WebSVN - NaviCtrl - Diff - Rev 397 and 398


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#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"
#include "ssc.h"
#include "sdc.h"
#include "uart1.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;
volatile u32 PollingTimeout = 10000;
Param_t Parameter;
volatile FC_t FC;
volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
volatile u32 SD_WatchDog  = 15000; // stop Logging if this goes to zero
 
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((FCCalibActive || CompassCalState) && FC_Version.Hardware)
     {
                sprintf(ErrorMSG,"Calibrate... ");
                newErrorCode = 0;
                ErrorCode = 0;
                no_error_delay = 1;
         }
        else
        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 communica");
                //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(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:Flying range!");
                newErrorCode = 28;
        }
        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) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
        {
                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 if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:GPS range  ");
         newErrorCode = 25;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:No SD-Card  ");
         newErrorCode = 26;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
        {
         LED_RED_ON;       
         sprintf(ErrorMSG,"ERR:SD Logging abort");
         newErrorCode = 27;
         DebugOut.StatusRed |= AMPEL_NC;
         SD_LoggingError = 0;
        }
        else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Max Altitude ");
         newErrorCode = 29;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && (FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)))
        {                                                                                                                                                  
         LED_RED_ON;
         sprintf(ErrorMSG,"No GPS Fix      ");
         newErrorCode = 30;
        }
        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;
}
 
 
 
void Polling(void)
{
 static u8 running = 0, oldFcFlags = 0;
 if(running) return;
 running = 1;
                SPI0_UpdateBuffer();    // also calls the GPS-functions
                UART0_ProcessRxData();  // GPS process request
                UART0_TransmitTxData(); // GPS send answer
                UART1_ProcessRxData();  // PC process request
                UART1_TransmitTxData(); // PC send answer
                UART2_TransmitTxData(); // FC send answer
                CalcHeadFree();
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
                {
                        TimerCheckError = SetDelay(1000);
                        oldFcFlags = FC.StatusFlags;
                        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;
                }
 running = 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
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
 
        if(!PollingTimeout)
        {
                PollingTimeout = 5;
                Polling();
        }
 
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
        IDISABLE;
        VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
}
 
//----------------------------------------------------------------------------------------------------
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();
 
        LED_GRN_ON;
        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");
        UART1_PutString("\r\n");
        fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
        LED_GRN_ON;
        LED_RED_OFF;
        for (;;) // the endless main loop
        {
            Polling();
                PollingTimeout = 15;
                // ---------------- Logging  ---------------------------------------
                if(SD_WatchDog)
                 {
                  SD_WatchDog = 30000;
                  if(SDCardInfo.Valid == 1) 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
                  else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
                  if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
                 }
                /*
               
                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;
                        }
                }
                */
        }
}
 
// DebugOut.Analog[]
 

