WebSVN - NaviCtrl - Diff - Rev 314 and 318


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c.h"
#include "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
#include "eeprom.h"
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearFCStatusFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08;
        else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02;
        else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                ErrorCode = 3;
                StopNavigation = 1;
                DebugOut.Status[0] &= ~0x01; // status of FC Present
                DebugOut.Status[0] &= ~0x02; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no compass communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                DebugOut.Status[1] |= 0x08;
        }
        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
                ErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                ErrorCode = 10;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                ErrorCode = 11;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                ErrorCode = 12;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                ErrorCode = 13;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                ErrorCode = 14;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Z-ACC");
                ErrorCode = 15;
        }
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Pressure sensor");
                ErrorCode = 16;
        }
        else if(FC.Error[1] &  FC_ERROR1_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC I2C");
                ErrorCode = 17;
        }
        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                ErrorCode = 18;
        }
        else if(FC.Error[1] &  FC_ERROR1_MIXER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                ErrorCode = 19;
        }
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 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 ");
                ErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                ErrorCode = 20;
        }
        else if(FC.Error[1] &  FC_ERROR1_PPM)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                ErrorCode = 7;
        }
        else // no error occured
        {
                sprintf(ErrorMSG,"No Error               ");
                ErrorCode = 0;
                StopNavigation = 0;
                LED_RED_OFF;
        }
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04;
        else DebugOut.Status[1] &= ~0x04;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize usb
        USB_ConfigInit();
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag
        DebugOut.Status[1] = 0x00;
 
        Compass_Init();
 
#ifdef FOLLOW_ME
        TransmitAlsoToFC = 1;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
        TransmitAlsoToFC = 0;
#else
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
#endif
 
        GPS_Init();
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        Debug_OK("START");
 
        for (;;) // the endless main loop
        {
                UART0_ProcessRxData();  // process request
                UART1_ProcessRxData();  // process request
                USB_ProcessRxData();    // process request
                UART0_TransmitTxData(); // send answer
                UART1_TransmitTxData(); // send answer
                UART2_TransmitTxData(); // send answer
                USB_TransmitTxData();   // send answer
                SPI0_UpdateBuffer();    // handle new SPI Data
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
                        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)) BeepTime = 1000;
                }
                // ---------------- Logging  ---------------------------------------
                Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
        }
}
 
 
 

