WebSVN - NaviCtrl - Diff - Rev 252 and 254


/*#######################################################################################*/
/* !!! 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"
 
u8 BoardRelease = 0;
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearFCFlags = 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 V%d.%d%c",  VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
#define DEFEKT_G_NICK           0x01
#define DEFEKT_G_ROLL           0x02
#define DEFEKT_G_GIER           0x04
#define DEFEKT_A_NICK           0x08
#define DEFEKT_A_ROLL           0x10
#define DEFEKT_A_Z              0x20
#define DEFEKT_PRESSURE         0x40
#define DEFEKT_CAREFREE_ERR 0x80
 
#define DEFEKT_I2C              0x01
#define DEFEKT_BL_MISSING       0x02
#define DEFEKT_SPI_RX_ERR       0x04
#define DEFEKT_PPM_ERR          0x08
#define DEFEKT_MIXER_ERR    0x10
//----------------------------------------------------------------------------------------------------
#define ERROR_FC_COMMUNICATION          0x01
#define ERROR_MK3_COMMUNICATION         0x02
#define ERROR_FC_INCOMPATIBLE           0x04
#define ERROR_MK3_INCOMPATIBLE          0x08
#define ERROR_GPS_COMMUNICATION         0x10
#define ERROR_COMPASS_VALUE                     0x20
//----------------------------------------------------------------------------------------------------
 
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_ErrorCode[1] & DEFEKT_I2C) || (FC_ErrorCode[1] & DEFEKT_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] |= ERROR_FC_COMMUNICATION;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no MK3Mag communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_MK3_COMMUNICATION;
                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] |= ERROR_FC_INCOMPATIBLE;
        }
 
        else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                ErrorCode = 10;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                ErrorCode = 11;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                ErrorCode = 12;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                ErrorCode = 13;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                ErrorCode = 14;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_Z)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Z-ACC");
                ErrorCode = 15;
        }
        else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Pressure sensor");
                ErrorCode = 16;
        }
        else if(FC_ErrorCode[1] & DEFEKT_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC I2C");
                ErrorCode = 17;
        }
        else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                ErrorCode = 18;
        }
        else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
        {
                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] |= ERROR_MK3_INCOMPATIBLE;
        } */
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_GPS_COMMUNICATION;
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_COMPASS_VALUE;
        }
        else if(FC.Flags & FCFLAG_SPI_RX_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                ErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                ErrorCode = 20;
        }
        else if(FC.RC_Quality < 100)
        {
                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 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 usb
        USB_ConfigInit();
        // 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();    
 
        /*{
        u8 i;
        u8 text[20];
        u8 mesg[10];
        UART1_PutString("\r\nFill\r\n");
        for(i=0;i<20;i++)
        {
                text[i] = 0xAA;
                sprintf(mesg,"%02X ", text[i]);
                UART1_PutString(mesg);
        }
 
        sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(50, text, 18));
        UART1_PutString(mesg);
        for(i=0;i<20;i++)
        {
                sprintf(mesg,"%02X ", text[i]);
                UART1_PutString(mesg);
                text[i] = i;
        }
        UART1_PutString("\r\nFill\r\n");
        for(i=0;i<20;i++)
        {
                sprintf(mesg,"%02X ", text[i]);
                UART1_PutString(mesg);
        }
        sprintf(mesg, "\r\nEEWrite = %d\r\n", EEPROM_WriteBlock(0, text, 18));
        UART1_PutString(mesg);
        for(i=0;i<20;i++)
        {
                sprintf(mesg,"%02X ", text[i]);
                UART1_PutString(mesg);
                text[i]=0xAA;
        }
        UART1_PutString("\r\nFill\r\n");
        for(i=0;i<20;i++)
        {
                sprintf(mesg,"%02X ", text[i]);
                UART1_PutString(mesg);
        }
        sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(0, text, 18));
        UART1_PutString(mesg);
        for(i=0;i<20;i++)
        {
                sprintf(mesg,"%02X ", text[i]);
                UART1_PutString(mesg);
        }
        }*/
 
