WebSVN - NaviCtrl - Diff - Rev 432 and 438


/*#######################################################################################*/
/* !!! 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 "ncmag.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 && NCMAG_Present && !NCMAG_IsCalibrated)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"compass not calibr.");
                newErrorCode = 31;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        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 && (BL_MinOfMaxPWM != 250) && (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)) || (FC.StickGas < -50 && FC.StickYaw < -50)))
        {                                                                                                                                                  
         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;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
 
        Compass_Init();
 
        GPS_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
        // ---------- 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))
                {
 
                        static s8 filename[35];
                        static u8 i = 0;
                        s8 dbgmsg[40];
                       
                       
 
                        ftimer = SetDelay(100);
                        if(FC.Poti[3]>100 && fstate == 0)
                        {
                                fstate = 1;
                                sprintf(filename, "/toast/toasta/toast%02i.txt",i++);
                        }
                        else if(FC.Poti[3]<100 && fstate == 2)
                        {
                                fstate = 3;
                        }
 
                        switch(fstate)
                        {
                                case 1:
                                        sprintf(dbgmsg,"\r\nStart writing file: %s", filename);
                                        Debug(dbgmsg);
                                        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(dbgmsg,"\r\nClosing file: %s", filename);
                                        Debug(dbgmsg);
                                        fclose_(f);
                                        fstate = 0;
                                        break;
 
                                default:
                                        break;
                        }
                }
*/             
        }
}
 
//DebugOut.Analog[16]
 

