WebSVN - NaviCtrl - Diff - Rev 338 and 339


/*#######################################################################################*/
/* !!! 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
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//
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// +  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"
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
u8 ErrorGpsFixLost = 0;
 
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 HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
    static s32 no_error_delay = 0;
        s32 newErrorCode = 0;
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;
        else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL;
        else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
 
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
        else DebugOut.StatusRed &= ~AMPEL_NC;
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                newErrorCode = 3;
                StopNavigation = 1;
                DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
                DebugOut.StatusGreen &= ~AMPEL_BL; // 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();
                newErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                DebugOut.StatusRed |= AMPEL_COMPASS;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
#ifndef FOLLOW_ME
                sprintf(ErrorMSG,"FC not compatible ");
#else
                sprintf(ErrorMSG,"! FollowMe only ! ");
#endif
                newErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
                DebugOut.StatusRed |= AMPEL_NC;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                newErrorCode = 10;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                newErrorCode = 11;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                newErrorCode = 12;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                newErrorCode = 13;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                newErrorCode = 14;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:FC Z-ACC");
                newErrorCode = 15;
        }
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:Pressure sensor");
                newErrorCode = 16;
        }
        else if(FC.Error[1] &  FC_ERROR1_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:I2C FC to BL");
                newErrorCode = 17;
        }
        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                newErrorCode = 18;
        }
        else if(FC.Error[1] &  FC_ERROR1_MIXER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                newErrorCode = 19;
        }
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
        if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
                else
                 {
                  sprintf(ErrorMSG,"no GPS communication ");
                  UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
              newErrorCode = 5;
                 }
                StopNavigation = 1;
//              UBX_Timeout = SetDelay(500);
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                newErrorCode = 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 ");
                newErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                newErrorCode = 20;
        }
        else if(FC.Error[1] &  FC_ERROR1_PPM)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                newErrorCode = 7;
        }
        else if(ErrorGpsFixLost)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"GPS Fix lost    ");
         newErrorCode = 21;
        }
        else if(ErrorDisturbedEarthMagnetField)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"Magnet error    ");
         newErrorCode = 22;
         DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;
         UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Motor restart  ");
         newErrorCode = 23;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:BL Limitation   ");
         newErrorCode = 24;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else // no error occured
        {
                StopNavigation = 0;
                LED_RED_OFF;
                if(no_error_delay) { no_error_delay--;  }
                else
                 {
                  sprintf(ErrorMSG,"No Error               ");
                  ErrorCode = 0;
                 }
        }
 
    if(newErrorCode)
         {
          if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
          ErrorCode = newErrorCode;
         }
 FC.Error[0] = 0;
 FC.Error[1] = 0;
 FC.Error[2] = 0;
 FC.Error[3] = 0;
 FC.Error[4] = 0;
 ErrorGpsFixLost = 0;
}
 
// 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_Update();               // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /*
        static u32 ftimer =0;
        static u8 fstate = 0;
        static File_t* f = NULL;
        */
       
        /* 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 usb
        USB_ConfigInit();
        // 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 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.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag
        DebugOut.StatusRed = 0x00;
 
        Compass_Init();
 
#ifdef FOLLOW_ME
        TransmitAlsoToFC = 1;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
        TransmitAlsoToFC = 0;
#else
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
#endif
 
        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) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
       
                        if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) 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) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) 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
 
                /*
                // test
                if(CheckDelay(ftimer))
                {
 
                        s8* filename = "test.txt";
 
                        ftimer = SetDelay(100);
                        if(FC.Poti[3]>100 && fstate == 0)
                        {
                                fstate = 1;
                        }
                        else if(FC.Poti[3]<100 && fstate == 2)
                        {
                                fstate = 3;
                        }
 
                        switch(fstate)
                        {
                                case 1:
                                        sprintf(text,"\r\nStart writing file: %s", filename);
                                        UART1_PutString(text);
                                        f = fopen_(filename, 'a');
                                        if(f== NULL) Fat16_Init();
                                        fstate = 2;
                                        break;
 
