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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
35 | // + this list of conditions and the following disclaimer. |
35 | // + this list of conditions and the following disclaimer. |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
37 | // + from this software without specific prior written permission. |
37 | // + from this software without specific prior written permission. |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
39 | // + for non-commercial use (directly or indirectly) |
39 | // + for non-commercial use (directly or indirectly) |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
41 | // + with our written permission |
41 | // + with our written permission |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
43 | // + clearly linked as origin |
43 | // + clearly linked as origin |
44 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
45 | // |
45 | // |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
58 | //#define MCLK96MHZ |
58 | //#define MCLK96MHZ |
59 | const unsigned long _Main_Crystal = 25000; |
59 | const unsigned long _Main_Crystal = 25000; |
60 | #include <stdio.h> |
60 | #include <stdio.h> |
61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
62 | #include "led.h" |
62 | #include "led.h" |
63 | #include "uart0.h" |
63 | #include "uart0.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "uart2.h" |
65 | #include "uart2.h" |
66 | #include "gps.h" |
66 | #include "gps.h" |
67 | #include "i2c.h" |
67 | #include "i2c.h" |
68 | #include "compass.h" |
68 | #include "compass.h" |
69 | #include "timer1.h" |
69 | #include "timer1.h" |
70 | #include "timer2.h" |
70 | #include "timer2.h" |
71 | #include "analog.h" |
71 | #include "analog.h" |
72 | #include "spi_slave.h" |
72 | #include "spi_slave.h" |
73 | #include "fat16.h" |
73 | #include "fat16.h" |
74 | #include "usb.h" |
74 | #include "usb.h" |
75 | #include "sdc.h" |
75 | #include "sdc.h" |
76 | #include "logging.h" |
76 | #include "logging.h" |
77 | #include "params.h" |
77 | #include "params.h" |
78 | #include "settings.h" |
78 | #include "settings.h" |
79 | #include "config.h" |
79 | #include "config.h" |
80 | #include "main.h" |
80 | #include "main.h" |
81 | #include "debug.h" |
81 | #include "debug.h" |
82 | #include "eeprom.h" |
82 | #include "eeprom.h" |
83 | 83 | ||
84 | #ifdef FOLLOW_ME |
84 | #ifdef FOLLOW_ME |
85 | u8 TransmitAlsoToFC = 0; |
85 | u8 TransmitAlsoToFC = 0; |
86 | #endif |
86 | #endif |
87 | u32 TimerCheckError; |
87 | u32 TimerCheckError; |
88 | u8 ErrorCode = 0; |
88 | u8 ErrorCode = 0; |
89 | u16 BeepTime; |
89 | u16 BeepTime; |
90 | u8 NCFlags = 0; |
90 | u8 NCFlags = 0; |
91 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
91 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
92 | u8 ErrorGpsFixLost = 0; |
92 | u8 ErrorGpsFixLost = 0; |
93 | 93 | ||
94 | u8 ClearFCStatusFlags = 0; |
94 | u8 ClearFCStatusFlags = 0; |
95 | u8 StopNavigation = 0; |
95 | u8 StopNavigation = 0; |
96 | Param_t Parameter; |
96 | Param_t Parameter; |
97 | volatile FC_t FC; |
97 | volatile FC_t FC; |
98 | 98 | ||
99 | s8 ErrorMSG[25]; |
99 | s8 ErrorMSG[25]; |
100 | 100 | ||
101 | //---------------------------------------------------------------------------------------------------- |
101 | //---------------------------------------------------------------------------------------------------- |
102 | void SCU_Config(void) |
102 | void SCU_Config(void) |
103 | { |
103 | { |
104 | /* configure PLL and set it as master clock source */ |
104 | /* configure PLL and set it as master clock source */ |
105 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
105 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
106 | SCU_PLLCmd(DISABLE); // now disable the PLL |
106 | SCU_PLLCmd(DISABLE); // now disable the PLL |
107 | #ifdef MCLK96MHZ |
107 | #ifdef MCLK96MHZ |
108 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
108 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
109 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
109 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
110 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