Rev 432	Rev 438
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 "ncmag.h"	67	#include "ncmag.h"
68	#include "timer1.h"	68	#include "timer1.h"
69	#include "timer2.h"	69	#include "timer2.h"
70	#include "analog.h"	70	#include "analog.h"
71	#include "spi_slave.h"	71	#include "spi_slave.h"
72	#include "fat16.h"	72	#include "fat16.h"
73	#include "usb.h"	73	#include "usb.h"
74	#include "sdc.h"	74	#include "sdc.h"
75	#include "logging.h"	75	#include "logging.h"
76	#include "params.h"	76	#include "params.h"
77	#include "settings.h"	77	#include "settings.h"
78	#include "config.h"	78	#include "config.h"
79	#include "main.h"	79	#include "main.h"
80	#include "debug.h"	80	#include "debug.h"
81	#include "eeprom.h"	81	#include "eeprom.h"
82	#include "ssc.h"	82	#include "ssc.h"
83	#include "sdc.h"	83	#include "sdc.h"
84	#include "uart1.h"	84	#include "uart1.h"
85		85
86		86
87		87
88	#ifdef FOLLOW_ME	88	#ifdef FOLLOW_ME
89	u8 TransmitAlsoToFC = 0;	89	u8 TransmitAlsoToFC = 0;
90	#endif	90	#endif
91	u32 TimerCheckError;	91	u32 TimerCheckError;
92	u8 ErrorCode = 0;	92	u8 ErrorCode = 0;
93	u16 BeepTime;	93	u16 BeepTime;
94	u8 NCFlags = 0;	94	u8 NCFlags = 0;
95	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	95	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
96	u8 ErrorGpsFixLost = 0;	96	u8 ErrorGpsFixLost = 0;
97		97
98	u8 ClearFCStatusFlags = 0;	98	u8 ClearFCStatusFlags = 0;
99	u8 StopNavigation = 0;	99	u8 StopNavigation = 0;
100	volatile u32 PollingTimeout = 10000;	100	volatile u32 PollingTimeout = 10000;
101	Param_t Parameter;	101	Param_t Parameter;
102	volatile FC_t FC;	102	volatile FC_t FC;
103	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero	103	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
104	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero	104	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero
105		105
106	s8 ErrorMSG[25];	106	s8 ErrorMSG[25];
107		107
108	//----------------------------------------------------------------------------------------------------	108	//----------------------------------------------------------------------------------------------------
109	void SCU_Config(void)	109	void SCU_Config(void)
110	{	110	{
111	/* configure PLL and set it as master clock source */	111	/* configure PLL and set it as master clock source */
112	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	112	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
113	SCU_PLLCmd(DISABLE); // now disable the PLL	113	SCU_PLLCmd(DISABLE); // now disable the PLL
114	#ifdef MCLK96MHZ	114	#ifdef MCLK96MHZ
115	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	115	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
116	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	116	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
117	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	117	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
118	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	118	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
119	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	119	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
120	#else	120	#else
121	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	121	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
122	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	122	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
123	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	123	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
124	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	124	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
125	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	125	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
126	#endif	126	#endif
127	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	127	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
128	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	128	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
129	}	129	}
130		130
131	//----------------------------------------------------------------------------------------------------	131	//----------------------------------------------------------------------------------------------------
132	void GetNaviCtrlVersion(void)	132	void GetNaviCtrlVersion(void)
133	{	133	{
134	u8 msg[25];	134	u8 msg[25];
135		135
136	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);	136	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);
137	UART1_PutString(msg);	137	UART1_PutString(msg);
138	}	138	}
139		139
140	//----------------------------------------------------------------------------------------------------	140	//----------------------------------------------------------------------------------------------------
141		141
142	void CheckErrors(void)	142	void CheckErrors(void)
143	{	143	{
144	static s32 no_error_delay = 0;	144	static s32 no_error_delay = 0;
145	s32 newErrorCode = 0;	145	s32 newErrorCode = 0;
146	UART_VersionInfo.HardwareError[0] = 0;	146	UART_VersionInfo.HardwareError[0] = 0;
