WebSVN - NaviCtrl - Diff - Rev 251 and 252


/*#######################################################################################*/
/* !!! 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"
 
u8 BoardRelease = 0;
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearFCFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl V%d.%d%c",  VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
#define DEFEKT_G_NICK           0x01
#define DEFEKT_G_ROLL           0x02
#define DEFEKT_G_GIER           0x04
#define DEFEKT_A_NICK           0x08
#define DEFEKT_A_ROLL           0x10
#define DEFEKT_A_Z              0x20
#define DEFEKT_PRESSURE         0x40
#define DEFEKT_CAREFREE_ERR 0x80
 
#define DEFEKT_I2C              0x01
#define DEFEKT_BL_MISSING       0x02
#define DEFEKT_SPI_RX_ERR       0x04
#define DEFEKT_PPM_ERR          0x08
#define DEFEKT_MIXER_ERR    0x10
//----------------------------------------------------------------------------------------------------
#define ERROR_FC_COMMUNICATION          0x01
#define ERROR_MK3_COMMUNICATION         0x02
#define ERROR_FC_INCOMPATIBLE           0x04
#define ERROR_MK3_INCOMPATIBLE          0x08
#define ERROR_GPS_COMMUNICATION         0x10
#define ERROR_COMPASS_VALUE                     0x20
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(/*(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) ||*/ CheckDelay(I2C1_Timeout) || (CompassHeading < 0)) DebugOut.Status[1] |= 0x08;
        else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
 
        if((FC_ErrorCode[1] & DEFEKT_I2C) || (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] |= 0x02;
        else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                ErrorCode = 3;
                StopNavigation = 1;
                DebugOut.Status[0] &= ~0x01; // status of FC Present
                DebugOut.Status[0] &= ~0x02; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= ERROR_FC_COMMUNICATION;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no MK3Mag communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_MK3_COMMUNICATION;
                DebugOut.Status[1] |= 0x08;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC not compatible ");
                ErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_FC_INCOMPATIBLE;
        }
 
        else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                ErrorCode = 10;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                ErrorCode = 11;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                ErrorCode = 12;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                ErrorCode = 13;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                ErrorCode = 14;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_Z)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Z-ACC");
                ErrorCode = 15;
        }
        else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Pressure sensor");
                ErrorCode = 16;
        }
        else if(FC_ErrorCode[1] & DEFEKT_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC I2C");
                ErrorCode = 17;
        }
        else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                ErrorCode = 18;
        }
        else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                ErrorCode = 19;
        }
/*      else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                sprintf(ErrorMSG,"MK3Mag not compatible ");
                LED_RED_ON;
                ErrorCode = 2;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_MK3_INCOMPATIBLE;
        } */
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_GPS_COMMUNICATION;
        }
        else if(CompassHeading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_COMPASS_VALUE;
        }
        else if(FC.Flags & FCFLAG_SPI_RX_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                ErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                ErrorCode = 20;
        }
        else if(FC.RC_Quality < 100)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                ErrorCode = 7;
        }
        else // no error occured
        {
                sprintf(ErrorMSG,"No Error               ");
                ErrorCode = 0;
                StopNavigation = 0;
                LED_RED_OFF;
        }
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04;
        else DebugOut.Status[1] &= ~0x04;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_UpdateHeading();        // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize usb
        //USB_ConfigInit();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag
        DebugOut.Status[1] = 0x00;
 
        Compass_Init();
       
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
 
        GPS_Init();    
 