110 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
111 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
111 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
112 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
112 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
113 | #else |
113 | #else |
114 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
114 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
115 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
115 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
116 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
116 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
117 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
117 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
118 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
118 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
119 | #endif |
119 | #endif |
120 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
120 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
121 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
121 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
122 | } |
122 | } |
123 | 123 | ||
124 | //---------------------------------------------------------------------------------------------------- |
124 | //---------------------------------------------------------------------------------------------------- |
125 | void GetNaviCtrlVersion(void) |
125 | void GetNaviCtrlVersion(void) |
126 | { |
126 | { |
127 | u8 msg[25]; |
127 | u8 msg[25]; |
128 | 128 | ||
129 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
129 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
130 | UART1_PutString(msg); |
130 | UART1_PutString(msg); |
131 | } |
131 | } |
132 | 132 | ||
133 | //---------------------------------------------------------------------------------------------------- |
133 | //---------------------------------------------------------------------------------------------------- |
134 | 134 | ||
135 | void CheckErrors(void) |
135 | void CheckErrors(void) |
136 | { |
136 | { |
137 | static s32 no_error_delay = 0; |
137 | static s32 no_error_delay = 0; |
138 | s32 newErrorCode = 0; |
138 | s32 newErrorCode = 0; |
139 | UART_VersionInfo.HardwareError[0] = 0; |
139 | UART_VersionInfo.HardwareError[0] = 0; |
140 | 140 | ||
141 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
141 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
142 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
142 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
143 | 143 | ||
144 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
144 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
145 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
145 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
146 | 146 | ||
147 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
147 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
148 | else DebugOut.StatusRed &= ~AMPEL_NC; |
148 | else DebugOut.StatusRed &= ~AMPEL_NC; |
149 | 149 | ||
150 | if(CheckDelay(SPI0_Timeout)) |
150 | if(CheckDelay(SPI0_Timeout)) |
151 | { |
151 | { |
152 | LED_RED_ON; |
152 | LED_RED_ON; |
153 | sprintf(ErrorMSG,"no FC communication "); |
153 | sprintf(ErrorMSG,"no FC communication "); |
154 | newErrorCode = 3; |
154 | newErrorCode = 3; |
155 | StopNavigation = 1; |
155 | StopNavigation = 1; |
156 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
156 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
157 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
157 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
158 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
158 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
159 | } |
159 | } |
160 | else if(CheckDelay(I2C1_Timeout)) |
160 | else if(CheckDelay(I2C1_Timeout)) |
161 | { |
161 | { |
162 | LED_RED_ON; |
162 | LED_RED_ON; |
163 | sprintf(ErrorMSG,"no compass communication "); |
163 | sprintf(ErrorMSG,"no compass communication "); |
164 | //Reset I2CBus |
164 | //Reset I2CBus |
165 | I2C1_Deinit(); |
165 | I2C1_Deinit(); |
166 | I2C1_Init(); |
166 | I2C1_Init(); |
167 | newErrorCode = 4; |
