WebSVN - NaviCtrl - Diff - Rev 270 and 275


/*#######################################################################################*/
/* !!! 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"
 
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(/*(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) ||*/ 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;
                sprintf(ErrorMSG,"FC not compatible ");
                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(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                sprintf(ErrorMSG,"MK3Mag not compatible ");
                LED_RED_ON;
                ErrorCode = 2;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
        } */
        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_UpdateHeading();        // 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();
 
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
 
        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 270	Rev 275
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		82
83	#include "eeprom.h"	83	#include "eeprom.h"
84		84
85	u32 TimerCheckError;	85	u32 TimerCheckError;
86	u8 ErrorCode = 0;	86	u8 ErrorCode = 0;
87	u16 BeepTime;	87	u16 BeepTime;
88	u8 NCFlags = 0;	88	u8 NCFlags = 0;
89	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	89	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
90		90
91	u8 ClearFCStatusFlags = 0;	91	u8 ClearFCStatusFlags = 0;
92	u8 StopNavigation = 0;	92	u8 StopNavigation = 0;
93	Param_t Parameter;	93	Param_t Parameter;
94	volatile FC_t FC;	94	volatile FC_t FC;
95		95
96	s8 ErrorMSG[25];	96	s8 ErrorMSG[25];
97		97
98	//----------------------------------------------------------------------------------------------------	98	//----------------------------------------------------------------------------------------------------
99	void SCU_Config(void)	99	void SCU_Config(void)
100	{	100	{
101	/* configure PLL and set it as master clock source */	101	/* configure PLL and set it as master clock source */
102	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	102	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
103	SCU_PLLCmd(DISABLE); // now disable the PLL	103	SCU_PLLCmd(DISABLE); // now disable the PLL
104	#ifdef MCLK96MHZ	104	#ifdef MCLK96MHZ
105	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	105	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
106	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	106	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
107	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	107	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
108	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	108	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
109	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	109	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
110	#else	110	#else
111	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	111	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
112	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	112	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
113	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	113	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
114	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	114	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
115	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	115	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
116	#endif	116	#endif
117	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	117	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
118	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	118	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
119	}	119	}
120		120
121	//----------------------------------------------------------------------------------------------------	121	//----------------------------------------------------------------------------------------------------
122	void GetNaviCtrlVersion(void)	122	void GetNaviCtrlVersion(void)
123	{	123	{
124	u8 msg[25];	124	u8 msg[25];
125		125
126	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);	126	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);
127	UART1_PutString(msg);	127	UART1_PutString(msg);
128	}	128	}
129		129
130	//----------------------------------------------------------------------------------------------------	130	//----------------------------------------------------------------------------------------------------
131		131
132	void CheckErrors(void)	132	void CheckErrors(void)
133	{	133	{
134	UART_VersionInfo.HardwareError[0] = 0;	134	UART_VersionInfo.HardwareError[0] = 0;
135		135
136	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;	136	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;
137	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	137	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
138		138
139	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	139	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