 
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        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.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 251	Rev 252
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	u8 BoardRelease = 0;	83	u8 BoardRelease = 0;
84	u32 TimerCheckError;	84	u32 TimerCheckError;
85	u8 ErrorCode = 0;	85	u8 ErrorCode = 0;
86	u16 BeepTime;	86	u16 BeepTime;
87	u8 NCFlags = 0;	87	u8 NCFlags = 0;
88	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	88	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
89		89
90	u8 ClearFCFlags = 0;	90	u8 ClearFCFlags = 0;
91	u8 StopNavigation = 0;	91	u8 StopNavigation = 0;
92	Param_t Parameter;	92	Param_t Parameter;
93	volatile FC_t FC;	93	volatile FC_t FC;
94		94
95	s8 ErrorMSG[25];	95	s8 ErrorMSG[25];
96		96
97	//----------------------------------------------------------------------------------------------------	97	//----------------------------------------------------------------------------------------------------
98	void SCU_Config(void)	98	void SCU_Config(void)
99	{	99	{
100	/* configure PLL and set it as master clock source */	100	/* configure PLL and set it as master clock source */
101	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	101	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
102	SCU_PLLCmd(DISABLE); // now disable the PLL	102	SCU_PLLCmd(DISABLE); // now disable the PLL
103	#ifdef MCLK96MHZ	103	#ifdef MCLK96MHZ
104	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	104	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
105	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	105	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
106	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	106	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
107	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	107	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
108	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	108	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
109	#else	109	#else
110	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	110	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
111	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	111	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
112	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	112	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
113	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	113	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
114	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	114	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
115	#endif	115	#endif
116	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	116	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
117	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	117	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
118	}	118	}
119		119
120	//----------------------------------------------------------------------------------------------------	120	//----------------------------------------------------------------------------------------------------
121	void GetNaviCtrlVersion(void)	121	void GetNaviCtrlVersion(void)
122	{	122	{
123	u8 msg[25];	123	u8 msg[25];
124		124
125	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	125	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
126	UART1_PutString(msg);	126	UART1_PutString(msg);
127	}	127	}
128		128
129	//----------------------------------------------------------------------------------------------------	129	//----------------------------------------------------------------------------------------------------
130	#define DEFEKT_G_NICK 0x01	130	#define DEFEKT_G_NICK 0x01
131	#define DEFEKT_G_ROLL 0x02	131	#define DEFEKT_G_ROLL 0x02
132	#define DEFEKT_G_GIER 0x04	132	#define DEFEKT_G_GIER 0x04
133	#define DEFEKT_A_NICK 0x08	133	#define DEFEKT_A_NICK 0x08
134	#define DEFEKT_A_ROLL 0x10	134	#define DEFEKT_A_ROLL 0x10
135	#define DEFEKT_A_Z 0x20	135	#define DEFEKT_A_Z 0x20
136	#define DEFEKT_PRESSURE 0x40	136	#define DEFEKT_PRESSURE 0x40
137	#define DEFEKT_CAREFREE_ERR 0x80	137	#define DEFEKT_CAREFREE_ERR 0x80
138		138
139	#define DEFEKT_I2C 0x01	139	#define DEFEKT_I2C 0x01