167 | newErrorCode = 4; |
168 | StopNavigation = 1; |
168 | StopNavigation = 1; |
169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
171 | } |
171 | } |
172 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
172 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
173 | { |
173 | { |
174 | LED_RED_ON; |
174 | LED_RED_ON; |
175 | #ifndef FOLLOW_ME |
175 | #ifndef FOLLOW_ME |
176 | sprintf(ErrorMSG,"FC not compatible "); |
176 | sprintf(ErrorMSG,"FC not compatible "); |
177 | #else |
177 | #else |
178 | sprintf(ErrorMSG,"! FollowMe only ! "); |
178 | sprintf(ErrorMSG,"! FollowMe only ! "); |
179 | #endif |
179 | #endif |
180 | newErrorCode = 1; |
180 | newErrorCode = 1; |
181 | StopNavigation = 1; |
181 | StopNavigation = 1; |
182 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
182 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
183 | DebugOut.StatusRed |= AMPEL_NC; |
183 | DebugOut.StatusRed |= AMPEL_NC; |
184 | } |
184 | } |
185 | 185 | ||
186 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
186 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
187 | { |
187 | { |
188 | LED_RED_ON; |
188 | LED_RED_ON; |
189 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
189 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
190 | newErrorCode = 10; |
190 | newErrorCode = 10; |
191 | } |
191 | } |
192 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
192 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
193 | { |
193 | { |
194 | LED_RED_ON; |
194 | LED_RED_ON; |
195 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
195 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
196 | newErrorCode = 11; |
196 | newErrorCode = 11; |
197 | } |
197 | } |
198 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
198 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
199 | { |
199 | { |
200 | LED_RED_ON; |
200 | LED_RED_ON; |
201 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
201 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
202 | newErrorCode = 12; |
202 | newErrorCode = 12; |
203 | } |
203 | } |
204 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
204 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
205 | { |
205 | { |
206 | LED_RED_ON; |
206 | LED_RED_ON; |
207 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
207 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
208 | newErrorCode = 13; |
208 | newErrorCode = 13; |
209 | } |
209 | } |
210 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
210 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
211 | { |
211 | { |
212 | LED_RED_ON; |
212 | LED_RED_ON; |
213 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
213 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
214 | newErrorCode = 14; |
214 | newErrorCode = 14; |
215 | } |
215 | } |
216 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
216 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
217 | { |
217 | { |
218 | LED_RED_ON; |
218 | LED_RED_ON; |
219 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
219 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
220 | newErrorCode = 15; |
220 | newErrorCode = 15; |
221 | } |
221 | } |
222 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
222 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
223 | { |
223 | { |
224 | LED_RED_ON; |
224 | LED_RED_ON; |
225 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
225 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
226 | newErrorCode = 16; |
226 | newErrorCode = 16; |
227 | } |
227 | } |
228 | else if(FC.Error[1] & FC_ERROR1_I2C) |
228 | else if(FC.Error[1] & FC_ERROR1_I2C) |
229 | { |
229 | { |
230 | LED_RED_ON; |
230 | LED_RED_ON; |
231 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
231 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
232 | newErrorCode = 17; |
232 | newErrorCode = 17; |
233 | } |
233 | } |
234 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
234 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
235 | { |
235 | { |
236 | LED_RED_ON; |
236 | LED_RED_ON; |
237 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
237 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
238 | newErrorCode = 18; |