140	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	140	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
141		141
142	if(CheckDelay(SPI0_Timeout))	142	if(CheckDelay(SPI0_Timeout))
143	{	143	{
144	LED_RED_ON;	144	LED_RED_ON;
145	sprintf(ErrorMSG,"no FC communication ");	145	sprintf(ErrorMSG,"no FC communication ");
146	ErrorCode = 3;	146	ErrorCode = 3;
147	StopNavigation = 1;	147	StopNavigation = 1;
148	DebugOut.Status[0] &= ~0x01; // status of FC Present	148	DebugOut.Status[0] &= ~0x01; // status of FC Present
149	DebugOut.Status[0] &= ~0x02; // status of BL Present	149	DebugOut.Status[0] &= ~0x02; // status of BL Present
150	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	150	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
151	}	151	}
152	else if(CheckDelay(I2C1_Timeout))	152	else if(CheckDelay(I2C1_Timeout))
153	{	153	{
154	LED_RED_ON;	154	LED_RED_ON;
155	sprintf(ErrorMSG,"no compass communication ");	155	sprintf(ErrorMSG,"no compass communication ");
156	//Reset I2CBus	156	//Reset I2CBus
157	I2C1_Deinit();	157	I2C1_Deinit();
158	I2C1_Init();	158	I2C1_Init();
159	ErrorCode = 4;	159	ErrorCode = 4;
160	StopNavigation = 1;	160	StopNavigation = 1;
161	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	161	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
162	DebugOut.Status[1] \|= 0x08;	162	DebugOut.Status[1] \|= 0x08;
163	}	163	}
164	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	164	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
165	{	165	{
166	LED_RED_ON;	166	LED_RED_ON;
167	sprintf(ErrorMSG,"FC not compatible ");	167	sprintf(ErrorMSG,"FC not compatible ");
168	ErrorCode = 1;	168	ErrorCode = 1;
169	StopNavigation = 1;	169	StopNavigation = 1;
170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
171	}	171	}
172		172
173	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	173	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
174	{	174	{
175	LED_RED_ON;	175	LED_RED_ON;
176	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	176	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
177	ErrorCode = 10;	177	ErrorCode = 10;
178	}	178	}
179	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	179	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
180	{	180	{
181	LED_RED_ON;	181	LED_RED_ON;
182	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	182	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
183	ErrorCode = 11;	183	ErrorCode = 11;
184	}	184	}
185	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	185	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
186	{	186	{
187	LED_RED_ON;	187	LED_RED_ON;
188	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	188	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
189	ErrorCode = 12;	189	ErrorCode = 12;
190	}	190	}
191	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	191	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
192	{	192	{
193	LED_RED_ON;	193	LED_RED_ON;
194	sprintf(ErrorMSG,"ERR: FC Nick ACC");	194	sprintf(ErrorMSG,"ERR: FC Nick ACC");
195	ErrorCode = 13;	195	ErrorCode = 13;
196	}	196	}
197	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	197	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
198	{	198	{
199	LED_RED_ON;	199	LED_RED_ON;
200	sprintf(ErrorMSG,"ERR: FC Roll ACC");	200	sprintf(ErrorMSG,"ERR: FC Roll ACC");
201	ErrorCode = 14;	201	ErrorCode = 14;
202	}	202	}
203	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	203	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
204	{	204	{
205	LED_RED_ON;	205	LED_RED_ON;
206	sprintf(ErrorMSG,"ERR: FC Z-ACC");	206	sprintf(ErrorMSG,"ERR: FC Z-ACC");
207	ErrorCode = 15;	207	ErrorCode = 15;
208	}	208	}
209	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	209	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
210	{	210	{
211	LED_RED_ON;	211	LED_RED_ON;
212	sprintf(ErrorMSG,"ERR: Pressure sensor");	212	sprintf(ErrorMSG,"ERR: Pressure sensor");
213	ErrorCode = 16;	213	ErrorCode = 16;
214	}	214	}
215	else if(FC.Error[1] & FC_ERROR1_I2C)	215	else if(FC.Error[1] & FC_ERROR1_I2C)
216	{	216	{
217	LED_RED_ON;	217	LED_RED_ON;
218	sprintf(ErrorMSG,"ERR: FC I2C");	218	sprintf(ErrorMSG,"ERR: FC I2C");
219	ErrorCode = 17;	219	ErrorCode = 17;
220	}	220	}
221	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	221	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
222	{	222	{
223	LED_RED_ON;	223	LED_RED_ON;
224	sprintf(ErrorMSG,"ERR: Bl Missing");	224	sprintf(ErrorMSG,"ERR: Bl Missing");
225	ErrorCode = 18;	225	ErrorCode = 18;
226	}	226	}
227	else if(FC.Error[1] & FC_ERROR1_MIXER)	227	else if(FC.Error[1] & FC_ERROR1_MIXER)
228	{	228	{
229	LED_RED_ON;	229	LED_RED_ON;
230	sprintf(ErrorMSG,"Mixer Error");	230	sprintf(ErrorMSG,"Mixer Error");
231	ErrorCode = 19;	231	ErrorCode = 19;
232	}	232	}
233	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	233	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
234	{	234	{
235	sprintf(ErrorMSG,"MK3Mag not compatible ");	235	sprintf(ErrorMSG,"MK3Mag not compatible ");
236	LED_RED_ON;	236	LED_RED_ON;