Rev 397	Rev 398
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + www.MikroKopter.com	5	// + www.MikroKopter.com
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	// + Software Nutzungsbedingungen (english version: see below)	7	// + Software Nutzungsbedingungen (english version: see below)
8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
22	// + des Mitverschuldens offen.	22	// + des Mitverschuldens offen.
23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Software LICENSING TERMS	32	// + Software LICENSING TERMS
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware	35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
37	// + The Software may only be used with the Licensor's products.	37	// + The Software may only be used with the Licensor's products.
38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + agreement shall be the property of the Licensor.	40	// + agreement shall be the property of the Licensor.
41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + features that can be used to identify the program may not be altered or defaced by the customer.	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
43	// + The customer shall be responsible for taking reasonable precautions	43	// + The customer shall be responsible for taking reasonable precautions
44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
53	// + #### END OF LICENSING TERMS ####	53	// + #### END OF LICENSING TERMS ####
54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
56	//#define MCLK96MHZ	56	//#define MCLK96MHZ
57	const unsigned long _Main_Crystal = 25000;	57	const unsigned long _Main_Crystal = 25000;
58	#include <stdio.h>	58	#include <stdio.h>
59	#include "91x_lib.h"	59	#include "91x_lib.h"
60	#include "led.h"	60	#include "led.h"
61	#include "uart0.h"	61	#include "uart0.h"
62	#include "uart1.h"	62	#include "uart1.h"
63	#include "uart2.h"	63	#include "uart2.h"
64	#include "gps.h"	64	#include "gps.h"
65	#include "i2c.h"	65	#include "i2c.h"
66	#include "compass.h"	66	#include "compass.h"
67	#include "timer1.h"	67	#include "timer1.h"
68	#include "timer2.h"	68	#include "timer2.h"
69	#include "analog.h"	69	#include "analog.h"
70	#include "spi_slave.h"	70	#include "spi_slave.h"
71	#include "fat16.h"	71	#include "fat16.h"
72	#include "usb.h"	72	#include "usb.h"
73	#include "sdc.h"	73	#include "sdc.h"
74	#include "logging.h"	74	#include "logging.h"
75	#include "params.h"	75	#include "params.h"
76	#include "settings.h"	76	#include "settings.h"
77	#include "config.h"	77	#include "config.h"
78	#include "main.h"	78	#include "main.h"
79	#include "debug.h"	79	#include "debug.h"
80	#include "eeprom.h"	80	#include "eeprom.h"
81	#include "ssc.h"	81	#include "ssc.h"
82	#include "sdc.h"	82	#include "sdc.h"
83	#include "uart1.h"	83	#include "uart1.h"
84		84
85	#ifdef FOLLOW_ME	85	#ifdef FOLLOW_ME
86	u8 TransmitAlsoToFC = 0;	86	u8 TransmitAlsoToFC = 0;
87	#endif	87	#endif
88	u32 TimerCheckError;	88	u32 TimerCheckError;
89	u8 ErrorCode = 0;	89	u8 ErrorCode = 0;
90	u16 BeepTime;	90	u16 BeepTime;
91	u8 NCFlags = 0;	91	u8 NCFlags = 0;
92	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	92	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
93	u8 ErrorGpsFixLost = 0;	93	u8 ErrorGpsFixLost = 0;
94		94
95	u8 ClearFCStatusFlags = 0;	95	u8 ClearFCStatusFlags = 0;
96	u8 StopNavigation = 0;	96	u8 StopNavigation = 0;
97	volatile u32 PollingTimeout = 10000;	97	volatile u32 PollingTimeout = 10000;
98	Param_t Parameter;	98	Param_t Parameter;
99	volatile FC_t FC;	99	volatile FC_t FC;
100	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero	100	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
101	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero	101	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero
102		102
103	s8 ErrorMSG[25];	103	s8 ErrorMSG[25];
104		104
105	//----------------------------------------------------------------------------------------------------	105	//----------------------------------------------------------------------------------------------------
106	void SCU_Config(void)	106	void SCU_Config(void)
107	{	107	{
108	/* configure PLL and set it as master clock source */	108	/* configure PLL and set it as master clock source */
109	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	109	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
110	SCU_PLLCmd(DISABLE); // now disable the PLL	110	SCU_PLLCmd(DISABLE); // now disable the PLL
111	#ifdef MCLK96MHZ	111	#ifdef MCLK96MHZ