238 | newErrorCode = 18; |
239 | } |
239 | } |
240 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
240 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
241 | { |
241 | { |
242 | LED_RED_ON; |
242 | LED_RED_ON; |
243 | sprintf(ErrorMSG,"Mixer Error"); |
243 | sprintf(ErrorMSG,"Mixer Error"); |
244 | newErrorCode = 19; |
244 | newErrorCode = 19; |
245 | } |
245 | } |
246 | else if(CheckDelay(UBX_Timeout)) |
246 | else if(CheckDelay(UBX_Timeout)) |
247 | { |
247 | { |
248 | LED_RED_ON; |
248 | LED_RED_ON; |
249 | if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
249 | if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
250 | else |
250 | else |
251 | { |
251 | { |
252 | sprintf(ErrorMSG,"no GPS communication "); |
252 | sprintf(ErrorMSG,"no GPS communication "); |
253 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
253 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
254 | newErrorCode = 5; |
254 | newErrorCode = 5; |
255 | } |
255 | } |
256 | StopNavigation = 1; |
256 | StopNavigation = 1; |
257 | // UBX_Timeout = SetDelay(500); |
257 | // UBX_Timeout = SetDelay(500); |
258 | } |
258 | } |
259 | else if(Compass_Heading < 0) |
259 | else if(Compass_Heading < 0) |
260 | { |
260 | { |
261 | LED_RED_ON; |
261 | LED_RED_ON; |
262 | sprintf(ErrorMSG,"bad compass value "); |
262 | sprintf(ErrorMSG,"bad compass value "); |
263 | newErrorCode = 6; |
263 | newErrorCode = 6; |
264 | StopNavigation = 1; |
264 | StopNavigation = 1; |
265 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
265 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
266 | } |
266 | } |
267 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
267 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
268 | { |
268 | { |
269 | LED_RED_ON; |
269 | LED_RED_ON; |
270 | sprintf(ErrorMSG,"FC spi rx error "); |
270 | sprintf(ErrorMSG,"FC spi rx error "); |
271 | newErrorCode = 8; |
271 | newErrorCode = 8; |
272 | StopNavigation = 1; |
272 | StopNavigation = 1; |
273 | } |
273 | } |
274 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
274 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
275 | { |
275 | { |
276 | LED_RED_ON; |
276 | LED_RED_ON; |
277 | sprintf(ErrorMSG,"FC: Carefree Error"); |
277 | sprintf(ErrorMSG,"FC: Carefree Error"); |
278 | newErrorCode = 20; |
278 | newErrorCode = 20; |
279 | } |
279 | } |
280 | else if(FC.Error[1] & FC_ERROR1_PPM) |
280 | else if(FC.Error[1] & FC_ERROR1_PPM) |
281 | { |
281 | { |
282 | LED_RED_ON; |
282 | LED_RED_ON; |
283 | sprintf(ErrorMSG,"RC Signal lost "); |
283 | sprintf(ErrorMSG,"RC Signal lost "); |
284 | newErrorCode = 7; |
284 | newErrorCode = 7; |
285 | } |
285 | } |
286 | else if(ErrorGpsFixLost) |
286 | else if(ErrorGpsFixLost) |
287 | { |
287 | { |
288 | LED_RED_ON; |
288 | LED_RED_ON; |
289 | sprintf(ErrorMSG,"GPS Fix lost "); |
289 | sprintf(ErrorMSG,"GPS Fix lost "); |
290 | newErrorCode = 21; |
290 | newErrorCode = 21; |
291 | } |
291 | } |
292 | else if(ErrorDisturbedEarthMagnetField) |
292 | else if(ErrorDisturbedEarthMagnetField) |
293 | { |
293 | { |
294 | LED_RED_ON; |
294 | LED_RED_ON; |
295 | sprintf(ErrorMSG,"Magnet error "); |
295 | sprintf(ErrorMSG,"Magnet error "); |
296 | newErrorCode = 22; |
296 | newErrorCode = 22; |
297 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
297 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
299 | } |
299 | } |
300 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
300 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
301 | { |
301 | { |
302 | LED_RED_ON; |
302 | LED_RED_ON; |
303 | sprintf(ErrorMSG,"ERR:Motor restart "); |
303 | sprintf(ErrorMSG,"ERR:Motor restart "); |
304 | newErrorCode = 23; |
304 | newErrorCode = 23; |
305 | DebugOut.StatusRed |= AMPEL_BL; |
305 | DebugOut.StatusRed |= AMPEL_BL; |
306 | } |
306 | } |
307 | else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
307 | else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
308 | { |
308 | { |
309 | LED_RED_ON; |
309 | LED_RED_ON; |
310 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
310 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
311 | newErrorCode = 24; |
311 | newErrorCode = 24; |