Rev 314	Rev 318
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		92
93	u8 ClearFCStatusFlags = 0;	93	u8 ClearFCStatusFlags = 0;
94	u8 StopNavigation = 0;	94	u8 StopNavigation = 0;
95	Param_t Parameter;	95	Param_t Parameter;
96	volatile FC_t FC;	96	volatile FC_t FC;
97		97
98	s8 ErrorMSG[25];	98	s8 ErrorMSG[25];
99		99
100	//----------------------------------------------------------------------------------------------------	100	//----------------------------------------------------------------------------------------------------
101	void SCU_Config(void)	101	void SCU_Config(void)
102	{	102	{
103	/* configure PLL and set it as master clock source */	103	/* configure PLL and set it as master clock source */
104	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	104	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
105	SCU_PLLCmd(DISABLE); // now disable the PLL	105	SCU_PLLCmd(DISABLE); // now disable the PLL
106	#ifdef MCLK96MHZ	106	#ifdef MCLK96MHZ
107	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	107	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
108	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	108	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
109	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	109	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
110	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	110	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
111	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	111	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
112	#else	112	#else
113	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	113	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
114	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	114	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
115	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	115	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
116	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	116	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
117	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	117	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
118	#endif	118	#endif
119	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	119	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
120	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	120	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
121	}	121	}
122		122
123	//----------------------------------------------------------------------------------------------------	123	//----------------------------------------------------------------------------------------------------
124	void GetNaviCtrlVersion(void)	124	void GetNaviCtrlVersion(void)
125	{	125	{
126	u8 msg[25];	126	u8 msg[25];
127		127
128	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);	128	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	UART1_PutString(msg);	129	UART1_PutString(msg);
130	}	130	}
131		131
132	//----------------------------------------------------------------------------------------------------	132	//----------------------------------------------------------------------------------------------------
133		133
134	void CheckErrors(void)	134	void CheckErrors(void)
135	{	135	{
136	UART_VersionInfo.HardwareError[0] = 0;	136	UART_VersionInfo.HardwareError[0] = 0;
137		137
138	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;	138	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;
139	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	139	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
140		140
141	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	141	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
142	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	142	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
143		143
144	if(CheckDelay(SPI0_Timeout))	144	if(CheckDelay(SPI0_Timeout))
145	{	145	{
146	LED_RED_ON;	146	LED_RED_ON;
147	sprintf(ErrorMSG,"no FC communication ");	147	sprintf(ErrorMSG,"no FC communication ");
148	ErrorCode = 3;	148	ErrorCode = 3;
149	StopNavigation = 1;	149	StopNavigation = 1;
150	DebugOut.Status[0] &= ~0x01; // status of FC Present	150	DebugOut.Status[0] &= ~0x01; // status of FC Present
151	DebugOut.Status[0] &= ~0x02; // status of BL Present	151	DebugOut.Status[0] &= ~0x02; // status of BL Present
152	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	152	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
153	}	153	}
154	else if(CheckDelay(I2C1_Timeout))	154	else if(CheckDelay(I2C1_Timeout))
155	{	155	{
156	LED_RED_ON;	156	LED_RED_ON;
157	sprintf(ErrorMSG,"no compass communication ");	157	sprintf(ErrorMSG,"no compass communication ");
158	//Reset I2CBus	158	//Reset I2CBus
159	I2C1_Deinit();	159	I2C1_Deinit();