112	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	112	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
113	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	113	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
114	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	114	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
115	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	115	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
116	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	116	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
117	#else	117	#else
118	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	118	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
119	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	119	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
120	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	120	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
121	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	121	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
122	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	122	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
123	#endif	123	#endif
124	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	124	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
125	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	125	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
126	}	126	}
127		127
128	//----------------------------------------------------------------------------------------------------	128	//----------------------------------------------------------------------------------------------------
129	void GetNaviCtrlVersion(void)	129	void GetNaviCtrlVersion(void)
130	{	130	{
131	u8 msg[25];	131	u8 msg[25];
132		132
133	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);	133	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);
134	UART1_PutString(msg);	134	UART1_PutString(msg);
135	}	135	}
136		136
137	//----------------------------------------------------------------------------------------------------	137	//----------------------------------------------------------------------------------------------------
138		138
139	void CheckErrors(void)	139	void CheckErrors(void)
140	{	140	{
141	static s32 no_error_delay = 0;	141	static s32 no_error_delay = 0;
142	s32 newErrorCode = 0;	142	s32 newErrorCode = 0;
143	UART_VersionInfo.HardwareError[0] = 0;	143	UART_VersionInfo.HardwareError[0] = 0;
144		144
145	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	145	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
146	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	146	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
147		147
148	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	148	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;
149	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status	149	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
150		150
151	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	151	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
152	else DebugOut.StatusRed &= ~AMPEL_NC;	152	else DebugOut.StatusRed &= ~AMPEL_NC;
153		153
154	if((FCCalibActive \|\| CompassCalState) && FC_Version.Hardware)	154	if((FCCalibActive \|\| CompassCalState) && FC_Version.Hardware)
155	{	155	{
156	sprintf(ErrorMSG,"Calibrate... ");	156	sprintf(ErrorMSG,"Calibrate... ");
157	newErrorCode = 0;	157	newErrorCode = 0;
158	ErrorCode = 0;	158	ErrorCode = 0;
159	no_error_delay = 1;	159	no_error_delay = 1;
160	}	160	}
161	else	161	else
162	if(CheckDelay(SPI0_Timeout))	162	if(CheckDelay(SPI0_Timeout))
163	{	163	{
164	LED_RED_ON;	164	LED_RED_ON;
165	sprintf(ErrorMSG,"no FC communication ");	165	sprintf(ErrorMSG,"no FC communication ");
166	newErrorCode = 3;	166	newErrorCode = 3;
167	StopNavigation = 1;	167	StopNavigation = 1;
168	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	168	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
169	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	169	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
171	}	171	}
172	else if(CheckDelay(I2C1_Timeout))	172	else if(CheckDelay(I2C1_Timeout))
173	{	173	{
174	LED_RED_ON;	174	LED_RED_ON;
175	sprintf(ErrorMSG,"no compass communica");	175	sprintf(ErrorMSG,"no compass communica");
176	//Reset I2CBus	176	//Reset I2CBus
177	I2C1_Deinit();	177	I2C1_Deinit();
178	I2C1_Init();	178	I2C1_Init();