312 | DebugOut.StatusRed |= AMPEL_BL; |
312 | DebugOut.StatusRed |= AMPEL_BL; |
313 | } |
313 | } |
- | 314 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
|
- | 315 | { |
|
- | 316 | LED_RED_ON; |
|
- | 317 | sprintf(ErrorMSG,"ERR:Waypoint range "); |
|
- | 318 | newErrorCode = 25; |
|
- | 319 | DebugOut.StatusRed |= AMPEL_NC; |
|
- | 320 | } |
|
314 | else // no error occured |
321 | else // no error occured |
315 | { |
322 | { |
316 | StopNavigation = 0; |
323 | StopNavigation = 0; |
317 | LED_RED_OFF; |
324 | LED_RED_OFF; |
318 | if(no_error_delay) { no_error_delay--; } |
325 | if(no_error_delay) { no_error_delay--; } |
319 | else |
326 | else |
320 | { |
327 | { |
321 | sprintf(ErrorMSG,"No Error "); |
328 | sprintf(ErrorMSG,"No Error "); |
322 | ErrorCode = 0; |
329 | ErrorCode = 0; |
323 | } |
330 | } |
324 | } |
331 | } |
325 | 332 | ||
326 | if(newErrorCode) |
333 | if(newErrorCode) |
327 | { |
334 | { |
328 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
335 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
329 | ErrorCode = newErrorCode; |
336 | ErrorCode = newErrorCode; |
330 | } |
337 | } |
331 | FC.Error[0] = 0; |
338 | FC.Error[0] = 0; |
332 | FC.Error[1] = 0; |
339 | FC.Error[1] = 0; |
333 | FC.Error[2] = 0; |
340 | FC.Error[2] = 0; |
334 | FC.Error[3] = 0; |
341 | FC.Error[3] = 0; |
335 | FC.Error[4] = 0; |
342 | FC.Error[4] = 0; |
336 | ErrorGpsFixLost = 0; |
343 | ErrorGpsFixLost = 0; |
337 | } |
344 | } |
338 | 345 | ||
339 | // the handler will be cyclic called by the timer 1 ISR |
346 | // the handler will be cyclic called by the timer 1 ISR |
340 | // used is for critical timing parts that normaly would handled |
347 | // used is for critical timing parts that normaly would handled |
341 | // within the main loop that could block longer at logging activities |
348 | // within the main loop that could block longer at logging activities |
342 | void EXTIT3_IRQHandler(void) |
349 | void EXTIT3_IRQHandler(void) |
343 | { |
350 | { |
344 | IENABLE; |
351 | IENABLE; |
345 | 352 | ||
346 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
353 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
347 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
354 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
348 | Compass_Update(); // update compass communication |
355 | Compass_Update(); // update compass communication |
349 | Analog_Update(); // get new ADC values |
356 | Analog_Update(); // get new ADC values |
350 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
357 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
351 | 358 | ||
352 | IDISABLE; |
359 | IDISABLE; |
353 | } |
360 | } |
354 | 361 | ||
355 | //---------------------------------------------------------------------------------------------------- |
362 | //---------------------------------------------------------------------------------------------------- |
356 | int main(void) |
363 | int main(void) |
357 | { |
364 | { |
358 | /* |
365 | /* |
359 | static u32 ftimer =0; |
366 | static u32 ftimer =0; |
360 | static u8 fstate = 0; |
367 | static u8 fstate = 0; |
361 | static File_t* f = NULL; |
368 | static File_t* f = NULL; |
362 | */ |
369 | */ |
363 | 370 | ||
364 | /* Configure the system clocks */ |
371 | /* Configure the system clocks */ |
365 | SCU_Config(); |
372 | SCU_Config(); |
366 | /* init VIC (Vectored Interrupt Controller) */ |
373 | /* init VIC (Vectored Interrupt Controller) */ |
367 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
374 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
368 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
375 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
369 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
376 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
370 | VIC_InitDefaultVectors(); |
377 | VIC_InitDefaultVectors(); |
371 | 378 | ||
372 | // initialize timer 1 for System Clock and delay rountines |
379 | // initialize timer 1 for System Clock and delay rountines |
373 | TIMER1_Init(); |
380 | TIMER1_Init(); |
374 | // initialize the LEDs (needs Timer 1) |
381 | // initialize the LEDs (needs Timer 1) |
375 | Led_Init(); |
382 | Led_Init(); |
