168	sprintf(ErrorMSG,"FC not compatible ");
176	ErrorCode = 1;	169	ErrorCode = 1;
177	StopNavigation = 1;	170	StopNavigation = 1;
178	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;	171	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
179	}	172	}
180		173
181	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	174	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
182	{	175	{
183	LED_RED_ON;	176	LED_RED_ON;
184	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	177	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
185	ErrorCode = 10;	178	ErrorCode = 10;
186	}	179	}
187	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	180	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
188	{	181	{
189	LED_RED_ON;	182	LED_RED_ON;
190	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	183	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
191	ErrorCode = 11;	184	ErrorCode = 11;
192	}	185	}
193	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	186	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
194	{	187	{
195	LED_RED_ON;	188	LED_RED_ON;
196	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	189	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
197	ErrorCode = 12;	190	ErrorCode = 12;
198	}	191	}
199	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	192	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
200	{	193	{
201	LED_RED_ON;	194	LED_RED_ON;
202	sprintf(ErrorMSG,"ERR: FC Nick ACC");	195	sprintf(ErrorMSG,"ERR: FC Nick ACC");
203	ErrorCode = 13;	196	ErrorCode = 13;
204	}	197	}
205	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	198	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
206	{	199	{
207	LED_RED_ON;	200	LED_RED_ON;
208	sprintf(ErrorMSG,"ERR: FC Roll ACC");	201	sprintf(ErrorMSG,"ERR: FC Roll ACC");
209	ErrorCode = 14;	202	ErrorCode = 14;
210	}	203	}
211	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	204	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
212	{	205	{
213	LED_RED_ON;	206	LED_RED_ON;
214	sprintf(ErrorMSG,"ERR: FC Z-ACC");	207	sprintf(ErrorMSG,"ERR: FC Z-ACC");
215	ErrorCode = 15;	208	ErrorCode = 15;
216	}	209	}
217	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	210	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
218	{	211	{
219	LED_RED_ON;	212	LED_RED_ON;
220	sprintf(ErrorMSG,"ERR: Pressure sensor");	213	sprintf(ErrorMSG,"ERR: Pressure sensor");
221	ErrorCode = 16;	214	ErrorCode = 16;
222	}	215	}
223	else if(FC.Error[1] & FC_ERROR1_I2C)	216	else if(FC.Error[1] & FC_ERROR1_I2C)
224	{	217	{
225	LED_RED_ON;	218	LED_RED_ON;
226	sprintf(ErrorMSG,"ERR: FC I2C");	219	sprintf(ErrorMSG,"ERR: FC I2C");
227	ErrorCode = 17;	220	ErrorCode = 17;
228	}	221	}
229	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	222	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
230	{	223	{
231	LED_RED_ON;	224	LED_RED_ON;
232	sprintf(ErrorMSG,"ERR: Bl Missing");	225	sprintf(ErrorMSG,"ERR: Bl Missing");
233	ErrorCode = 18;	226	ErrorCode = 18;
234	}	227	}
235	else if(FC.Error[1] & FC_ERROR1_MIXER)	228	else if(FC.Error[1] & FC_ERROR1_MIXER)
236	{	229	{
237	LED_RED_ON;	230	LED_RED_ON;
238	sprintf(ErrorMSG,"Mixer Error");	231	sprintf(ErrorMSG,"Mixer Error");
239	ErrorCode = 19;	232	ErrorCode = 19;
240	}	233	}
241	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	234	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
242	{	235	{
243	sprintf(ErrorMSG,"MK3Mag not compatible ");	236	sprintf(ErrorMSG,"MK3Mag not compatible ");
244	LED_RED_ON;	237	LED_RED_ON;
245	ErrorCode = 2;	238	ErrorCode = 2;
246	StopNavigation = 1;	239	StopNavigation = 1;
247	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;	240	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;
248	} */	241	} */
249	else if(CheckDelay(UBX_Timeout))	242	else if(CheckDelay(UBX_Timeout))
250	{	243	{
251	LED_RED_ON;	244	LED_RED_ON;
252	sprintf(ErrorMSG,"no GPS communication ");	245	sprintf(ErrorMSG,"no GPS communication ");
253	ErrorCode = 5;	246	ErrorCode = 5;
254	StopNavigation = 1;	247	StopNavigation = 1;
255	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;	248	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
256	}	249	}
257	else if(Compass_Heading < 0)	250	else if(Compass_Heading < 0)
258	{	251	{
259	LED_RED_ON;	252	LED_RED_ON;
260	sprintf(ErrorMSG,"bad compass value ");	253	sprintf(ErrorMSG,"bad compass value ");
261	ErrorCode = 6;	254	ErrorCode = 6;
262	StopNavigation = 1;	255	StopNavigation = 1;
263	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;	256	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
264	}	257	}
265	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	258	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
266	{	259	{
267	LED_RED_ON;	260	LED_RED_ON;
268	sprintf(ErrorMSG,"FC spi rx error ");	261	sprintf(ErrorMSG,"FC spi rx error ");
269	ErrorCode = 8;	262	ErrorCode = 8;
270	StopNavigation = 1;	263	StopNavigation = 1;
271	}	264	}