                                case 2:
                                        fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);
                                        break;
                                       
                                case 3:
                                        sprintf(text,"\r\nClosing file: %s", filename);
                                        UART1_PutString(text);
                                        fclose_(f);
                                        fstate = 0;
                                        break;
 
                                default:
                                        break;
                        }
                }
                */
        }
}
 
 
 

Rev 338	Rev 339
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	#include "eeprom.h"	82	#include "eeprom.h"
83		83
84	#ifdef FOLLOW_ME	84	#ifdef FOLLOW_ME
85	u8 TransmitAlsoToFC = 0;	85	u8 TransmitAlsoToFC = 0;
86	#endif	86	#endif
87	u32 TimerCheckError;	87	u32 TimerCheckError;
88	u8 ErrorCode = 0;	88	u8 ErrorCode = 0;
89	u16 BeepTime;	89	u16 BeepTime;
90	u8 NCFlags = 0;	90	u8 NCFlags = 0;
91	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	91	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
92	u8 ErrorGpsFixLost = 0;	92	u8 ErrorGpsFixLost = 0;
93		93
94	u8 ClearFCStatusFlags = 0;	94	u8 ClearFCStatusFlags = 0;
95	u8 StopNavigation = 0;	95	u8 StopNavigation = 0;
96	Param_t Parameter;	96	Param_t Parameter;
97	volatile FC_t FC;	97	volatile FC_t FC;
98		98
99	s8 ErrorMSG[25];	99	s8 ErrorMSG[25];
100		100
101	//----------------------------------------------------------------------------------------------------	101	//----------------------------------------------------------------------------------------------------
102	void SCU_Config(void)	102	void SCU_Config(void)
103	{	103	{
104	/* configure PLL and set it as master clock source */	104	/* configure PLL and set it as master clock source */
105	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	105	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
106	SCU_PLLCmd(DISABLE); // now disable the PLL	106	SCU_PLLCmd(DISABLE); // now disable the PLL
107	#ifdef MCLK96MHZ	107	#ifdef MCLK96MHZ
108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
109	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	109	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
110	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	110	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
111	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	111	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
112	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	112	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
113	#else	113	#else
114	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	114	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
115	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	115	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
116	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	116	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
117	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	117	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
118	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	118	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
119	#endif	119	#endif
120	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	120	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
121	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	121	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
122	}	122	}
123		123
124	//----------------------------------------------------------------------------------------------------	124	//----------------------------------------------------------------------------------------------------
125	void GetNaviCtrlVersion(void)	125	void GetNaviCtrlVersion(void)
126	{	126	{
127	u8 msg[25];	127	u8 msg[25];
128		128
129	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	129	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
130	UART1_PutString(msg);	130	UART1_PutString(msg);