376 | // initialize the debug UART1 |
383 | // initialize the debug UART1 |
377 | UART1_Init(); |
384 | UART1_Init(); |
378 | UART1_PutString("\r\n---------------------------------------------"); |
385 | UART1_PutString("\r\n---------------------------------------------"); |
379 | // initialize usb |
386 | // initialize usb |
380 | USB_ConfigInit(); |
387 | USB_ConfigInit(); |
381 | // initialize timer 2 for servo outputs |
388 | // initialize timer 2 for servo outputs |
382 | //TIMER2_Init(); |
389 | //TIMER2_Init(); |
383 | // initialize UART2 to FLIGHTCTRL |
390 | // initialize UART2 to FLIGHTCTRL |
384 | UART2_Init(); |
391 | UART2_Init(); |
385 | // initialize UART0 (to MKGPS or MK3MAG) |
392 | // initialize UART0 (to MKGPS or MK3MAG) |
386 | UART0_Init(); |
393 | UART0_Init(); |
387 | // initialize adc |
394 | // initialize adc |
388 | Analog_Init(); |
395 | Analog_Init(); |
389 | // initialize SPI0 to FC |
396 | // initialize SPI0 to FC |
390 | SPI0_Init(); |
397 | SPI0_Init(); |
391 | // initialize i2c bus (needs Timer 1) |
398 | // initialize i2c bus (needs Timer 1) |
392 | I2C1_Init(); |
399 | I2C1_Init(); |
393 | // initialize fat16 partition on sd card (needs Timer 1) |
400 | // initialize fat16 partition on sd card (needs Timer 1) |
394 | Fat16_Init(); |
401 | Fat16_Init(); |
395 | // initialize NC params |
402 | // initialize NC params |
396 | NCParams_Init(); |
403 | NCParams_Init(); |
397 | // initialize the settings |
404 | // initialize the settings |
398 | Settings_Init(); |
405 | Settings_Init(); |
399 | // initialize logging (needs settings) |
406 | // initialize logging (needs settings) |
400 | Logging_Init(); |
407 | Logging_Init(); |
401 | 408 | ||
402 | TimerCheckError = SetDelay(3000); |
409 | TimerCheckError = SetDelay(3000); |
403 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
410 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
404 | UART1_PutString("\n\r Version information:"); |
411 | UART1_PutString("\n\r Version information:"); |
405 | 412 | ||
406 | GetNaviCtrlVersion(); |
413 | GetNaviCtrlVersion(); |
407 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
414 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
408 | DebugOut.StatusRed = 0x00; |
415 | DebugOut.StatusRed = 0x00; |
409 | 416 | ||
410 | Compass_Init(); |
417 | Compass_Init(); |
411 | 418 | ||
412 | #ifdef FOLLOW_ME |
419 | #ifdef FOLLOW_ME |
413 | TransmitAlsoToFC = 1; |
420 | TransmitAlsoToFC = 1; |
414 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
421 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
415 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
422 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
416 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
423 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
417 | TransmitAlsoToFC = 0; |
424 | TransmitAlsoToFC = 0; |
418 | #else |
425 | #else |
419 | SPI0_GetFlightCtrlVersion(); |
426 | SPI0_GetFlightCtrlVersion(); |
420 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
427 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
421 | { |
428 | { |
422 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
429 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
423 | LED_RED_ON; |
430 | LED_RED_ON; |
424 | } |
431 | } |
425 | #endif |
432 | #endif |
426 | 433 | ||
427 | GPS_Init(); |
434 | GPS_Init(); |
428 | 435 | ||
429 | // ---------- Prepare the isr driven |
436 | // ---------- Prepare the isr driven |
430 | // set to absolute lowest priority |
437 | // set to absolute lowest priority |
431 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
438 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
432 | // enable interrupts |
439 | // enable interrupts |
433 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
440 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
434 | 441 | ||
435 | Debug_OK("START"); |
442 | Debug_OK("START"); |
436 | 443 | ||
437 | for (;;) // the endless main loop |
444 | for (;;) // the endless main loop |
438 | { |
445 | { |
439 | UART0_ProcessRxData(); // process request |
446 | UART0_ProcessRxData(); // process request |
440 | UART1_ProcessRxData(); // process request |