179	newErrorCode = 4;	179	newErrorCode = 4;
180	StopNavigation = 1;	180	StopNavigation = 1;
181	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	181	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
182	DebugOut.StatusRed \|= AMPEL_COMPASS;	182	DebugOut.StatusRed \|= AMPEL_COMPASS;
183	}	183	}
184	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	184	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
185	{	185	{
186	LED_RED_ON;	186	LED_RED_ON;
187	#ifndef FOLLOW_ME	187	#ifndef FOLLOW_ME
188	sprintf(ErrorMSG,"FC not compatible ");	188	sprintf(ErrorMSG,"FC not compatible ");
189	#else	189	#else
190	sprintf(ErrorMSG,"! FollowMe only ! ");	190	sprintf(ErrorMSG,"! FollowMe only ! ");
191	#endif	191	#endif
192	newErrorCode = 1;	192	newErrorCode = 1;
193	StopNavigation = 1;	193	StopNavigation = 1;
194	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	194	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
195	DebugOut.StatusRed \|= AMPEL_NC;	195	DebugOut.StatusRed \|= AMPEL_NC;
196	}	196	}
197		197
198	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	198	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
199	{	199	{
200	LED_RED_ON;	200	LED_RED_ON;
201	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	201	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
202	newErrorCode = 10;	202	newErrorCode = 10;
203	}	203	}
204	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	204	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
205	{	205	{
206	LED_RED_ON;	206	LED_RED_ON;
207	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	207	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
208	newErrorCode = 11;	208	newErrorCode = 11;
209	}	209	}
210	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	210	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
211	{	211	{
212	LED_RED_ON;	212	LED_RED_ON;
213	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	213	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
214	newErrorCode = 12;	214	newErrorCode = 12;
215	}	215	}
216	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	216	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
217	{	217	{
218	LED_RED_ON;	218	LED_RED_ON;
219	sprintf(ErrorMSG,"ERR: FC Nick ACC");	219	sprintf(ErrorMSG,"ERR: FC Nick ACC");
220	newErrorCode = 13;	220	newErrorCode = 13;
221	}	221	}
222	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	222	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
223	{	223	{
224	LED_RED_ON;	224	LED_RED_ON;
225	sprintf(ErrorMSG,"ERR: FC Roll ACC");	225	sprintf(ErrorMSG,"ERR: FC Roll ACC");
226	newErrorCode = 14;	226	newErrorCode = 14;
227	}	227	}
228	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	228	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
229	{	229	{
230	LED_RED_ON;	230	LED_RED_ON;
231	sprintf(ErrorMSG,"ERR:FC Z-ACC");	231	sprintf(ErrorMSG,"ERR:FC Z-ACC");
232	newErrorCode = 15;	232	newErrorCode = 15;
233	}	233	}
234	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)	234	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
235	{	235	{
236	LED_RED_ON;	236	LED_RED_ON;
237	sprintf(ErrorMSG,"ERR:Flying range!");	237	sprintf(ErrorMSG,"ERR:Flying range!");
238	newErrorCode = 28;	238	newErrorCode = 28;
239	}	239	}
240	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	240	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
241	{	241	{
242	LED_RED_ON;	242	LED_RED_ON;
243	sprintf(ErrorMSG,"ERR:Pressure sensor");	243	sprintf(ErrorMSG,"ERR:Pressure sensor");
244	newErrorCode = 16;	244	newErrorCode = 16;
245	}	245	}
246	else if(FC.Error[1] & FC_ERROR1_I2C)	246	else if(FC.Error[1] & FC_ERROR1_I2C)
247	{	247	{
248	LED_RED_ON;	248	LED_RED_ON;
249	sprintf(ErrorMSG,"ERR:I2C FC to BL");	249	sprintf(ErrorMSG,"ERR:I2C FC to BL");
250	newErrorCode = 17;	250	newErrorCode = 17;
251	}	251	}
252	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	252	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
253	{	253	{
254	LED_RED_ON;	254	LED_RED_ON;
255	sprintf(ErrorMSG,"ERR: Bl Missing");	255	sprintf(ErrorMSG,"ERR: Bl Missing");
256	newErrorCode = 18;	256	newErrorCode = 18;
257	}	257	}
258	else if(FC.Error[1] & FC_ERROR1_MIXER)	258	else if(FC.Error[1] & FC_ERROR1_MIXER)
259	{	259	{
260	LED_RED_ON;	260	LED_RED_ON;
261	sprintf(ErrorMSG,"Mixer Error");	261	sprintf(ErrorMSG,"Mixer Error");
262	newErrorCode = 19;	262	newErrorCode = 19;
263	}	263	}
264	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)	264	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