131	}	131	}
132		132
133	//----------------------------------------------------------------------------------------------------	133	//----------------------------------------------------------------------------------------------------
134		134
135	void CheckErrors(void)	135	void CheckErrors(void)
136	{	136	{
137	static s32 no_error_delay = 0;	137	static s32 no_error_delay = 0;
138	s32 newErrorCode = 0;	138	s32 newErrorCode = 0;
139	UART_VersionInfo.HardwareError[0] = 0;	139	UART_VersionInfo.HardwareError[0] = 0;
140		140
141	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	141	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
142	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	142	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
143		143
144	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	144	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;
145	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status	145	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
146		146
147	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	147	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
148	else DebugOut.StatusRed &= ~AMPEL_NC;	148	else DebugOut.StatusRed &= ~AMPEL_NC;
149		149
150	if(CheckDelay(SPI0_Timeout))	150	if(CheckDelay(SPI0_Timeout))
151	{	151	{
152	LED_RED_ON;	152	LED_RED_ON;
153	sprintf(ErrorMSG,"no FC communication ");	153	sprintf(ErrorMSG,"no FC communication ");
154	newErrorCode = 3;	154	newErrorCode = 3;
155	StopNavigation = 1;	155	StopNavigation = 1;
156	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	156	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
157	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	157	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
158	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	158	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
159	}	159	}
160	else if(CheckDelay(I2C1_Timeout))	160	else if(CheckDelay(I2C1_Timeout))
161	{	161	{
162	LED_RED_ON;	162	LED_RED_ON;
163	sprintf(ErrorMSG,"no compass communication ");	163	sprintf(ErrorMSG,"no compass communication ");
164	//Reset I2CBus	164	//Reset I2CBus
165	I2C1_Deinit();	165	I2C1_Deinit();
166	I2C1_Init();	166	I2C1_Init();
167	newErrorCode = 4;	167	newErrorCode = 4;
168	StopNavigation = 1;	168	StopNavigation = 1;
169	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	169	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
170	DebugOut.StatusRed \|= AMPEL_COMPASS;	170	DebugOut.StatusRed \|= AMPEL_COMPASS;
171	}	171	}
172	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	172	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
173	{	173	{
174	LED_RED_ON;	174	LED_RED_ON;
175	#ifndef FOLLOW_ME	175	#ifndef FOLLOW_ME
176	sprintf(ErrorMSG,"FC not compatible ");	176	sprintf(ErrorMSG,"FC not compatible ");
177	#else	177	#else
178	sprintf(ErrorMSG,"! FollowMe only ! ");	178	sprintf(ErrorMSG,"! FollowMe only ! ");
179	#endif	179	#endif
180	newErrorCode = 1;	180	newErrorCode = 1;
181	StopNavigation = 1;	181	StopNavigation = 1;
182	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	182	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
183	DebugOut.StatusRed \|= AMPEL_NC;	183	DebugOut.StatusRed \|= AMPEL_NC;
184	}	184	}
185		185
186	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	186	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
187	{	187	{
188	LED_RED_ON;	188	LED_RED_ON;
189	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	189	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
190	newErrorCode = 10;	190	newErrorCode = 10;
191	}	191	}
192	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	192	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
193	{	193	{
194	LED_RED_ON;	194	LED_RED_ON;
195	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	195	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
196	newErrorCode = 11;	196	newErrorCode = 11;
197	}	197	}
198	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	198	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
199	{	199	{
200	LED_RED_ON;	200	LED_RED_ON;