147		147
148	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	148	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
149	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	149	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
150		150
151	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	151	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;
152	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status	152	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
153		153
154	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	154	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
155	else DebugOut.StatusRed &= ~AMPEL_NC;	155	else DebugOut.StatusRed &= ~AMPEL_NC;
156		156
157	if((FCCalibActive \|\| CompassCalState) && FC_Version.Hardware)	157	if((FCCalibActive \|\| CompassCalState) && FC_Version.Hardware)
158	{	158	{
159	sprintf(ErrorMSG,"Calibrate... ");	159	sprintf(ErrorMSG,"Calibrate... ");
160	newErrorCode = 0;	160	newErrorCode = 0;
161	ErrorCode = 0;	161	ErrorCode = 0;
162	no_error_delay = 1;	162	no_error_delay = 1;
163	}	163	}
164	else	164	else
165	if(CheckDelay(SPI0_Timeout))	165	if(CheckDelay(SPI0_Timeout))
166	{	166	{
167	LED_RED_ON;	167	LED_RED_ON;
168	sprintf(ErrorMSG,"no FC communication ");	168	sprintf(ErrorMSG,"no FC communication ");
169	newErrorCode = 3;	169	newErrorCode = 3;
170	StopNavigation = 1;	170	StopNavigation = 1;
171	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	171	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
172	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	172	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
173	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	173	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
174	}	174	}
175	else if(CheckDelay(I2C1_Timeout))	175	else if(CheckDelay(I2C1_Timeout))
176	{	176	{
177	LED_RED_ON;	177	LED_RED_ON;
178	sprintf(ErrorMSG,"no compass communica");	178	sprintf(ErrorMSG,"no compass communica");
179	//Reset I2CBus	179	//Reset I2CBus
180	I2C1_Deinit();	180	I2C1_Deinit();
181	I2C1_Init();	181	I2C1_Init();
182	newErrorCode = 4;	182	newErrorCode = 4;
183	StopNavigation = 1;	183	StopNavigation = 1;
184	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	184	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
185	DebugOut.StatusRed \|= AMPEL_COMPASS;	185	DebugOut.StatusRed \|= AMPEL_COMPASS;
186	}	186	}
187	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	187	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
188	{	188	{
189	LED_RED_ON;	189	LED_RED_ON;
190	#ifndef FOLLOW_ME	190	#ifndef FOLLOW_ME
191	sprintf(ErrorMSG,"FC not compatible ");	191	sprintf(ErrorMSG,"FC not compatible ");
192	#else	192	#else
193	sprintf(ErrorMSG,"! FollowMe only ! ");	193	sprintf(ErrorMSG,"! FollowMe only ! ");
194	#endif	194	#endif
195	newErrorCode = 1;	195	newErrorCode = 1;
196	StopNavigation = 1;	196	StopNavigation = 1;
197	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	197	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
198	DebugOut.StatusRed \|= AMPEL_NC;	198	DebugOut.StatusRed \|= AMPEL_NC;
199	}	199	}
200		200
201	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	201	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
202	{	202	{
203	LED_RED_ON;	203	LED_RED_ON;
204	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	204	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
205	newErrorCode = 10;	205	newErrorCode = 10;
206	}	206	}
207	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	207	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
208	{	208	{
209	LED_RED_ON;	209	LED_RED_ON;
210	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	210	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
211	newErrorCode = 11;	211	newErrorCode = 11;
212	}	212	}
213	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	213	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
214	{	214	{
215	LED_RED_ON;	215	LED_RED_ON;
216	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	216	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
217	newErrorCode = 12;	217	newErrorCode = 12;
218	}	218	}
219	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	219	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
220	{	220	{
221	LED_RED_ON;	221	LED_RED_ON;
222	sprintf(ErrorMSG,"ERR: FC Nick ACC");	222	sprintf(ErrorMSG,"ERR: FC Nick ACC");
223	newErrorCode = 13;	223	newErrorCode = 13;
224	}	224	}
225	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	225	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
226	{	226	{
227	LED_RED_ON;	227	LED_RED_ON;
228	sprintf(ErrorMSG,"ERR: FC Roll ACC");	228	sprintf(ErrorMSG,"ERR: FC Roll ACC");
229	newErrorCode = 14;	229	newErrorCode = 14;
230	}	230	}
231	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	231	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
232	{	232	{
233	LED_RED_ON;	233	LED_RED_ON;
234	sprintf(ErrorMSG,"ERR:FC Z-ACC");	234	sprintf(ErrorMSG,"ERR:FC Z-ACC");
235	newErrorCode = 15;	235	newErrorCode = 15;
236	}	236	}