272	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	265	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
273	{	266	{
274	LED_RED_ON;	267	LED_RED_ON;
275	sprintf(ErrorMSG,"FC: Carefree Error");	268	sprintf(ErrorMSG,"FC: Carefree Error");
276	ErrorCode = 20;	269	ErrorCode = 20;
277	}	270	}
278	else if(FC.Error[1] & FC_ERROR1_PPM)	271	else if(FC.Error[1] & FC_ERROR1_PPM)
279	{	272	{
280	LED_RED_ON;	273	LED_RED_ON;
281	sprintf(ErrorMSG,"RC Signal lost ");	274	sprintf(ErrorMSG,"RC Signal lost ");
282	ErrorCode = 7;	275	ErrorCode = 7;
283	}	276	}
284	else // no error occured	277	else // no error occured
285	{	278	{
286	sprintf(ErrorMSG,"No Error ");	279	sprintf(ErrorMSG,"No Error ");
287	ErrorCode = 0;	280	ErrorCode = 0;
288	StopNavigation = 0;	281	StopNavigation = 0;
289	LED_RED_OFF;	282	LED_RED_OFF;
290	}	283	}
291	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;	284	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
292	else DebugOut.Status[1] &= ~0x04;	285	else DebugOut.Status[1] &= ~0x04;
293	}	286	}
294		287
295	// the handler will be cyclic called by the timer 1 ISR	288	// the handler will be cyclic called by the timer 1 ISR
296	// used is for critical timing parts that normaly would handled	289	// used is for critical timing parts that normaly would handled
297	// within the main loop that could block longer at logging activities	290	// within the main loop that could block longer at logging activities
298	void EXTIT3_IRQHandler(void)	291	void EXTIT3_IRQHandler(void)
299	{	292	{
300	IENABLE;	293	IENABLE;
301		294
302	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	295	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
303	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	296	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
304	Compass_UpdateHeading(); // update compass communication	297	Compass_UpdateHeading(); // update compass communication
305	Analog_Update(); // get new ADC values	298	Analog_Update(); // get new ADC values
306	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	299	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
307		300
308	IDISABLE;	301	IDISABLE;
309	}	302	}
310		303
311	//----------------------------------------------------------------------------------------------------	304	//----------------------------------------------------------------------------------------------------
312	int main(void)	305	int main(void)
313	{	306	{
314	/* Configure the system clocks */	307	/* Configure the system clocks */
315	SCU_Config();	308	SCU_Config();
316	/* init VIC (Vectored Interrupt Controller) */	309	/* init VIC (Vectored Interrupt Controller) */
317	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	310	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
318	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	311	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
319	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	312	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
320	VIC_InitDefaultVectors();	313	VIC_InitDefaultVectors();
321		314
322	// initialize timer 1 for System Clock and delay rountines	315	// initialize timer 1 for System Clock and delay rountines
323	TIMER1_Init();	316	TIMER1_Init();
324	// initialize the LEDs (needs Timer 1)	317	// initialize the LEDs (needs Timer 1)
325	Led_Init();	318	Led_Init();
326	// initialize the debug UART1	319	// initialize the debug UART1
327	UART1_Init();	320	UART1_Init();
328	UART1_PutString("\r\n---------------------------------------------");	321	UART1_PutString("\r\n---------------------------------------------");
329	// initialize timer 2 for servo outputs	322	// initialize timer 2 for servo outputs
330	//TIMER2_Init();	323	//TIMER2_Init();
331	// initialize UART2 to FLIGHTCTRL	324	// initialize UART2 to FLIGHTCTRL
332	UART2_Init();	325	UART2_Init();
333	// initialize UART0 (to MKGPS or MK3MAG)	326	// initialize UART0 (to MKGPS or MK3MAG)
334	UART0_Init();	327	UART0_Init();
335	// initialize adc	328	// initialize adc
336	Analog_Init();	329	Analog_Init();
337	// initialize usb	330	// initialize usb
338	USB_ConfigInit();	331	USB_ConfigInit();
339	// initialize SPI0 to FC	332	// initialize SPI0 to FC
340	SPI0_Init();	333	SPI0_Init();
341	// initialize i2c bus (needs Timer 1)	334	// initialize i2c bus (needs Timer 1)
342	I2C1_Init();	335	I2C1_Init();
343	// initialize fat16 partition on sd card (needs Timer 1)	336	// initialize fat16 partition on sd card (needs Timer 1)
344	Fat16_Init();	337	Fat16_Init();
345	// initialize NC params	338	// initialize NC params
346	NCParams_Init();	339	NCParams_Init();
347	// initialize the settings	340	// initialize the settings
348	Settings_Init();	341	Settings_Init();
349	// initialize logging (needs settings)	342	// initialize logging (needs settings)
350	Logging_Init();	343	Logging_Init();
351		344
352	TimerCheckError = SetDelay(3000);	345	TimerCheckError = SetDelay(3000);