201	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	201	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
202	newErrorCode = 12;	202	newErrorCode = 12;
203	}	203	}
204	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	204	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
205	{	205	{
206	LED_RED_ON;	206	LED_RED_ON;
207	sprintf(ErrorMSG,"ERR: FC Nick ACC");	207	sprintf(ErrorMSG,"ERR: FC Nick ACC");
208	newErrorCode = 13;	208	newErrorCode = 13;
209	}	209	}
210	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	210	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
211	{	211	{
212	LED_RED_ON;	212	LED_RED_ON;
213	sprintf(ErrorMSG,"ERR: FC Roll ACC");	213	sprintf(ErrorMSG,"ERR: FC Roll ACC");
214	newErrorCode = 14;	214	newErrorCode = 14;
215	}	215	}
216	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	216	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
217	{	217	{
218	LED_RED_ON;	218	LED_RED_ON;
219	sprintf(ErrorMSG,"ERR:FC Z-ACC");	219	sprintf(ErrorMSG,"ERR:FC Z-ACC");
220	newErrorCode = 15;	220	newErrorCode = 15;
221	}	221	}
222	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	222	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
223	{	223	{
224	LED_RED_ON;	224	LED_RED_ON;
225	sprintf(ErrorMSG,"ERR:Pressure sensor");	225	sprintf(ErrorMSG,"ERR:Pressure sensor");
226	newErrorCode = 16;	226	newErrorCode = 16;
227	}	227	}
228	else if(FC.Error[1] & FC_ERROR1_I2C)	228	else if(FC.Error[1] & FC_ERROR1_I2C)
229	{	229	{
230	LED_RED_ON;	230	LED_RED_ON;
231	sprintf(ErrorMSG,"ERR:I2C FC to BL");	231	sprintf(ErrorMSG,"ERR:I2C FC to BL");
232	newErrorCode = 17;	232	newErrorCode = 17;
233	}	233	}
234	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	234	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
235	{	235	{
236	LED_RED_ON;	236	LED_RED_ON;
237	sprintf(ErrorMSG,"ERR: Bl Missing");	237	sprintf(ErrorMSG,"ERR: Bl Missing");
238	newErrorCode = 18;	238	newErrorCode = 18;
239	}	239	}
240	else if(FC.Error[1] & FC_ERROR1_MIXER)	240	else if(FC.Error[1] & FC_ERROR1_MIXER)
241	{	241	{
242	LED_RED_ON;	242	LED_RED_ON;
243	sprintf(ErrorMSG,"Mixer Error");	243	sprintf(ErrorMSG,"Mixer Error");
244	newErrorCode = 19;	244	newErrorCode = 19;
245	}	245	}
246	else if(CheckDelay(UBX_Timeout))	246	else if(CheckDelay(UBX_Timeout))
247	{	247	{
248	LED_RED_ON;	248	LED_RED_ON;
249	if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	249	if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
250	else	250	else
251	{	251	{
252	sprintf(ErrorMSG,"no GPS communication ");	252	sprintf(ErrorMSG,"no GPS communication ");
253	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	253	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
254	newErrorCode = 5;	254	newErrorCode = 5;
255	}	255	}
256	StopNavigation = 1;	256	StopNavigation = 1;
257	// UBX_Timeout = SetDelay(500);	257	// UBX_Timeout = SetDelay(500);
258	}	258	}
259	else if(Compass_Heading < 0)	259	else if(Compass_Heading < 0)
260	{	260	{
261	LED_RED_ON;	261	LED_RED_ON;
262	sprintf(ErrorMSG,"bad compass value ");	262	sprintf(ErrorMSG,"bad compass value ");
263	newErrorCode = 6;	263	newErrorCode = 6;
264	StopNavigation = 1;	264	StopNavigation = 1;
265	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	265	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
266	}	266	}
267	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	267	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
268	{	268	{
269	LED_RED_ON;	269	LED_RED_ON;
270	sprintf(ErrorMSG,"FC spi rx error ");	270	sprintf(ErrorMSG,"FC spi rx error ");
271	newErrorCode = 8;	271	newErrorCode = 8;
272	StopNavigation = 1;	272	StopNavigation = 1;
273	}	273	}
274	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	274	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
275	{	275	{
276	LED_RED_ON;	276	LED_RED_ON;
277	sprintf(ErrorMSG,"FC: Carefree Error");	277	sprintf(ErrorMSG,"FC: Carefree Error");
278	newErrorCode = 20;	278	newErrorCode = 20;
279	}	279	}
280	else if(FC.Error[1] & FC_ERROR1_PPM)	280	else if(FC.Error[1] & FC_ERROR1_PPM)
281	{	281	{
282	LED_RED_ON;	282	LED_RED_ON;
283	sprintf(ErrorMSG,"RC Signal lost ");	283	sprintf(ErrorMSG,"RC Signal lost ");