237	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)	237	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
238	{	238	{
239	LED_RED_ON;	239	LED_RED_ON;
240	sprintf(ErrorMSG,"ERR:Flying range!");	240	sprintf(ErrorMSG,"ERR:Flying range!");
241	newErrorCode = 28;	241	newErrorCode = 28;
242	}	242	}
243	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	243	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
244	{	244	{
245	LED_RED_ON;	245	LED_RED_ON;
246	sprintf(ErrorMSG,"ERR:Pressure sensor");	246	sprintf(ErrorMSG,"ERR:Pressure sensor");
247	newErrorCode = 16;	247	newErrorCode = 16;
248	}	248	}
249	else if(FC.Error[1] & FC_ERROR1_I2C)	249	else if(FC.Error[1] & FC_ERROR1_I2C)
250	{	250	{
251	LED_RED_ON;	251	LED_RED_ON;
252	sprintf(ErrorMSG,"ERR:I2C FC to BL");	252	sprintf(ErrorMSG,"ERR:I2C FC to BL");
253	newErrorCode = 17;	253	newErrorCode = 17;
254	}	254	}
255	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	255	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
256	{	256	{
257	LED_RED_ON;	257	LED_RED_ON;
258	sprintf(ErrorMSG,"ERR: Bl Missing");	258	sprintf(ErrorMSG,"ERR: Bl Missing");
259	newErrorCode = 18;	259	newErrorCode = 18;
260	}	260	}
261	else if(FC.Error[1] & FC_ERROR1_MIXER)	261	else if(FC.Error[1] & FC_ERROR1_MIXER)
262	{	262	{
263	LED_RED_ON;	263	LED_RED_ON;
264	sprintf(ErrorMSG,"Mixer Error");	264	sprintf(ErrorMSG,"Mixer Error");
265	newErrorCode = 19;	265	newErrorCode = 19;
266	}	266	}
267	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)	267	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
268	{	268	{
269	LED_RED_ON;	269	LED_RED_ON;
270	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	270	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
271	// else	271	// else
272	{	272	{
273	sprintf(ErrorMSG,"no GPS communication");	273	sprintf(ErrorMSG,"no GPS communication");
274	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	274	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
275	newErrorCode = 5;	275	newErrorCode = 5;
276	}	276	}
277	StopNavigation = 1;	277	StopNavigation = 1;
278	// UBX_Timeout = SetDelay(500);	278	// UBX_Timeout = SetDelay(500);
279	}	279	}
280	else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)	280	else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)
281	{	281	{
282	LED_RED_ON;	282	LED_RED_ON;
283	sprintf(ErrorMSG,"compass not calibr.");	283	sprintf(ErrorMSG,"compass not calibr.");
284	newErrorCode = 31;	284	newErrorCode = 31;
285	StopNavigation = 1;	285	StopNavigation = 1;
286	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	286	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
287	}	287	}
288	else if(Compass_Heading < 0)	288	else if(Compass_Heading < 0)
289	{	289	{
290	LED_RED_ON;	290	LED_RED_ON;
291	sprintf(ErrorMSG,"bad compass value ");	291	sprintf(ErrorMSG,"bad compass value ");
292	newErrorCode = 6;	292	newErrorCode = 6;
293	StopNavigation = 1;	293	StopNavigation = 1;
294	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	294	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
295	}	295	}
296	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	296	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
297	{	297	{
298	LED_RED_ON;	298	LED_RED_ON;
299	sprintf(ErrorMSG,"FC spi rx error ");	299	sprintf(ErrorMSG,"FC spi rx error ");
300	newErrorCode = 8;	300	newErrorCode = 8;
301	StopNavigation = 1;	301	StopNavigation = 1;
302	}	302	}
303	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	303	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
304	{	304	{
305	LED_RED_ON;	305	LED_RED_ON;
306	sprintf(ErrorMSG,"FC: Carefree Error");	306	sprintf(ErrorMSG,"FC: Carefree Error");
307	newErrorCode = 20;	307	newErrorCode = 20;
308	}	308	}
309	else if(FC.Error[1] & FC_ERROR1_PPM)	309	else if(FC.Error[1] & FC_ERROR1_PPM)
310	{	310	{
311	LED_RED_ON;	311	LED_RED_ON;
312	sprintf(ErrorMSG,"RC Signal lost ");	312	sprintf(ErrorMSG,"RC Signal lost ");
313	newErrorCode = 7;	313	newErrorCode = 7;
314	}	314	}
315	else if(ErrorGpsFixLost)	315	else if(ErrorGpsFixLost)
316	{	316	{
317	LED_RED_ON;	317	LED_RED_ON;
318	sprintf(ErrorMSG,"GPS Fix lost ");	318	sprintf(ErrorMSG,"GPS Fix lost ");
319	newErrorCode = 21;	319	newErrorCode = 21;
320	}	320	}
321	else if(ErrorDisturbedEarthMagnetField)	321	else if(ErrorDisturbedEarthMagnetField)
322	{	322	{
323	LED_RED_ON;	323	LED_RED_ON;
324	sprintf(ErrorMSG,"Magnet error ");	324	sprintf(ErrorMSG,"Magnet error ");
325	newErrorCode = 22;	325	newErrorCode = 22;
326	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	326	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
327	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	327	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
328	}	328	}
329	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	329	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
330	{	330	{
331	LED_RED_ON;	331	LED_RED_ON;
332	sprintf(ErrorMSG,"ERR:Motor restart ");	332	sprintf(ErrorMSG,"ERR:Motor restart ");
333	newErrorCode = 23;	333	newErrorCode = 23;