140	#define DEFEKT_BL_MISSING 0x02	140	#define DEFEKT_BL_MISSING 0x02
141	#define DEFEKT_SPI_RX_ERR 0x04	141	#define DEFEKT_SPI_RX_ERR 0x04
142	#define DEFEKT_PPM_ERR 0x08	142	#define DEFEKT_PPM_ERR 0x08
143	#define DEFEKT_MIXER_ERR 0x10	143	#define DEFEKT_MIXER_ERR 0x10
144	//----------------------------------------------------------------------------------------------------	144	//----------------------------------------------------------------------------------------------------
145	#define ERROR_FC_COMMUNICATION 0x01	145	#define ERROR_FC_COMMUNICATION 0x01
146	#define ERROR_MK3_COMMUNICATION 0x02	146	#define ERROR_MK3_COMMUNICATION 0x02
147	#define ERROR_FC_INCOMPATIBLE 0x04	147	#define ERROR_FC_INCOMPATIBLE 0x04
148	#define ERROR_MK3_INCOMPATIBLE 0x08	148	#define ERROR_MK3_INCOMPATIBLE 0x08
149	#define ERROR_GPS_COMMUNICATION 0x10	149	#define ERROR_GPS_COMMUNICATION 0x10
150	#define ERROR_COMPASS_VALUE 0x20	150	#define ERROR_COMPASS_VALUE 0x20
151	//----------------------------------------------------------------------------------------------------	151	//----------------------------------------------------------------------------------------------------
152		152
153	void CheckErrors(void)	153	void CheckErrors(void)
154	{	154	{
155	UART_VersionInfo.HardwareError[0] = 0;	155	UART_VersionInfo.HardwareError[0] = 0;
156		156
157	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (CompassHeading < 0)) DebugOut.Status[1] \|= 0x08;	157	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (CompassHeading < 0)) DebugOut.Status[1] \|= 0x08;
158	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	158	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
159		159
160	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	160	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
161	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	161	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
162		162
163	if(CheckDelay(SPI0_Timeout))	163	if(CheckDelay(SPI0_Timeout))
164	{	164	{
165	LED_RED_ON;	165	LED_RED_ON;
166	sprintf(ErrorMSG,"no FC communication ");	166	sprintf(ErrorMSG,"no FC communication ");
167	ErrorCode = 3;	167	ErrorCode = 3;
168	StopNavigation = 1;	168	StopNavigation = 1;
169	DebugOut.Status[0] &= ~0x01; // status of FC Present	169	DebugOut.Status[0] &= ~0x01; // status of FC Present
170	DebugOut.Status[0] &= ~0x02; // status of BL Present	170	DebugOut.Status[0] &= ~0x02; // status of BL Present
171	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;	171	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;
172	}	172	}
173	else if(CheckDelay(I2C1_Timeout))	173	else if(CheckDelay(I2C1_Timeout))
174	{	174	{
175	LED_RED_ON;	175	LED_RED_ON;
176	sprintf(ErrorMSG,"no MK3Mag communication ");	176	sprintf(ErrorMSG,"no MK3Mag communication ");
177	//Reset I2CBus	177	//Reset I2CBus
178	I2C1_Deinit();	178	I2C1_Deinit();
179	I2C1_Init();	179	I2C1_Init();
180	ErrorCode = 4;	180	ErrorCode = 4;
181	StopNavigation = 1;	181	StopNavigation = 1;
182	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;	182	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;
183	DebugOut.Status[1] \|= 0x08;	183	DebugOut.Status[1] \|= 0x08;
184	}	184	}
185	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	185	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
186	{	186	{
187	LED_RED_ON;	187	LED_RED_ON;
188	sprintf(ErrorMSG,"FC not compatible ");	188	sprintf(ErrorMSG,"FC not compatible ");
189	ErrorCode = 1;	189	ErrorCode = 1;
190	StopNavigation = 1;	190	StopNavigation = 1;
191	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;	191	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;
192	}	192	}
193		193
194	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)	194	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
195	{	195	{
196	LED_RED_ON;	196	LED_RED_ON;
197	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	197	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
198	ErrorCode = 10;	198	ErrorCode = 10;
199	}	199	}
200	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)	200	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
201	{	201	{
202	LED_RED_ON;	202	LED_RED_ON;
203	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	203	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