160	I2C1_Init();	160	I2C1_Init();
161	ErrorCode = 4;	161	ErrorCode = 4;
162	StopNavigation = 1;	162	StopNavigation = 1;
163	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	163	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
164	DebugOut.Status[1] \|= 0x08;	164	DebugOut.Status[1] \|= 0x08;
165	}	165	}
166	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	166	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
167	{	167	{
168	LED_RED_ON;	168	LED_RED_ON;
-		169	#ifndef FOLLOW_ME
169	sprintf(ErrorMSG,"FC not compatible ");	170	sprintf(ErrorMSG,"FC not compatible ");
-		171	#else
-		172	sprintf(ErrorMSG,"! FollowMe only ! ");
-		173	#endif
170	ErrorCode = 1;	174	ErrorCode = 1;
171	StopNavigation = 1;	175	StopNavigation = 1;
172	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	176	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
173	}	177	}
174		178
175	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	179	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
176	{	180	{
177	LED_RED_ON;	181	LED_RED_ON;
178	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	182	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
179	ErrorCode = 10;	183	ErrorCode = 10;
180	}	184	}
181	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	185	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
182	{	186	{
183	LED_RED_ON;	187	LED_RED_ON;
184	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	188	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
185	ErrorCode = 11;	189	ErrorCode = 11;
186	}	190	}
187	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	191	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
188	{	192	{
189	LED_RED_ON;	193	LED_RED_ON;
190	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	194	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
191	ErrorCode = 12;	195	ErrorCode = 12;
192	}	196	}
193	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	197	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
194	{	198	{
195	LED_RED_ON;	199	LED_RED_ON;
196	sprintf(ErrorMSG,"ERR: FC Nick ACC");	200	sprintf(ErrorMSG,"ERR: FC Nick ACC");
197	ErrorCode = 13;	201	ErrorCode = 13;
198	}	202	}
199	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	203	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
200	{	204	{
201	LED_RED_ON;	205	LED_RED_ON;
202	sprintf(ErrorMSG,"ERR: FC Roll ACC");	206	sprintf(ErrorMSG,"ERR: FC Roll ACC");
203	ErrorCode = 14;	207	ErrorCode = 14;
204	}	208	}
205	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	209	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
206	{	210	{
207	LED_RED_ON;	211	LED_RED_ON;
208	sprintf(ErrorMSG,"ERR: FC Z-ACC");	212	sprintf(ErrorMSG,"ERR: FC Z-ACC");
209	ErrorCode = 15;	213	ErrorCode = 15;
210	}	214	}
211	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	215	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
212	{	216	{
213	LED_RED_ON;	217	LED_RED_ON;
214	sprintf(ErrorMSG,"ERR: Pressure sensor");	218	sprintf(ErrorMSG,"ERR: Pressure sensor");
215	ErrorCode = 16;	219	ErrorCode = 16;
216	}	220	}
217	else if(FC.Error[1] & FC_ERROR1_I2C)	221	else if(FC.Error[1] & FC_ERROR1_I2C)
218	{	222	{
219	LED_RED_ON;	223	LED_RED_ON;
220	sprintf(ErrorMSG,"ERR: FC I2C");	224	sprintf(ErrorMSG,"ERR: FC I2C");
221	ErrorCode = 17;	225	ErrorCode = 17;
222	}	226	}
223	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	227	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
224	{	228	{
225	LED_RED_ON;	229	LED_RED_ON;
226	sprintf(ErrorMSG,"ERR: Bl Missing");	230	sprintf(ErrorMSG,"ERR: Bl Missing");
227	ErrorCode = 18;	231	ErrorCode = 18;
228	}	232	}
229	else if(FC.Error[1] & FC_ERROR1_MIXER)	233	else if(FC.Error[1] & FC_ERROR1_MIXER)
230	{	234	{
231	LED_RED_ON;	235	LED_RED_ON;
232	sprintf(ErrorMSG,"Mixer Error");	236	sprintf(ErrorMSG,"Mixer Error");
233	ErrorCode = 19;	237	ErrorCode = 19;
234	}	238	}
235	else if(CheckDelay(UBX_Timeout))	239	else if(CheckDelay(UBX_Timeout))
236	{	240	{
237	LED_RED_ON;	241	LED_RED_ON;
238	sprintf(ErrorMSG,"no GPS communication ");	242	sprintf(ErrorMSG,"no GPS communication ");
239	ErrorCode = 5;	243	ErrorCode = 5;
240	StopNavigation = 1;	244	StopNavigation = 1;
241	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	245	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
242	}	246	}
243	else if(Compass_Heading < 0)	247	else if(Compass_Heading < 0)
244	{	248	{
245	LED_RED_ON;	249	LED_RED_ON;
246	sprintf(ErrorMSG,"bad compass value ");	250	sprintf(ErrorMSG,"bad compass value ");
247	ErrorCode = 6;	251	ErrorCode = 6;
248	StopNavigation = 1;	252	StopNavigation = 1;
249	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	253	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
250	}	254	}