334	DebugOut.StatusRed \|= AMPEL_BL;	334	DebugOut.StatusRed \|= AMPEL_BL;
335	}	335	}
336	else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	336	else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
337	{	337	{
338	LED_RED_ON;	338	LED_RED_ON;
339	sprintf(ErrorMSG,"ERR:BL Limitation ");	339	sprintf(ErrorMSG,"ERR:BL Limitation ");
340	newErrorCode = 24;	340	newErrorCode = 24;
341	DebugOut.StatusRed \|= AMPEL_BL;	341	DebugOut.StatusRed \|= AMPEL_BL;
342	}	342	}
343	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	343	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
344	{	344	{
345	LED_RED_ON;	345	LED_RED_ON;
346	sprintf(ErrorMSG,"ERR:GPS range ");	346	sprintf(ErrorMSG,"ERR:GPS range ");
347	newErrorCode = 25;	347	newErrorCode = 25;
348	DebugOut.StatusRed \|= AMPEL_NC;	348	DebugOut.StatusRed \|= AMPEL_NC;
349	}	349	}
350	else if((!SD_SWITCH \|\| (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))	350	else if((!SD_SWITCH \|\| (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))
351	{	351	{
352	LED_RED_ON;	352	LED_RED_ON;
353	sprintf(ErrorMSG,"ERR:No SD-Card ");	353	sprintf(ErrorMSG,"ERR:No SD-Card ");
354	newErrorCode = 26;	354	newErrorCode = 26;
355	DebugOut.StatusRed \|= AMPEL_NC;	355	DebugOut.StatusRed \|= AMPEL_NC;
356	}	356	}
357	else if((SD_LoggingError \|\| (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)	357	else if((SD_LoggingError \|\| (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
358	{	358	{
359	LED_RED_ON;	359	LED_RED_ON;
360	sprintf(ErrorMSG,"ERR:SD Logging abort");	360	sprintf(ErrorMSG,"ERR:SD Logging abort");
361	newErrorCode = 27;	361	newErrorCode = 27;
362	DebugOut.StatusRed \|= AMPEL_NC;	362	DebugOut.StatusRed \|= AMPEL_NC;
363	SD_LoggingError = 0;	363	SD_LoggingError = 0;
364	}	364	}
365	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))	365	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
366	{	366	{
367	LED_RED_ON;	367	LED_RED_ON;
368	sprintf(ErrorMSG,"ERR:Max Altitude ");	368	sprintf(ErrorMSG,"ERR:Max Altitude ");
369	newErrorCode = 29;	369	newErrorCode = 29;
370	DebugOut.StatusRed \|= AMPEL_NC;	370	DebugOut.StatusRed \|= AMPEL_NC;
371	}	371	}
372	else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START \| FC_STATUS_MOTOR_RUN)) \|\| (FC.StickGas < -50 && FC.StickYaw < -50)))	372	else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START \| FC_STATUS_MOTOR_RUN)) \|\| (FC.StickGas < -50 && FC.StickYaw < -50)))
373	{	373	{
374	LED_RED_ON;	374	LED_RED_ON;
375	sprintf(ErrorMSG,"No GPS Fix ");	375	sprintf(ErrorMSG,"No GPS Fix ");
376	newErrorCode = 30;	376	newErrorCode = 30;
377	}	377	}
378	else // no error occured	378	else // no error occured
379	{	379	{
380	StopNavigation = 0;	380	StopNavigation = 0;
381	LED_RED_OFF;	381	LED_RED_OFF;
382	if(no_error_delay) { no_error_delay--; }	382	if(no_error_delay) { no_error_delay--; }
383	else	383	else
384	{	384	{
385	sprintf(ErrorMSG,"No Error ");	385	sprintf(ErrorMSG,"No Error ");
386	ErrorCode = 0;	386	ErrorCode = 0;
387	}	387	}
388	}	388	}
389		389
390	if(newErrorCode)	390	if(newErrorCode)
391	{	391	{
392	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running	392	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
393	ErrorCode = newErrorCode;	393	ErrorCode = newErrorCode;
394	}	394	}
395	FC.Error[0] = 0;	395	FC.Error[0] = 0;
396	FC.Error[1] = 0;	396	FC.Error[1] = 0;
397	FC.Error[2] = 0;	397	FC.Error[2] = 0;
398	FC.Error[3] = 0;	398	FC.Error[3] = 0;
399	FC.Error[4] = 0;	399	FC.Error[4] = 0;
400	ErrorGpsFixLost = 0;	400	ErrorGpsFixLost = 0;
401	}	401	}
402		402
403		403
404		404
405	void Polling(void)	405	void Polling(void)
406	{	406	{
407	static u8 running = 0, oldFcFlags = 0;	407	static u8 running = 0, oldFcFlags = 0;
408	if(running) return;	408	if(running) return;
409	running = 1;	409	running = 1;
410	SPI0_UpdateBuffer(); // also calls the GPS-functions	410	SPI0_UpdateBuffer(); // also calls the GPS-functions
411	UART0_ProcessRxData(); // GPS process request	411	UART0_ProcessRxData(); // GPS process request
412	UART0_TransmitTxData(); // GPS send answer	412	UART0_TransmitTxData(); // GPS send answer
413	UART1_ProcessRxData(); // PC process request	413	UART1_ProcessRxData(); // PC process request
414	UART1_TransmitTxData(); // PC send answer	414	UART1_TransmitTxData(); // PC send answer
415	UART2_TransmitTxData(); // FC send answer	415	UART2_TransmitTxData(); // FC send answer
416	CalcHeadFree();	416	CalcHeadFree();
417	// ---------------- Error Check Timing ----------------------------	417	// ---------------- Error Check Timing ----------------------------
418	if(CheckDelay(TimerCheckError) \|\| (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start	418	if(CheckDelay(TimerCheckError) \|\| (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
419	{	419	{
420	TimerCheckError = SetDelay(1000);	420	TimerCheckError = SetDelay(1000);
421	oldFcFlags = FC.StatusFlags;	421	oldFcFlags = FC.StatusFlags;
422	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	422	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
423		423