204	ErrorCode = 11;	204	ErrorCode = 11;
205	}	205	}
206	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)	206	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
207	{	207	{
208	LED_RED_ON;	208	LED_RED_ON;
209	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	209	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
210	ErrorCode = 12;	210	ErrorCode = 12;
211	}	211	}
212	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)	212	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
213	{	213	{
214	LED_RED_ON;	214	LED_RED_ON;
215	sprintf(ErrorMSG,"ERR: FC Nick ACC");	215	sprintf(ErrorMSG,"ERR: FC Nick ACC");
216	ErrorCode = 13;	216	ErrorCode = 13;
217	}	217	}
218	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)	218	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
219	{	219	{
220	LED_RED_ON;	220	LED_RED_ON;
221	sprintf(ErrorMSG,"ERR: FC Roll ACC");	221	sprintf(ErrorMSG,"ERR: FC Roll ACC");
222	ErrorCode = 14;	222	ErrorCode = 14;
223	}	223	}
224	else if(FC_ErrorCode[0] & DEFEKT_A_Z)	224	else if(FC_ErrorCode[0] & DEFEKT_A_Z)
225	{	225	{
226	LED_RED_ON;	226	LED_RED_ON;
227	sprintf(ErrorMSG,"ERR: FC Z-ACC");	227	sprintf(ErrorMSG,"ERR: FC Z-ACC");
228	ErrorCode = 15;	228	ErrorCode = 15;
229	}	229	}
230	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)	230	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
231	{	231	{
232	LED_RED_ON;	232	LED_RED_ON;
233	sprintf(ErrorMSG,"ERR: Pressure sensor");	233	sprintf(ErrorMSG,"ERR: Pressure sensor");
234	ErrorCode = 16;	234	ErrorCode = 16;
235	}	235	}
236	else if(FC_ErrorCode[1] & DEFEKT_I2C)	236	else if(FC_ErrorCode[1] & DEFEKT_I2C)
237	{	237	{
238	LED_RED_ON;	238	LED_RED_ON;
239	sprintf(ErrorMSG,"ERR: FC I2C");	239	sprintf(ErrorMSG,"ERR: FC I2C");
240	ErrorCode = 17;	240	ErrorCode = 17;
241	}	241	}
242	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)	242	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
243	{	243	{
244	LED_RED_ON;	244	LED_RED_ON;
245	sprintf(ErrorMSG,"ERR: Bl Missing");	245	sprintf(ErrorMSG,"ERR: Bl Missing");
246	ErrorCode = 18;	246	ErrorCode = 18;
247	}	247	}
248	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)	248	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
249	{	249	{
250	LED_RED_ON;	250	LED_RED_ON;
251	sprintf(ErrorMSG,"Mixer Error");	251	sprintf(ErrorMSG,"Mixer Error");
252	ErrorCode = 19;	252	ErrorCode = 19;
253	}	253	}
254	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	254	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
255	{	255	{
256	sprintf(ErrorMSG,"MK3Mag not compatible ");	256	sprintf(ErrorMSG,"MK3Mag not compatible ");
257	LED_RED_ON;	257	LED_RED_ON;
258	ErrorCode = 2;	258	ErrorCode = 2;
259	StopNavigation = 1;	259	StopNavigation = 1;
260	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;	260	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;
261	} */	261	} */
262	else if(CheckDelay(UBX_Timeout))	262	else if(CheckDelay(UBX_Timeout))
263	{	263	{
264	LED_RED_ON;	264	LED_RED_ON;
265	sprintf(ErrorMSG,"no GPS communication ");	265	sprintf(ErrorMSG,"no GPS communication ");
266	ErrorCode = 5;	266	ErrorCode = 5;
267	StopNavigation = 1;	267	StopNavigation = 1;
268	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;	268	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;
269	}	269	}
270	else if(CompassHeading < 0)	270	else if(CompassHeading < 0)
271	{	271	{
272	LED_RED_ON;	272	LED_RED_ON;
273	sprintf(ErrorMSG,"bad compass value ");	273	sprintf(ErrorMSG,"bad compass value ");
274	ErrorCode = 6;	274	ErrorCode = 6;
275	StopNavigation = 1;	275	StopNavigation = 1;
276	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;	276	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;
277	}	277	}
278	else if(FC.Flags & FCFLAG_SPI_RX_ERR)	278	else if(FC.Flags & FCFLAG_SPI_RX_ERR)
279	{	279	{
280	LED_RED_ON;	280	LED_RED_ON;
281	sprintf(ErrorMSG,"FC spi rx error ");	281	sprintf(ErrorMSG,"FC spi rx error ");
282	ErrorCode = 8;	282	ErrorCode = 8;
283	StopNavigation = 1;	283	StopNavigation = 1;
284	}	284	}
285	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)	285	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
286	{	286	{
287	LED_RED_ON;	287	LED_RED_ON;
288	sprintf(ErrorMSG,"FC: Carefree Error");	288	sprintf(ErrorMSG,"FC: Carefree Error");