237	ErrorCode = 2;	237	ErrorCode = 2;
238	StopNavigation = 1;	238	StopNavigation = 1;
239	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;	239	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;
240	} */	240	} */
241	else if(CheckDelay(UBX_Timeout))	241	else if(CheckDelay(UBX_Timeout))
242	{	242	{
243	LED_RED_ON;	243	LED_RED_ON;
244	sprintf(ErrorMSG,"no GPS communication ");	244	sprintf(ErrorMSG,"no GPS communication ");
245	ErrorCode = 5;	245	ErrorCode = 5;
246	StopNavigation = 1;	246	StopNavigation = 1;
247	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	247	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
248	}	248	}
249	else if(Compass_Heading < 0)	249	else if(Compass_Heading < 0)
250	{	250	{
251	LED_RED_ON;	251	LED_RED_ON;
252	sprintf(ErrorMSG,"bad compass value ");	252	sprintf(ErrorMSG,"bad compass value ");
253	ErrorCode = 6;	253	ErrorCode = 6;
254	StopNavigation = 1;	254	StopNavigation = 1;
255	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	255	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
256	}	256	}
257	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	257	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
258	{	258	{
259	LED_RED_ON;	259	LED_RED_ON;
260	sprintf(ErrorMSG,"FC spi rx error ");	260	sprintf(ErrorMSG,"FC spi rx error ");
261	ErrorCode = 8;	261	ErrorCode = 8;
262	StopNavigation = 1;	262	StopNavigation = 1;
263	}	263	}
264	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	264	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
265	{	265	{
266	LED_RED_ON;	266	LED_RED_ON;
267	sprintf(ErrorMSG,"FC: Carefree Error");	267	sprintf(ErrorMSG,"FC: Carefree Error");
268	ErrorCode = 20;	268	ErrorCode = 20;
269	}	269	}
270	else if(FC.Error[1] & FC_ERROR1_PPM)	270	else if(FC.Error[1] & FC_ERROR1_PPM)
271	{	271	{
272	LED_RED_ON;	272	LED_RED_ON;
273	sprintf(ErrorMSG,"RC Signal lost ");	273	sprintf(ErrorMSG,"RC Signal lost ");
274	ErrorCode = 7;	274	ErrorCode = 7;
275	}	275	}
276	else // no error occured	276	else // no error occured
277	{	277	{
278	sprintf(ErrorMSG,"No Error ");	278	sprintf(ErrorMSG,"No Error ");
279	ErrorCode = 0;	279	ErrorCode = 0;
280	StopNavigation = 0;	280	StopNavigation = 0;
281	LED_RED_OFF;	281	LED_RED_OFF;
282	}	282	}
283	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;	283	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
284	else DebugOut.Status[1] &= ~0x04;	284	else DebugOut.Status[1] &= ~0x04;
285	}	285	}
286		286
287	// the handler will be cyclic called by the timer 1 ISR	287	// the handler will be cyclic called by the timer 1 ISR
288	// used is for critical timing parts that normaly would handled	288	// used is for critical timing parts that normaly would handled
289	// within the main loop that could block longer at logging activities	289	// within the main loop that could block longer at logging activities
290	void EXTIT3_IRQHandler(void)	290	void EXTIT3_IRQHandler(void)
291	{	291	{
292	IENABLE;	292	IENABLE;
293		293
294	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	294	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
295	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	295	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
296	Compass_UpdateHeading(); // update compass communication	296	Compass_UpdateHeading(); // update compass communication
297	Analog_Update(); // get new ADC values	297	Analog_Update(); // get new ADC values
298	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	298	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
299		299
300	IDISABLE;	300	IDISABLE;
301	}	301	}
302		302
303	//----------------------------------------------------------------------------------------------------	303	//----------------------------------------------------------------------------------------------------
304	int main(void)	304	int main(void)
305	{	305	{
306	/* Configure the system clocks */	306	/* Configure the system clocks */
307	SCU_Config();	307	SCU_Config();
308	/* init VIC (Vectored Interrupt Controller) */	308	/* init VIC (Vectored Interrupt Controller) */
309	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	309	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
310	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	310	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
311	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	311	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
312	VIC_InitDefaultVectors();	312	VIC_InitDefaultVectors();
313		313
314	// initialize timer 1 for System Clock and delay rountines	314	// initialize timer 1 for System Clock and delay rountines
315	TIMER1_Init();	315	TIMER1_Init();
316	// initialize the LEDs (needs Timer 1)	316	// initialize the LEDs (needs Timer 1)
317	Led_Init();	317	Led_Init();
318	// initialize the debug UART1	318	// initialize the debug UART1
319	UART1_Init();	319	UART1_Init();
320	UART1_PutString("\r\n---------------------------------------------");	320	UART1_PutString("\r\n---------------------------------------------");
-		321	// initialize usb
-		322	USB_ConfigInit();