284	newErrorCode = 7;	284	newErrorCode = 7;
285	}	285	}
286	else if(ErrorGpsFixLost)	286	else if(ErrorGpsFixLost)
287	{	287	{
288	LED_RED_ON;	288	LED_RED_ON;
289	sprintf(ErrorMSG,"GPS Fix lost ");	289	sprintf(ErrorMSG,"GPS Fix lost ");
290	newErrorCode = 21;	290	newErrorCode = 21;
291	}	291	}
292	else if(ErrorDisturbedEarthMagnetField)	292	else if(ErrorDisturbedEarthMagnetField)
293	{	293	{
294	LED_RED_ON;	294	LED_RED_ON;
295	sprintf(ErrorMSG,"Magnet error ");	295	sprintf(ErrorMSG,"Magnet error ");
296	newErrorCode = 22;	296	newErrorCode = 22;
297	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	297	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
298	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	298	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
299	}	299	}
300	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	300	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
301	{	301	{
302	LED_RED_ON;	302	LED_RED_ON;
303	sprintf(ErrorMSG,"ERR:Motor restart ");	303	sprintf(ErrorMSG,"ERR:Motor restart ");
304	newErrorCode = 23;	304	newErrorCode = 23;
305	DebugOut.StatusRed \|= AMPEL_BL;	305	DebugOut.StatusRed \|= AMPEL_BL;
306	}	306	}
307	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	307	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
308	{	308	{
309	LED_RED_ON;	309	LED_RED_ON;
310	sprintf(ErrorMSG,"ERR:BL Limitation ");	310	sprintf(ErrorMSG,"ERR:BL Limitation ");
311	newErrorCode = 24;	311	newErrorCode = 24;
312	DebugOut.StatusRed \|= AMPEL_BL;	312	DebugOut.StatusRed \|= AMPEL_BL;
313	}	313	}
314	else // no error occured	314	else // no error occured
315	{	315	{
316	StopNavigation = 0;	316	StopNavigation = 0;
317	LED_RED_OFF;	317	LED_RED_OFF;
318	if(no_error_delay) { no_error_delay--; }	318	if(no_error_delay) { no_error_delay--; }
319	else	319	else
320	{	320	{
321	sprintf(ErrorMSG,"No Error ");	321	sprintf(ErrorMSG,"No Error ");
322	ErrorCode = 0;	322	ErrorCode = 0;
323	}	323	}
324	}	324	}
325		325
326	if(newErrorCode)	326	if(newErrorCode)
327	{	327	{
328	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 5; // delay the errors if the motors are running	328	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
329	ErrorCode = newErrorCode;	329	ErrorCode = newErrorCode;
330	}	330	}
331	FC.Error[0] = 0;	331	FC.Error[0] = 0;
332	FC.Error[1] = 0;	332	FC.Error[1] = 0;
333	FC.Error[2] = 0;	333	FC.Error[2] = 0;
334	FC.Error[3] = 0;	334	FC.Error[3] = 0;
335	FC.Error[4] = 0;	335	FC.Error[4] = 0;
336	ErrorGpsFixLost = 0;	336	ErrorGpsFixLost = 0;
337	}	337	}
338		338
339	// the handler will be cyclic called by the timer 1 ISR	339	// the handler will be cyclic called by the timer 1 ISR
340	// used is for critical timing parts that normaly would handled	340	// used is for critical timing parts that normaly would handled
341	// within the main loop that could block longer at logging activities	341	// within the main loop that could block longer at logging activities
342	void EXTIT3_IRQHandler(void)	342	void EXTIT3_IRQHandler(void)
343	{	343	{
344	IENABLE;	344	IENABLE;
345		345
346	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	346	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
347	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	347	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
348	Compass_Update(); // update compass communication	348	Compass_Update(); // update compass communication
349	Analog_Update(); // get new ADC values	349	Analog_Update(); // get new ADC values
350	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	350	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
351		351
352	IDISABLE;	352	IDISABLE;
353	}	353	}
354		354
355	//----------------------------------------------------------------------------------------------------	355	//----------------------------------------------------------------------------------------------------
356	int main(void)	356	int main(void)
357	{	357	{
358	/*	358	/*
359	static u32 ftimer =0;	359	static u32 ftimer =0;
360	static u8 fstate = 0;	360	static u8 fstate = 0;
361	static File_t* f = NULL;	361	static File_t* f = NULL;