289	ErrorCode = 20;	289	ErrorCode = 20;
290	}	290	}
291	else if(FC.RC_Quality < 100)	291	else if(FC.RC_Quality < 100)
292	{	292	{
293	LED_RED_ON;	293	LED_RED_ON;
294	sprintf(ErrorMSG,"RC Signal lost ");	294	sprintf(ErrorMSG,"RC Signal lost ");
295	ErrorCode = 7;	295	ErrorCode = 7;
296	}	296	}
297	else // no error occured	297	else // no error occured
298	{	298	{
299	sprintf(ErrorMSG,"No Error ");	299	sprintf(ErrorMSG,"No Error ");
300	ErrorCode = 0;	300	ErrorCode = 0;
301	StopNavigation = 0;	301	StopNavigation = 0;
302	LED_RED_OFF;	302	LED_RED_OFF;
303	}	303	}
304	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;	304	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
305	else DebugOut.Status[1] &= ~0x04;	305	else DebugOut.Status[1] &= ~0x04;
306	}	306	}
307		307
308	// the handler will be cyclic called by the timer 1 ISR	308	// the handler will be cyclic called by the timer 1 ISR
309	// used is for critical timing parts that normaly would handled	309	// used is for critical timing parts that normaly would handled
310	// within the main loop that could block longer at logging activities	310	// within the main loop that could block longer at logging activities
311	void EXTIT3_IRQHandler(void)	311	void EXTIT3_IRQHandler(void)
312	{	312	{
313	IENABLE;	313	IENABLE;
314		314
315	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	315	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
316	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	316	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
317	Compass_UpdateHeading(); // update compass communication	317	Compass_UpdateHeading(); // update compass communication
318	Analog_Update(); // get new ADC values	318	Analog_Update(); // get new ADC values
319	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	319	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
320		320
321	IDISABLE;	321	IDISABLE;
322	}	322	}
323		323
324	//----------------------------------------------------------------------------------------------------	324	//----------------------------------------------------------------------------------------------------
325	int main(void)	325	int main(void)
326	{	326	{
327	/* Configure the system clocks */	327	/* Configure the system clocks */
328	SCU_Config();	328	SCU_Config();
329	/* init VIC (Vectored Interrupt Controller) */	329	/* init VIC (Vectored Interrupt Controller) */
330	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	330	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
331	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	331	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
332	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	332	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
333	VIC_InitDefaultVectors();	333	VIC_InitDefaultVectors();
334		334
335	// initialize timer 1 for System Clock and delay rountines	335	// initialize timer 1 for System Clock and delay rountines
336	TIMER1_Init();	336	TIMER1_Init();
337	// initialize the LEDs (needs Timer 1)	337	// initialize the LEDs (needs Timer 1)
338	Led_Init();	338	Led_Init();
339	// initialize the debug UART1	339	// initialize the debug UART1
340	UART1_Init();	340	UART1_Init();
341	UART1_PutString("\r\n---------------------------------------------");	341	UART1_PutString("\r\n---------------------------------------------");
342	// initialize timer 2 for servo outputs	342	// initialize timer 2 for servo outputs
343	//TIMER2_Init();	343	//TIMER2_Init();
344	// initialize UART2 to FLIGHTCTRL	344	// initialize UART2 to FLIGHTCTRL
345	UART2_Init();	345	UART2_Init();
346	// initialize UART0 (to MKGPS or MK3MAG)	346	// initialize UART0 (to MKGPS or MK3MAG)
347	UART0_Init();	347	UART0_Init();
348	// initialize adc	348	// initialize adc
349	Analog_Init();	349	Analog_Init();
350	// initialize usb	350	// initialize usb
351	//USB_ConfigInit();	351	//USB_ConfigInit();
352	// initialize SPI0 to FC	352	// initialize SPI0 to FC
353	SPI0_Init();	353	SPI0_Init();
354	// initialize i2c bus (needs Timer 1)	354	// initialize i2c bus (needs Timer 1)
355	I2C1_Init();	355	I2C1_Init();
356	// initialize fat16 partition on sd card (needs Timer 1)	356	// initialize fat16 partition on sd card (needs Timer 1)