321	// initialize timer 2 for servo outputs	323	// initialize timer 2 for servo outputs
322	//TIMER2_Init();	324	//TIMER2_Init();
323	// initialize UART2 to FLIGHTCTRL	325	// initialize UART2 to FLIGHTCTRL
324	UART2_Init();	326	UART2_Init();
325	// initialize UART0 (to MKGPS or MK3MAG)	327	// initialize UART0 (to MKGPS or MK3MAG)
326	UART0_Init();	328	UART0_Init();
327	// initialize adc	329	// initialize adc
328	Analog_Init();	330	Analog_Init();
329	// initialize usb	-
330	USB_ConfigInit();	-
331	// initialize SPI0 to FC	331	// initialize SPI0 to FC
332	SPI0_Init();	332	SPI0_Init();
333	// initialize i2c bus (needs Timer 1)	333	// initialize i2c bus (needs Timer 1)
334	I2C1_Init();	334	I2C1_Init();
335	// initialize fat16 partition on sd card (needs Timer 1)	335	// initialize fat16 partition on sd card (needs Timer 1)
336	Fat16_Init();	336	Fat16_Init();
337	// initialize NC params	337	// initialize NC params
338	NCParams_Init();	338	NCParams_Init();
339	// initialize the settings	339	// initialize the settings
340	Settings_Init();	340	Settings_Init();
341	// initialize logging (needs settings)	341	// initialize logging (needs settings)
342	Logging_Init();	342	Logging_Init();
343		343
344	TimerCheckError = SetDelay(3000);	344	TimerCheckError = SetDelay(3000);
345	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	345	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
346	UART1_PutString("\n\r Version information:");	346	UART1_PutString("\n\r Version information:");
347		347
348	GetNaviCtrlVersion();	348	GetNaviCtrlVersion();
349	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	349	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
350	DebugOut.Status[1] = 0x00;	350	DebugOut.Status[1] = 0x00;
351		351
352	Compass_Init();	352	Compass_Init();
353		353
354	SPI0_GetFlightCtrlVersion();	354	SPI0_GetFlightCtrlVersion();
355	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	355	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
356	{	356	{
357	UART1_PutString("\n\r Flight-Ctrl not compatible");	357	UART1_PutString("\n\r Flight-Ctrl not compatible");
358	LED_RED_ON;	358	LED_RED_ON;
359	}	359	}
360		360
361	GPS_Init();	361	GPS_Init();
362		362
363	// ---------- Prepare the isr driven	363	// ---------- Prepare the isr driven
364	// set to absolute lowest priority	364	// set to absolute lowest priority
365	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	365	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
366	// enable interrupts	366	// enable interrupts
367	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	367	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
368		368
369	Debug_OK("START");	369	Debug_OK("START");
370		370
371	for (;;) // the endless main loop	371	for (;;) // the endless main loop
372	{	372	{
373	UART0_ProcessRxData(); // process request	373	UART0_ProcessRxData(); // process request
374	UART1_ProcessRxData(); // process request	374	UART1_ProcessRxData(); // process request
375	USB_ProcessRxData(); // process request	375	USB_ProcessRxData(); // process request
376	UART0_TransmitTxData(); // send answer	376	UART0_TransmitTxData(); // send answer
377	UART1_TransmitTxData(); // send answer	377	UART1_TransmitTxData(); // send answer
378	UART2_TransmitTxData(); // send answer	378	UART2_TransmitTxData(); // send answer
379	USB_TransmitTxData(); // send answer	379	USB_TransmitTxData(); // send answer
380	SPI0_UpdateBuffer(); // handle new SPI Data	380	SPI0_UpdateBuffer(); // handle new SPI Data
381	// ---------------- Error Check Timing ----------------------------	381	// ---------------- Error Check Timing ----------------------------
382	if(CheckDelay(TimerCheckError))	382	if(CheckDelay(TimerCheckError))
383	{	383	{
384	TimerCheckError = SetDelay(1000);	384	TimerCheckError = SetDelay(1000);
385	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	385	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
386	CheckErrors();	386	CheckErrors();
387	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	387	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
388	// else NaviData.FlyingTime = 0; // not the time per flight	388	// else NaviData.FlyingTime = 0; // not the time per flight
389	if(SerialLinkOkay) SerialLinkOkay--;	389	if(SerialLinkOkay) SerialLinkOkay--;
390	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	390	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
391	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	391	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
392	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	392	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
393	}	393	}
394	// ---------------- Logging ---------------------------------------	394	// ---------------- Logging ---------------------------------------
395	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	395	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
396	}	396	}
397	}	397	}
398		398
399		399
400		400

Subversion Repositories NaviCtrl

(root)/tags/V2.06d/main.c @ 553 - Rev 270 → 275