265	{	265	{
266	LED_RED_ON;	266	LED_RED_ON;
267	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	267	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
268	// else	268	// else
269	{	269	{
270	sprintf(ErrorMSG,"no GPS communication");	270	sprintf(ErrorMSG,"no GPS communication");
271	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	271	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
272	newErrorCode = 5;	272	newErrorCode = 5;
273	}	273	}
274	StopNavigation = 1;	274	StopNavigation = 1;
275	// UBX_Timeout = SetDelay(500);	275	// UBX_Timeout = SetDelay(500);
276	}	276	}
277	else if(Compass_Heading < 0)	277	else if(Compass_Heading < 0)
278	{	278	{
279	LED_RED_ON;	279	LED_RED_ON;
280	sprintf(ErrorMSG,"bad compass value ");	280	sprintf(ErrorMSG,"bad compass value ");
281	newErrorCode = 6;	281	newErrorCode = 6;
282	StopNavigation = 1;	282	StopNavigation = 1;
283	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	283	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
284	}	284	}
285	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	285	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
286	{	286	{
287	LED_RED_ON;	287	LED_RED_ON;
288	sprintf(ErrorMSG,"FC spi rx error ");	288	sprintf(ErrorMSG,"FC spi rx error ");
289	newErrorCode = 8;	289	newErrorCode = 8;
290	StopNavigation = 1;	290	StopNavigation = 1;
291	}	291	}
292	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	292	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
293	{	293	{
294	LED_RED_ON;	294	LED_RED_ON;
295	sprintf(ErrorMSG,"FC: Carefree Error");	295	sprintf(ErrorMSG,"FC: Carefree Error");
296	newErrorCode = 20;	296	newErrorCode = 20;
297	}	297	}
298	else if(FC.Error[1] & FC_ERROR1_PPM)	298	else if(FC.Error[1] & FC_ERROR1_PPM)
299	{	299	{
300	LED_RED_ON;	300	LED_RED_ON;
301	sprintf(ErrorMSG,"RC Signal lost ");	301	sprintf(ErrorMSG,"RC Signal lost ");
302	newErrorCode = 7;	302	newErrorCode = 7;
303	}	303	}
304	else if(ErrorGpsFixLost)	304	else if(ErrorGpsFixLost)
305	{	305	{
306	LED_RED_ON;	306	LED_RED_ON;
307	sprintf(ErrorMSG,"GPS Fix lost ");	307	sprintf(ErrorMSG,"GPS Fix lost ");
308	newErrorCode = 21;	308	newErrorCode = 21;
309	}	309	}
310	else if(ErrorDisturbedEarthMagnetField)	310	else if(ErrorDisturbedEarthMagnetField)
311	{	311	{
312	LED_RED_ON;	312	LED_RED_ON;
313	sprintf(ErrorMSG,"Magnet error ");	313	sprintf(ErrorMSG,"Magnet error ");
314	newErrorCode = 22;	314	newErrorCode = 22;
315	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	315	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
316	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	316	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
317	}	317	}
318	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	318	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
319	{	319	{
320	LED_RED_ON;	320	LED_RED_ON;
321	sprintf(ErrorMSG,"ERR:Motor restart ");	321	sprintf(ErrorMSG,"ERR:Motor restart ");
322	newErrorCode = 23;	322	newErrorCode = 23;
323	DebugOut.StatusRed \|= AMPEL_BL;	323	DebugOut.StatusRed \|= AMPEL_BL;
324	}	324	}
325	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	325	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
326	{	326	{
327	LED_RED_ON;	327	LED_RED_ON;
328	sprintf(ErrorMSG,"ERR:BL Limitation ");	328	sprintf(ErrorMSG,"ERR:BL Limitation ");
329	newErrorCode = 24;	329	newErrorCode = 24;
330	DebugOut.StatusRed \|= AMPEL_BL;	330	DebugOut.StatusRed \|= AMPEL_BL;
331	}	331	}
332	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	332	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
333	{	333	{
334	LED_RED_ON;	334	LED_RED_ON;
335	sprintf(ErrorMSG,"ERR:GPS range ");	335	sprintf(ErrorMSG,"ERR:GPS range ");
336	newErrorCode = 25;	336	newErrorCode = 25;
337	DebugOut.StatusRed \|= AMPEL_NC;	337	DebugOut.StatusRed \|= AMPEL_NC;
338	}	338	}
339	else if((!SD_SWITCH \|\| (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))	339	else if((!SD_SWITCH \|\| (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))
340	{	340	{
341	LED_RED_ON;	341	LED_RED_ON;
342	sprintf(ErrorMSG,"ERR:No SD-Card ");	342	sprintf(ErrorMSG,"ERR:No SD-Card ");
343	newErrorCode = 26;	343	newErrorCode = 26;
344	DebugOut.StatusRed \|= AMPEL_NC;	344	DebugOut.StatusRed \|= AMPEL_NC;
345	}	345	}
346	else if((SD_LoggingError \|\| (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)	346	else if((SD_LoggingError \|\| (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
347	{	347	{
348	LED_RED_ON;	348	LED_RED_ON;