362	*/	362	*/
363		363
364	/* Configure the system clocks */	364	/* Configure the system clocks */
365	SCU_Config();	365	SCU_Config();
366	/* init VIC (Vectored Interrupt Controller) */	366	/* init VIC (Vectored Interrupt Controller) */
367	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	367	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
368	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	368	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
369	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	369	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
370	VIC_InitDefaultVectors();	370	VIC_InitDefaultVectors();
371		371
372	// initialize timer 1 for System Clock and delay rountines	372	// initialize timer 1 for System Clock and delay rountines
373	TIMER1_Init();	373	TIMER1_Init();
374	// initialize the LEDs (needs Timer 1)	374	// initialize the LEDs (needs Timer 1)
375	Led_Init();	375	Led_Init();
376	// initialize the debug UART1	376	// initialize the debug UART1
377	UART1_Init();	377	UART1_Init();
378	UART1_PutString("\r\n---------------------------------------------");	378	UART1_PutString("\r\n---------------------------------------------");
379	// initialize usb	379	// initialize usb
380	USB_ConfigInit();	380	USB_ConfigInit();
381	// initialize timer 2 for servo outputs	381	// initialize timer 2 for servo outputs
382	//TIMER2_Init();	382	//TIMER2_Init();
383	// initialize UART2 to FLIGHTCTRL	383	// initialize UART2 to FLIGHTCTRL
384	UART2_Init();	384	UART2_Init();
385	// initialize UART0 (to MKGPS or MK3MAG)	385	// initialize UART0 (to MKGPS or MK3MAG)
386	UART0_Init();	386	UART0_Init();
387	// initialize adc	387	// initialize adc
388	Analog_Init();	388	Analog_Init();
389	// initialize SPI0 to FC	389	// initialize SPI0 to FC
390	SPI0_Init();	390	SPI0_Init();
391	// initialize i2c bus (needs Timer 1)	391	// initialize i2c bus (needs Timer 1)
392	I2C1_Init();	392	I2C1_Init();
393	// initialize fat16 partition on sd card (needs Timer 1)	393	// initialize fat16 partition on sd card (needs Timer 1)
394	Fat16_Init();	394	Fat16_Init();
395	// initialize NC params	395	// initialize NC params
396	NCParams_Init();	396	NCParams_Init();
397	// initialize the settings	397	// initialize the settings
398	Settings_Init();	398	Settings_Init();
399	// initialize logging (needs settings)	399	// initialize logging (needs settings)
400	Logging_Init();	400	Logging_Init();
401		401
402	TimerCheckError = SetDelay(3000);	402	TimerCheckError = SetDelay(3000);
403	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	403	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
404	UART1_PutString("\n\r Version information:");	404	UART1_PutString("\n\r Version information:");
405		405
406	GetNaviCtrlVersion();	406	GetNaviCtrlVersion();
407	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag	407	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag
408	DebugOut.StatusRed = 0x00;	408	DebugOut.StatusRed = 0x00;
409		409
410	Compass_Init();	410	Compass_Init();
411		411
412	#ifdef FOLLOW_ME	412	#ifdef FOLLOW_ME
413	TransmitAlsoToFC = 1;	413	TransmitAlsoToFC = 1;
414	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	414	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
415	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");	415	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
416	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");	416	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
417	TransmitAlsoToFC = 0;	417	TransmitAlsoToFC = 0;
418	#else	418	#else
419	SPI0_GetFlightCtrlVersion();	419	SPI0_GetFlightCtrlVersion();
420	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	420	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
421	{	421	{
422	UART1_PutString("\n\r Flight-Ctrl not compatible");	422	UART1_PutString("\n\r Flight-Ctrl not compatible");
423	LED_RED_ON;	423	LED_RED_ON;
424	}	424	}
425	#endif	425	#endif
426		426
427	GPS_Init();	427	GPS_Init();
428		428
429	// ---------- Prepare the isr driven	429	// ---------- Prepare the isr driven