251	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	255	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
252	{	256	{
253	LED_RED_ON;	257	LED_RED_ON;
254	sprintf(ErrorMSG,"FC spi rx error ");	258	sprintf(ErrorMSG,"FC spi rx error ");
255	ErrorCode = 8;	259	ErrorCode = 8;
256	StopNavigation = 1;	260	StopNavigation = 1;
257	}	261	}
258	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	262	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
259	{	263	{
260	LED_RED_ON;	264	LED_RED_ON;
261	sprintf(ErrorMSG,"FC: Carefree Error");	265	sprintf(ErrorMSG,"FC: Carefree Error");
262	ErrorCode = 20;	266	ErrorCode = 20;
263	}	267	}
264	else if(FC.Error[1] & FC_ERROR1_PPM)	268	else if(FC.Error[1] & FC_ERROR1_PPM)
265	{	269	{
266	LED_RED_ON;	270	LED_RED_ON;
267	sprintf(ErrorMSG,"RC Signal lost ");	271	sprintf(ErrorMSG,"RC Signal lost ");
268	ErrorCode = 7;	272	ErrorCode = 7;
269	}	273	}
270	else // no error occured	274	else // no error occured
271	{	275	{
272	sprintf(ErrorMSG,"No Error ");	276	sprintf(ErrorMSG,"No Error ");
273	ErrorCode = 0;	277	ErrorCode = 0;
274	StopNavigation = 0;	278	StopNavigation = 0;
275	LED_RED_OFF;	279	LED_RED_OFF;
276	}	280	}
277	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;	281	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
278	else DebugOut.Status[1] &= ~0x04;	282	else DebugOut.Status[1] &= ~0x04;
279	}	283	}
280		284
281	// the handler will be cyclic called by the timer 1 ISR	285	// the handler will be cyclic called by the timer 1 ISR
282	// used is for critical timing parts that normaly would handled	286	// used is for critical timing parts that normaly would handled
283	// within the main loop that could block longer at logging activities	287	// within the main loop that could block longer at logging activities
284	void EXTIT3_IRQHandler(void)	288	void EXTIT3_IRQHandler(void)
285	{	289	{
286	IENABLE;	290	IENABLE;
287		291
288	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	292	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
289	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	293	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
290	Compass_Update(); // update compass communication	294	Compass_Update(); // update compass communication
291	Analog_Update(); // get new ADC values	295	Analog_Update(); // get new ADC values
292	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	296	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
293		297
294	IDISABLE;	298	IDISABLE;
295	}	299	}
296		300
297	//----------------------------------------------------------------------------------------------------	301	//----------------------------------------------------------------------------------------------------
298	int main(void)	302	int main(void)
299	{	303	{
300	/* Configure the system clocks */	304	/* Configure the system clocks */
301	SCU_Config();	305	SCU_Config();
302	/* init VIC (Vectored Interrupt Controller) */	306	/* init VIC (Vectored Interrupt Controller) */
303	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	307	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
304	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	308	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
305	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	309	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
306	VIC_InitDefaultVectors();	310	VIC_InitDefaultVectors();
307		311
308	// initialize timer 1 for System Clock and delay rountines	312	// initialize timer 1 for System Clock and delay rountines
309	TIMER1_Init();	313	TIMER1_Init();
310	// initialize the LEDs (needs Timer 1)	314	// initialize the LEDs (needs Timer 1)
311	Led_Init();	315	Led_Init();
312	// initialize the debug UART1	316	// initialize the debug UART1
313	UART1_Init();	317	UART1_Init();
314	UART1_PutString("\r\n---------------------------------------------");	318	UART1_PutString("\r\n---------------------------------------------");
315	// initialize usb	319	// initialize usb
316	USB_ConfigInit();	320	USB_ConfigInit();
317	// initialize timer 2 for servo outputs	321	// initialize timer 2 for servo outputs
318	//TIMER2_Init();	322	//TIMER2_Init();
319	// initialize UART2 to FLIGHTCTRL	323	// initialize UART2 to FLIGHTCTRL
320	UART2_Init();	324	UART2_Init();
321	// initialize UART0 (to MKGPS or MK3MAG)	325	// initialize UART0 (to MKGPS or MK3MAG)
322	UART0_Init();	326	UART0_Init();
323	// initialize adc	327	// initialize adc
324	Analog_Init();	328	Analog_Init();
325	// initialize SPI0 to FC	329	// initialize SPI0 to FC
326	SPI0_Init();	330	SPI0_Init();
327	// initialize i2c bus (needs Timer 1)	331	// initialize i2c bus (needs Timer 1)
328	I2C1_Init();	332	I2C1_Init();
329	// initialize fat16 partition on sd card (needs Timer 1)	333	// initialize fat16 partition on sd card (needs Timer 1)