349	sprintf(ErrorMSG,"ERR:SD Logging abort");	349	sprintf(ErrorMSG,"ERR:SD Logging abort");
350	newErrorCode = 27;	350	newErrorCode = 27;
351	DebugOut.StatusRed \|= AMPEL_NC;	351	DebugOut.StatusRed \|= AMPEL_NC;
352	SD_LoggingError = 0;	352	SD_LoggingError = 0;
353	}	353	}
354	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))	354	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
355	{	355	{
356	LED_RED_ON;	356	LED_RED_ON;
357	sprintf(ErrorMSG,"ERR:Max Altitude ");	357	sprintf(ErrorMSG,"ERR:Max Altitude ");
358	newErrorCode = 29;	358	newErrorCode = 29;
359	DebugOut.StatusRed \|= AMPEL_NC;	359	DebugOut.StatusRed \|= AMPEL_NC;
360	}	360	}
-		361	else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && (FC.StatusFlags & (FC_STATUS_START \| FC_STATUS_MOTOR_RUN)))
-		362	{
-		363	LED_RED_ON;
-		364	sprintf(ErrorMSG,"No GPS Fix ");
-		365	newErrorCode = 30;
-		366	}
361	else // no error occured	367	else // no error occured
362	{	368	{
363	StopNavigation = 0;	369	StopNavigation = 0;
364	LED_RED_OFF;	370	LED_RED_OFF;
365	if(no_error_delay) { no_error_delay--; }	371	if(no_error_delay) { no_error_delay--; }
366	else	372	else
367	{	373	{
368	sprintf(ErrorMSG,"No Error ");	374	sprintf(ErrorMSG,"No Error ");
369	ErrorCode = 0;	375	ErrorCode = 0;
370	}	376	}
371	}	377	}
372		378
373	if(newErrorCode)	379	if(newErrorCode)
374	{	380	{
375	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running	381	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
376	ErrorCode = newErrorCode;	382	ErrorCode = newErrorCode;
377	}	383	}
378	FC.Error[0] = 0;	384	FC.Error[0] = 0;
379	FC.Error[1] = 0;	385	FC.Error[1] = 0;
380	FC.Error[2] = 0;	386	FC.Error[2] = 0;
381	FC.Error[3] = 0;	387	FC.Error[3] = 0;
382	FC.Error[4] = 0;	388	FC.Error[4] = 0;
383	ErrorGpsFixLost = 0;	389	ErrorGpsFixLost = 0;
384	}	390	}
385		391
386		392
387		393
388	void Polling(void)	394	void Polling(void)
389	{	395	{
390	static u8 running = 0;	396	static u8 running = 0, oldFcFlags = 0;
391	if(running) return;	397	if(running) return;
392	running = 1;	398	running = 1;
393	SPI0_UpdateBuffer(); // also calls the GPS-functions	399	SPI0_UpdateBuffer(); // also calls the GPS-functions
394	UART0_ProcessRxData(); // GPS process request	400	UART0_ProcessRxData(); // GPS process request
395	UART0_TransmitTxData(); // GPS send answer	401	UART0_TransmitTxData(); // GPS send answer
396	UART1_ProcessRxData(); // PC process request	402	UART1_ProcessRxData(); // PC process request
397	UART1_TransmitTxData(); // PC send answer	403	UART1_TransmitTxData(); // PC send answer
398	UART2_TransmitTxData(); // FC send answer	404	UART2_TransmitTxData(); // FC send answer
399	CalcHeadFree();	405	CalcHeadFree();
400	// ---------------- Error Check Timing ----------------------------	406	// ---------------- Error Check Timing ----------------------------
401	if(CheckDelay(TimerCheckError))	407	if(CheckDelay(TimerCheckError) \|\| (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
402	{	408	{
403	TimerCheckError = SetDelay(1000);	409	TimerCheckError = SetDelay(1000);
-		410	oldFcFlags = FC.StatusFlags;
404	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	411	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
405		412
406	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	413	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
407		414
408	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	415	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
409	// else NaviData.FlyingTime = 0; // not the time per flight	416	// else NaviData.FlyingTime = 0; // not the time per flight
410	if(SerialLinkOkay) SerialLinkOkay--;	417	if(SerialLinkOkay) SerialLinkOkay--;
411	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	418	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
412	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	419	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
413	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	420	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
414	}	421	}
415	running = 0;	422	running = 0;
416	}	423	}
417		424
418	// the handler will be cyclic called by the timer 1 ISR	425	// the handler will be cyclic called by the timer 1 ISR
419	// used is for critical timing parts that normaly would handled	426	// used is for critical timing parts that normaly would handled
420	// within the main loop that could block longer at logging activities	427	// within the main loop that could block longer at logging activities