430	// set to absolute lowest priority	430	// set to absolute lowest priority
431	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	431	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
432	// enable interrupts	432	// enable interrupts
433	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	433	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
434		434
435	Debug_OK("START");	435	Debug_OK("START");
436		436
437	for (;;) // the endless main loop	437	for (;;) // the endless main loop
438	{	438	{
439	UART0_ProcessRxData(); // process request	439	UART0_ProcessRxData(); // process request
440	UART1_ProcessRxData(); // process request	440	UART1_ProcessRxData(); // process request
441	USB_ProcessRxData(); // process request	441	USB_ProcessRxData(); // process request
442	UART0_TransmitTxData(); // send answer	442	UART0_TransmitTxData(); // send answer
443	UART1_TransmitTxData(); // send answer	443	UART1_TransmitTxData(); // send answer
444	UART2_TransmitTxData(); // send answer	444	UART2_TransmitTxData(); // send answer
445	USB_TransmitTxData(); // send answer	445	USB_TransmitTxData(); // send answer
446	SPI0_UpdateBuffer(); // handle new SPI Data	446	SPI0_UpdateBuffer(); // handle new SPI Data
447		447
448	// ---------------- Error Check Timing ----------------------------	448	// ---------------- Error Check Timing ----------------------------
449	if(CheckDelay(TimerCheckError))	449	if(CheckDelay(TimerCheckError))
450	{	450	{
451	TimerCheckError = SetDelay(1000);	451	TimerCheckError = SetDelay(1000);
452	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	452	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
453		453
454	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	454	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
455		455
456	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	456	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
457	// else NaviData.FlyingTime = 0; // not the time per flight	457	// else NaviData.FlyingTime = 0; // not the time per flight
458	if(SerialLinkOkay) SerialLinkOkay--;	458	if(SerialLinkOkay) SerialLinkOkay--;
459	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	459	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
460	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	460	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
461	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	461	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
462	}	462	}
463		463
464	// ---------------- Logging ---------------------------------------	464	// ---------------- Logging ---------------------------------------
465	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	465	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
466		466
467	/*	467	/*
468	// test	468	// test
469	if(CheckDelay(ftimer))	469	if(CheckDelay(ftimer))
470	{	470	{
471		471
472	s8* filename = "test.txt";	472	s8* filename = "test.txt";
473		473
474	ftimer = SetDelay(100);	474	ftimer = SetDelay(100);
475	if(FC.Poti[3]>100 && fstate == 0)	475	if(FC.Poti[3]>100 && fstate == 0)
476	{	476	{
477	fstate = 1;	477	fstate = 1;
478	}	478	}
479	else if(FC.Poti[3]<100 && fstate == 2)	479	else if(FC.Poti[3]<100 && fstate == 2)
480	{	480	{
481	fstate = 3;	481	fstate = 3;
482	}	482	}
483		483
484	switch(fstate)	484	switch(fstate)
485	{	485	{
486	case 1:	486	case 1:
487	sprintf(text,"\r\nStart writing file: %s", filename);	487	sprintf(text,"\r\nStart writing file: %s", filename);
488	UART1_PutString(text);	488	UART1_PutString(text);
489	f = fopen_(filename, 'a');	489	f = fopen_(filename, 'a');
490	if(f== NULL) Fat16_Init();	490	if(f== NULL) Fat16_Init();
491	fstate = 2;	491	fstate = 2;
492	break;	492	break;
493		493
494	case 2:	494	case 2:
495	fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);	495	fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);
496	break;	496	break;
497		497
498	case 3:	498	case 3:
499	sprintf(text,"\r\nClosing file: %s", filename);	499	sprintf(text,"\r\nClosing file: %s", filename);
500	UART1_PutString(text);	500	UART1_PutString(text);

Subversion Repositories NaviCtrl

(root)/tags/V0.30g/main.c @ 480 - Rev 338 → 339