424	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	424	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
425		425
426	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	426	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
427	// else NaviData.FlyingTime = 0; // not the time per flight	427	// else NaviData.FlyingTime = 0; // not the time per flight
428	if(SerialLinkOkay) SerialLinkOkay--;	428	if(SerialLinkOkay) SerialLinkOkay--;
429	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	429	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
430	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	430	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
431	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	431	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
432	}	432	}
433	running = 0;	433	running = 0;
434	}	434	}
435		435
436	// the handler will be cyclic called by the timer 1 ISR	436	// the handler will be cyclic called by the timer 1 ISR
437	// used is for critical timing parts that normaly would handled	437	// used is for critical timing parts that normaly would handled
438	// within the main loop that could block longer at logging activities	438	// within the main loop that could block longer at logging activities
439	void EXTIT3_IRQHandler(void)	439	void EXTIT3_IRQHandler(void)
440	{	440	{
441	IENABLE;	441	IENABLE;
442	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	442	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
443	Compass_Update(); // update compass communication	443	Compass_Update(); // update compass communication
444	Analog_Update(); // get new ADC values	444	Analog_Update(); // get new ADC values
445		445
446	if(!PollingTimeout)	446	if(!PollingTimeout)
447	{	447	{
448	PollingTimeout = 5;	448	PollingTimeout = 5;
449	Polling();	449	Polling();
450	}	450	}
451		451
452	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	452	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
453	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	453	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
454	IDISABLE;	454	IDISABLE;
455	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register	455	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
456	}	456	}
457		457
458	//----------------------------------------------------------------------------------------------------	458	//----------------------------------------------------------------------------------------------------
459	int main(void)	459	int main(void)
460	{	460	{
461		461
462	static u32 ftimer =0;	462	static u32 ftimer =0;
463	static u8 fstate = 0;	463	static u8 fstate = 0;
464	static File_t* f = NULL;	464	static File_t* f = NULL;
465		465
466		466
467	/* Configure the system clocks */	467	/* Configure the system clocks */
468	SCU_Config();	468	SCU_Config();
469	/* init VIC (Vectored Interrupt Controller) */	469	/* init VIC (Vectored Interrupt Controller) */
470	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	470	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
471	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	471	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
472	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	472	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
473	VIC_InitDefaultVectors();	473	VIC_InitDefaultVectors();
474		474
475	// initialize timer 1 for System Clock and delay rountines	475	// initialize timer 1 for System Clock and delay rountines
476	TIMER1_Init();	476	TIMER1_Init();
477	// initialize the LEDs (needs Timer 1)	477	// initialize the LEDs (needs Timer 1)
478	Led_Init();	478	Led_Init();
479	// initialize the debug UART1	479	// initialize the debug UART1
480	UART1_Init();	480	UART1_Init();
481	UART1_PutString("\r\n---------------------------------------------");	481	UART1_PutString("\r\n---------------------------------------------");
482	// initialize usb	482	// initialize usb
483	USB_ConfigInit();	483	USB_ConfigInit();
484	// initialize timer 2 for servo outputs	484	// initialize timer 2 for servo outputs
485	//TIMER2_Init();	485	//TIMER2_Init();
486	// initialize UART2 to FLIGHTCTRL	486	// initialize UART2 to FLIGHTCTRL
487	UART2_Init();	487	UART2_Init();
488	// initialize UART0 (to MKGPS or MK3MAG)	488	// initialize UART0 (to MKGPS or MK3MAG)
489	UART0_Init();	489	UART0_Init();
490	// initialize adc	490	// initialize adc
491	Analog_Init();	491	Analog_Init();
492	// initialize SPI0 to FC	492	// initialize SPI0 to FC
493	SPI0_Init();	493	SPI0_Init();
494	// initialize i2c bus (needs Timer 1)	494	// initialize i2c bus (needs Timer 1)
495	I2C1_Init();	495	I2C1_Init();
496	// initialize fat16 partition on sd card (needs Timer 1)	496	// initialize fat16 partition on sd card (needs Timer 1)
497	Fat16_Init();	497	Fat16_Init();
498	// initialize NC params	498	// initialize NC params
499	NCParams_Init();	499	NCParams_Init();
500	// initialize the settings	500	// initialize the settings

Subversion Repositories NaviCtrl

(root)/tags/V2.00a/main.c @ 811 - Rev 432 → 438