421	void EXTIT3_IRQHandler(void)	428	void EXTIT3_IRQHandler(void)
422	{	429	{
423	IENABLE;	430	IENABLE;
424	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	431	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
425	Compass_Update(); // update compass communication	432	Compass_Update(); // update compass communication
426	Analog_Update(); // get new ADC values	433	Analog_Update(); // get new ADC values
427		434
428	if(!PollingTimeout)	435	if(!PollingTimeout)
429	{	436	{
430	PollingTimeout = 5;	437	PollingTimeout = 5;
431	Polling();	438	Polling();
432	}	439	}
433		440
434	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	441	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
435	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	442	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
436	IDISABLE;	443	IDISABLE;
437	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register	444	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
438	}	445	}
439		446
440	//----------------------------------------------------------------------------------------------------	447	//----------------------------------------------------------------------------------------------------
441	int main(void)	448	int main(void)
442	{	449	{
443	/*	450	/*
444	static u32 ftimer =0;	451	static u32 ftimer =0;
445	static u8 fstate = 0;	452	static u8 fstate = 0;
446	static File_t* f = NULL;	453	static File_t* f = NULL;
447	*/	454	*/
448		455
449	/* Configure the system clocks */	456	/* Configure the system clocks */
450	SCU_Config();	457	SCU_Config();
451	/* init VIC (Vectored Interrupt Controller) */	458	/* init VIC (Vectored Interrupt Controller) */
452	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	459	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
453	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	460	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
454	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	461	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
455	VIC_InitDefaultVectors();	462	VIC_InitDefaultVectors();
456		463
457	// initialize timer 1 for System Clock and delay rountines	464	// initialize timer 1 for System Clock and delay rountines
458	TIMER1_Init();	465	TIMER1_Init();
459	// initialize the LEDs (needs Timer 1)	466	// initialize the LEDs (needs Timer 1)
460	Led_Init();	467	Led_Init();
461	// initialize the debug UART1	468	// initialize the debug UART1
462	UART1_Init();	469	UART1_Init();
463	UART1_PutString("\r\n---------------------------------------------");	470	UART1_PutString("\r\n---------------------------------------------");
464	// initialize usb	471	// initialize usb
465	USB_ConfigInit();	472	USB_ConfigInit();
466	// initialize timer 2 for servo outputs	473	// initialize timer 2 for servo outputs
467	//TIMER2_Init();	474	//TIMER2_Init();
468	// initialize UART2 to FLIGHTCTRL	475	// initialize UART2 to FLIGHTCTRL
469	UART2_Init();	476	UART2_Init();
470	// initialize UART0 (to MKGPS or MK3MAG)	477	// initialize UART0 (to MKGPS or MK3MAG)
471	UART0_Init();	478	UART0_Init();
472	// initialize adc	479	// initialize adc
473	Analog_Init();	480	Analog_Init();
474	// initialize SPI0 to FC	481	// initialize SPI0 to FC
475	SPI0_Init();	482	SPI0_Init();
476	// initialize i2c bus (needs Timer 1)	483	// initialize i2c bus (needs Timer 1)
477	I2C1_Init();	484	I2C1_Init();
478	// initialize fat16 partition on sd card (needs Timer 1)	485	// initialize fat16 partition on sd card (needs Timer 1)
479	Fat16_Init();	486	Fat16_Init();
480	// initialize NC params	487	// initialize NC params
481	NCParams_Init();	488	NCParams_Init();
482	// initialize the settings	489	// initialize the settings
483	Settings_Init();	490	Settings_Init();
484	// initialize logging (needs settings)	491	// initialize logging (needs settings)
485	Logging_Init();	492	Logging_Init();
486		493
487	LED_GRN_ON;	494	LED_GRN_ON;
488	TimerCheckError = SetDelay(3000);	495	TimerCheckError = SetDelay(3000);
489	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	496	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
490	UART1_PutString("\n\r Version information:");	497	UART1_PutString("\n\r Version information:");
491		498
492	GetNaviCtrlVersion();	499	GetNaviCtrlVersion();
493	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag	500	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag

Subversion Repositories NaviCtrl

(root)/tags/V0.30h/main.c @ 666 - Rev 397 → 398