357	Fat16_Init();	357	Fat16_Init();
358	// initialize NC params	358	// initialize NC params
359	NCParams_Init();	359	NCParams_Init();
360	// initialize the settings	360	// initialize the settings
361	Settings_Init();	361	Settings_Init();
362	// initialize logging (needs settings)	362	// initialize logging (needs settings)
363	Logging_Init();	363	Logging_Init();
364		364
365	TimerCheckError = SetDelay(3000);	365	TimerCheckError = SetDelay(3000);
366	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	366	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
367	UART1_PutString("\n\r Version information:");	367	UART1_PutString("\n\r Version information:");
368		368
369	GetNaviCtrlVersion();	369	GetNaviCtrlVersion();
370	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	370	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
371	DebugOut.Status[1] = 0x00;	371	DebugOut.Status[1] = 0x00;
372		372
373	Compass_Init();	373	Compass_Init();
374		374
375	SPI0_GetFlightCtrlVersion();	375	SPI0_GetFlightCtrlVersion();
376	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	376	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
377	{	377	{
378	UART1_PutString("\n\r Flight-Ctrl not compatible");	378	UART1_PutString("\n\r Flight-Ctrl not compatible");
379	LED_RED_ON;	379	LED_RED_ON;
380	}	380	}
381		381
382	GPS_Init();	382	GPS_Init();
383		-
384		-
385		383
386	// ---------- Prepare the isr driven	384	// ---------- Prepare the isr driven
387	// set to absolute lowest priority	385	// set to absolute lowest priority
388	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	386	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
389	// enable interrupts	387	// enable interrupts
390	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	388	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
391		389
392	Debug_OK("START");	390	Debug_OK("START");
393		391
394	for (;;) // the endless main loop	392	for (;;) // the endless main loop
395	{	393	{
396	UART0_ProcessRxData(); // process request	394	UART0_ProcessRxData(); // process request
397	UART1_ProcessRxData(); // process request	395	UART1_ProcessRxData(); // process request
398	//USB_ProcessRxData(); // process request	396	//USB_ProcessRxData(); // process request
399	UART0_TransmitTxData(); // send answer	397	UART0_TransmitTxData(); // send answer
400	UART1_TransmitTxData(); // send answer	398	UART1_TransmitTxData(); // send answer
401	UART2_TransmitTxData(); // send answer	399	UART2_TransmitTxData(); // send answer
402	//USB_TransmitTxData(); // send answer	400	//USB_TransmitTxData(); // send answer
403	SPI0_UpdateBuffer(); // handle new SPI Data	401	SPI0_UpdateBuffer(); // handle new SPI Data
404	// ---------------- Error Check Timing ----------------------------	402	// ---------------- Error Check Timing ----------------------------
405	if(CheckDelay(TimerCheckError))	403	if(CheckDelay(TimerCheckError))
406	{	404	{
407	TimerCheckError = SetDelay(1000);	405	TimerCheckError = SetDelay(1000);
408	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	406	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
409	CheckErrors();	407	CheckErrors();
410	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	408	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
411	// else NaviData.FlyingTime = 0; // not the time per flight	409	// else NaviData.FlyingTime = 0; // not the time per flight
412	if(SerialLinkOkay) SerialLinkOkay--;	410	if(SerialLinkOkay) SerialLinkOkay--;
413	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	411	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
414	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	412	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
415	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	413	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
416	}	414	}
417	// ---------------- Logging ---------------------------------------	415	// ---------------- Logging ---------------------------------------
418	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	416	Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
419	}	417	}
420	}	418	}
421		419
422		420
423		421

Subversion Repositories NaviCtrl

(root)/tags/V0.30g/main.c @ 480 - Rev 251 → 252