447 | UART1_ProcessRxData(); // process request |
441 | USB_ProcessRxData(); // process request |
448 | USB_ProcessRxData(); // process request |
442 | UART0_TransmitTxData(); // send answer |
449 | UART0_TransmitTxData(); // send answer |
443 | UART1_TransmitTxData(); // send answer |
450 | UART1_TransmitTxData(); // send answer |
444 | UART2_TransmitTxData(); // send answer |
451 | UART2_TransmitTxData(); // send answer |
445 | USB_TransmitTxData(); // send answer |
452 | USB_TransmitTxData(); // send answer |
446 | SPI0_UpdateBuffer(); // handle new SPI Data |
453 | SPI0_UpdateBuffer(); // handle new SPI Data |
447 | 454 | ||
448 | // ---------------- Error Check Timing ---------------------------- |
455 | // ---------------- Error Check Timing ---------------------------- |
449 | if(CheckDelay(TimerCheckError)) |
456 | if(CheckDelay(TimerCheckError)) |
450 | { |
457 | { |
451 | TimerCheckError = SetDelay(1000); |
458 | TimerCheckError = SetDelay(1000); |
452 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
459 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
453 | 460 | ||
454 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
461 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
455 | 462 | ||
456 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
463 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
457 | // else NaviData.FlyingTime = 0; // not the time per flight |
464 | // else NaviData.FlyingTime = 0; // not the time per flight |
458 | if(SerialLinkOkay) SerialLinkOkay--; |
465 | if(SerialLinkOkay) SerialLinkOkay--; |
459 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
466 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
460 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
467 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
461 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
468 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
462 | } |
469 | } |
463 | 470 | ||
464 | // ---------------- Logging --------------------------------------- |
471 | // ---------------- Logging --------------------------------------- |
465 | Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
472 | Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
466 | 473 | ||
467 | /* |
474 | /* |
468 | // test |
475 | // test |
469 | if(CheckDelay(ftimer)) |
476 | if(CheckDelay(ftimer)) |
470 | { |
477 | { |
471 | 478 | ||
472 | s8* filename = "test.txt"; |
479 | s8* filename = "test.txt"; |
473 | 480 | ||
474 | ftimer = SetDelay(100); |
481 | ftimer = SetDelay(100); |
475 | if(FC.Poti[3]>100 && fstate == 0) |
482 | if(FC.Poti[3]>100 && fstate == 0) |
476 | { |
483 | { |
477 | fstate = 1; |
484 | fstate = 1; |
478 | } |
485 | } |
479 | else if(FC.Poti[3]<100 && fstate == 2) |
486 | else if(FC.Poti[3]<100 && fstate == 2) |
480 | { |
487 | { |
481 | fstate = 3; |
488 | fstate = 3; |
482 | } |
489 | } |
483 | 490 | ||
484 | switch(fstate) |
491 | switch(fstate) |
485 | { |
492 | { |
486 | case 1: |
493 | case 1: |
487 | sprintf(text,"\r\nStart writing file: %s", filename); |
494 | sprintf(text,"\r\nStart writing file: %s", filename); |
488 | UART1_PutString(text); |
495 | UART1_PutString(text); |
489 | f = fopen_(filename, 'a'); |
496 | f = fopen_(filename, 'a'); |
490 | if(f== NULL) Fat16_Init(); |
497 | if(f== NULL) Fat16_Init(); |
491 | fstate = 2; |
498 | fstate = 2; |
492 | break; |
499 | break; |
493 | 500 | ||
494 | case 2: |
501 | case 2: |
495 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
502 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
496 | break; |
503 | break; |
497 | |
504 | |
498 | case 3: |
505 | case 3: |
499 | sprintf(text,"\r\nClosing file: %s", filename); |
506 | sprintf(text,"\r\nClosing file: %s", filename); |
500 | UART1_PutString(text); |
507 | UART1_PutString(text); |
501 | fclose_(f); |
508 | fclose_(f); |
502 | fstate = 0; |
509 | fstate = 0; |
503 | break; |
510 | break; |
504 | 511 | ||
505 | default: |
512 | default: |
506 | break; |
513 | break; |
507 | } |
514 | } |
508 | } |
515 | } |
509 | */ |
516 | */ |
510 | } |
517 | } |
511 | } |
518 | } |
512 | 519 | ||
513 | // DebugOut.Analog[] |
520 | // DebugOut.Analog[] |
514 | 521 |