353	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	346	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
354	UART1_PutString("\n\r Version information:");	347	UART1_PutString("\n\r Version information:");
355		348
356	GetNaviCtrlVersion();	349	GetNaviCtrlVersion();
357	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	350	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
358	DebugOut.Status[1] = 0x00;	351	DebugOut.Status[1] = 0x00;
359		352
360	Compass_Init();	353	Compass_Init();
361		354
362	SPI0_GetFlightCtrlVersion();	355	SPI0_GetFlightCtrlVersion();
363	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	356	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
364	{	357	{
365	UART1_PutString("\n\r Flight-Ctrl not compatible");	358	UART1_PutString("\n\r Flight-Ctrl not compatible");
366	LED_RED_ON;	359	LED_RED_ON;
367	}	360	}
368		361
369	GPS_Init();	362	GPS_Init();
370		-
371	/*{	-
372	u8 i;	-
373	u8 text[20];	-
374	u8 mesg[10];	-
375	UART1_PutString("\r\nFill\r\n");	-
376	for(i=0;i<20;i++)	-
377	{	-
378	text[i] = 0xAA;	-
379	sprintf(mesg,"%02X ", text[i]);	-
380	UART1_PutString(mesg);	-
381	}	-
382		-
383	sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(50, text, 18));	-
384	UART1_PutString(mesg);	-
385	for(i=0;i<20;i++)	-
386	{	-
387	sprintf(mesg,"%02X ", text[i]);	-
388	UART1_PutString(mesg);	-
389	text[i] = i;	-
390	}	-
391	UART1_PutString("\r\nFill\r\n");	-
392	for(i=0;i<20;i++)	-
393	{	-
394	sprintf(mesg,"%02X ", text[i]);	-
395	UART1_PutString(mesg);	-
396	}	-
397	sprintf(mesg, "\r\nEEWrite = %d\r\n", EEPROM_WriteBlock(0, text, 18));	-
398	UART1_PutString(mesg);	-
399	for(i=0;i<20;i++)	-
400	{	-
401	sprintf(mesg,"%02X ", text[i]);	-
402	UART1_PutString(mesg);	-
403	text[i]=0xAA;	-
404	}	-
405	UART1_PutString("\r\nFill\r\n");	-
406	for(i=0;i<20;i++)	-
407	{	-
408	sprintf(mesg,"%02X ", text[i]);	-
409	UART1_PutString(mesg);	-
410	}	-
411	sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(0, text, 18));	-
412	UART1_PutString(mesg);	-
413	for(i=0;i<20;i++)	-
414	{	-
415	sprintf(mesg,"%02X ", text[i]);	-
416	UART1_PutString(mesg);	-
417	}	-
418	}*/	-
419		363
420	// ---------- Prepare the isr driven	364	// ---------- Prepare the isr driven
421	// set to absolute lowest priority	365	// set to absolute lowest priority
422	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	366	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
423	// enable interrupts	367	// enable interrupts
424	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	368	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
425		369
426	Debug_OK("START");	370	Debug_OK("START");
427		-
428		371
429	for (;;) // the endless main loop	372	for (;;) // the endless main loop
430	{	373	{
431	UART0_ProcessRxData(); // process request	374	UART0_ProcessRxData(); // process request
432	UART1_ProcessRxData(); // process request	375	UART1_ProcessRxData(); // process request
433	USB_ProcessRxData(); // process request	376	USB_ProcessRxData(); // process request
434	UART0_TransmitTxData(); // send answer	377	UART0_TransmitTxData(); // send answer
435	UART1_TransmitTxData(); // send answer	378	UART1_TransmitTxData(); // send answer
436	UART2_TransmitTxData(); // send answer	379	UART2_TransmitTxData(); // send answer
437	USB_TransmitTxData(); // send answer	380	USB_TransmitTxData(); // send answer
438	SPI0_UpdateBuffer(); // handle new SPI Data	381	SPI0_UpdateBuffer(); // handle new SPI Data
439	// ---------------- Error Check Timing ----------------------------	382	// ---------------- Error Check Timing ----------------------------
440	if(CheckDelay(TimerCheckError))	383	if(CheckDelay(TimerCheckError))
441	{	384	{
442	TimerCheckError = SetDelay(1000);	385	TimerCheckError = SetDelay(1000);
443	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	386	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
444	CheckErrors();	387	CheckErrors();
445	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	388	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
446	// else NaviData.FlyingTime = 0; // not the time per flight	389	// else NaviData.FlyingTime = 0; // not the time per flight
447	if(SerialLinkOkay) SerialLinkOkay--;	390	if(SerialLinkOkay) SerialLinkOkay--;
448	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	391	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
449	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	392	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
450	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	393	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
451	}	394	}
452	// ---------------- Logging ---------------------------------------	395	// ---------------- Logging ---------------------------------------
453	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	396	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
454	}	397	}
455	}	398	}
456		399
457		400
458		401

Subversion Repositories NaviCtrl

(root)/tags/V0.30a/main.c @ 814 - Rev 255 → 256