330	Fat16_Init();	334	Fat16_Init();
331	// initialize NC params	335	// initialize NC params
332	NCParams_Init();	336	NCParams_Init();
333	// initialize the settings	337	// initialize the settings
334	Settings_Init();	338	Settings_Init();
335	// initialize logging (needs settings)	339	// initialize logging (needs settings)
336	Logging_Init();	340	Logging_Init();
337		341
338	TimerCheckError = SetDelay(3000);	342	TimerCheckError = SetDelay(3000);
339	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	343	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
340	UART1_PutString("\n\r Version information:");	344	UART1_PutString("\n\r Version information:");
341		345
342	GetNaviCtrlVersion();	346	GetNaviCtrlVersion();
343	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	347	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
344	DebugOut.Status[1] = 0x00;	348	DebugOut.Status[1] = 0x00;
345		349
346	Compass_Init();	350	Compass_Init();
347		351
348	#ifdef FOLLOW_ME	352	#ifdef FOLLOW_ME
349	TransmitAlsoToFC = 1;	353	TransmitAlsoToFC = 1;
350	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	354	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
351	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");	355	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
352	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");	356	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
353	TransmitAlsoToFC = 0;	357	TransmitAlsoToFC = 0;
354	#else	358	#else
355	SPI0_GetFlightCtrlVersion();	359	SPI0_GetFlightCtrlVersion();
356	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	360	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
357	{	361	{
358	UART1_PutString("\n\r Flight-Ctrl not compatible");	362	UART1_PutString("\n\r Flight-Ctrl not compatible");
359	LED_RED_ON;	363	LED_RED_ON;
360	}	364	}
361	#endif	365	#endif
362		366
363	GPS_Init();	367	GPS_Init();
364		368
365	// ---------- Prepare the isr driven	369	// ---------- Prepare the isr driven
366	// set to absolute lowest priority	370	// set to absolute lowest priority
367	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	371	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
368	// enable interrupts	372	// enable interrupts
369	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	373	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
370		374
371	Debug_OK("START");	375	Debug_OK("START");
372		376
373	for (;;) // the endless main loop	377	for (;;) // the endless main loop
374	{	378	{
375	UART0_ProcessRxData(); // process request	379	UART0_ProcessRxData(); // process request
376	UART1_ProcessRxData(); // process request	380	UART1_ProcessRxData(); // process request
377	USB_ProcessRxData(); // process request	381	USB_ProcessRxData(); // process request
378	UART0_TransmitTxData(); // send answer	382	UART0_TransmitTxData(); // send answer
379	UART1_TransmitTxData(); // send answer	383	UART1_TransmitTxData(); // send answer
380	UART2_TransmitTxData(); // send answer	384	UART2_TransmitTxData(); // send answer
381	USB_TransmitTxData(); // send answer	385	USB_TransmitTxData(); // send answer
382	SPI0_UpdateBuffer(); // handle new SPI Data	386	SPI0_UpdateBuffer(); // handle new SPI Data
383	// ---------------- Error Check Timing ----------------------------	387	// ---------------- Error Check Timing ----------------------------
384	if(CheckDelay(TimerCheckError))	388	if(CheckDelay(TimerCheckError))
385	{	389	{
386	TimerCheckError = SetDelay(1000);	390	TimerCheckError = SetDelay(1000);
387	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	391	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
388	CheckErrors();	392	CheckErrors();
389	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	393	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
390	// else NaviData.FlyingTime = 0; // not the time per flight	394	// else NaviData.FlyingTime = 0; // not the time per flight
391	if(SerialLinkOkay) SerialLinkOkay--;	395	if(SerialLinkOkay) SerialLinkOkay--;
392	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	396	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
393	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	397	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
394	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	398	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
395	}	399	}
396	// ---------------- Logging ---------------------------------------	400	// ---------------- Logging ---------------------------------------
397	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	401	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
398	}	402	}
399	}	403	}
400		404
401		405
402		406

Subversion Repositories NaviCtrl

(root)/tags/V2.06d/main.c @ 552 - Rev 314 → 318