        // ---------- 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.Flags & FCFLAG_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 252	Rev 254
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
-		83	#include "eeprom.h"
82		84
83	u8 BoardRelease = 0;	85	u8 BoardRelease = 0;
84	u32 TimerCheckError;	86	u32 TimerCheckError;
85	u8 ErrorCode = 0;	87	u8 ErrorCode = 0;
86	u16 BeepTime;	88	u16 BeepTime;
87	u8 NCFlags = 0;	89	u8 NCFlags = 0;
88	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	90	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
89		91
90	u8 ClearFCFlags = 0;	92	u8 ClearFCFlags = 0;
91	u8 StopNavigation = 0;	93	u8 StopNavigation = 0;
92	Param_t Parameter;	94	Param_t Parameter;
93	volatile FC_t FC;	95	volatile FC_t FC;
94		96
95	s8 ErrorMSG[25];	97	s8 ErrorMSG[25];
96		98
97	//----------------------------------------------------------------------------------------------------	99	//----------------------------------------------------------------------------------------------------
98	void SCU_Config(void)	100	void SCU_Config(void)
99	{	101	{
100	/* configure PLL and set it as master clock source */	102	/* configure PLL and set it as master clock source */
101	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	103	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
102	SCU_PLLCmd(DISABLE); // now disable the PLL	104	SCU_PLLCmd(DISABLE); // now disable the PLL
103	#ifdef MCLK96MHZ	105	#ifdef MCLK96MHZ
104	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	106	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
105	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	107	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
106	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	108	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
107	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	109	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
108	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	110	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
109	#else	111	#else
110	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	112	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
111	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	113	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
112	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	114	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
113	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	115	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
114	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	116	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
115	#endif	117	#endif
116	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	118	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
117	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	119	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
118	}	120	}
119		121
120	//----------------------------------------------------------------------------------------------------	122	//----------------------------------------------------------------------------------------------------
121	void GetNaviCtrlVersion(void)	123	void GetNaviCtrlVersion(void)
122	{	124	{
123	u8 msg[25];	125	u8 msg[25];
124		126
125	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	127	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
126	UART1_PutString(msg);	128	UART1_PutString(msg);
127	}	129	}
128		130
129	//----------------------------------------------------------------------------------------------------	131	//----------------------------------------------------------------------------------------------------
130	#define DEFEKT_G_NICK 0x01	132	#define DEFEKT_G_NICK 0x01
131	#define DEFEKT_G_ROLL 0x02	133	#define DEFEKT_G_ROLL 0x02
132	#define DEFEKT_G_GIER 0x04	134	#define DEFEKT_G_GIER 0x04
133	#define DEFEKT_A_NICK 0x08	135	#define DEFEKT_A_NICK 0x08
134	#define DEFEKT_A_ROLL 0x10	136	#define DEFEKT_A_ROLL 0x10
135	#define DEFEKT_A_Z 0x20	137	#define DEFEKT_A_Z 0x20
136	#define DEFEKT_PRESSURE 0x40	138	#define DEFEKT_PRESSURE 0x40
137	#define DEFEKT_CAREFREE_ERR 0x80	139	#define DEFEKT_CAREFREE_ERR 0x80
138		140
139	#define DEFEKT_I2C 0x01	141	#define DEFEKT_I2C 0x01
140	#define DEFEKT_BL_MISSING 0x02	142	#define DEFEKT_BL_MISSING 0x02
141	#define DEFEKT_SPI_RX_ERR 0x04	143	#define DEFEKT_SPI_RX_ERR 0x04
142	#define DEFEKT_PPM_ERR 0x08	144	#define DEFEKT_PPM_ERR 0x08
143	#define DEFEKT_MIXER_ERR 0x10	145	#define DEFEKT_MIXER_ERR 0x10
144	//----------------------------------------------------------------------------------------------------	146	//----------------------------------------------------------------------------------------------------
145	#define ERROR_FC_COMMUNICATION 0x01	147	#define ERROR_FC_COMMUNICATION 0x01
146	#define ERROR_MK3_COMMUNICATION 0x02	148	#define ERROR_MK3_COMMUNICATION 0x02
147	#define ERROR_FC_INCOMPATIBLE 0x04	149	#define ERROR_FC_INCOMPATIBLE 0x04
148	#define ERROR_MK3_INCOMPATIBLE 0x08	150	#define ERROR_MK3_INCOMPATIBLE 0x08
149	#define ERROR_GPS_COMMUNICATION 0x10	151	#define ERROR_GPS_COMMUNICATION 0x10
150	#define ERROR_COMPASS_VALUE 0x20	152	#define ERROR_COMPASS_VALUE 0x20
151	//----------------------------------------------------------------------------------------------------	153	//----------------------------------------------------------------------------------------------------
152		154
153	void CheckErrors(void)	155	void CheckErrors(void)
154	{	156	{
155	UART_VersionInfo.HardwareError[0] = 0;	157	UART_VersionInfo.HardwareError[0] = 0;
156		158
157	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (CompassHeading < 0)) DebugOut.Status[1] \|= 0x08;	159	if(/(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\|/ CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;
158	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	160	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
159		161
160	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	162	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
161	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	163	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
162		164
163	if(CheckDelay(SPI0_Timeout))	165	if(CheckDelay(SPI0_Timeout))
164	{	166	{
165	LED_RED_ON;	167	LED_RED_ON;
166	sprintf(ErrorMSG,"no FC communication ");	168	sprintf(ErrorMSG,"no FC communication ");
167	ErrorCode = 3;	169	ErrorCode = 3;
168	StopNavigation = 1;	170	StopNavigation = 1;
169	DebugOut.Status[0] &= ~0x01; // status of FC Present	171	DebugOut.Status[0] &= ~0x01; // status of FC Present
170	DebugOut.Status[0] &= ~0x02; // status of BL Present	172	DebugOut.Status[0] &= ~0x02; // status of BL Present
171	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;	173	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;
172	}	174	}
173	else if(CheckDelay(I2C1_Timeout))	175	else if(CheckDelay(I2C1_Timeout))
174	{	176	{
175	LED_RED_ON;	177	LED_RED_ON;
176	sprintf(ErrorMSG,"no MK3Mag communication ");	178	sprintf(ErrorMSG,"no MK3Mag communication ");
177	//Reset I2CBus	179	//Reset I2CBus
178	I2C1_Deinit();	180	I2C1_Deinit();
179	I2C1_Init();	181	I2C1_Init();
180	ErrorCode = 4;	182	ErrorCode = 4;
181	StopNavigation = 1;	183	StopNavigation = 1;
182	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;	184	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;
183	DebugOut.Status[1] \|= 0x08;	185	DebugOut.Status[1] \|= 0x08;
184	}	186	}
185	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	187	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
186	{	188	{
187	LED_RED_ON;	189	LED_RED_ON;
188	sprintf(ErrorMSG,"FC not compatible ");	190	sprintf(ErrorMSG,"FC not compatible ");
189	ErrorCode = 1;	191	ErrorCode = 1;
190	StopNavigation = 1;	192	StopNavigation = 1;
191	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;	193	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_INCOMPATIBLE;
192	}	194	}
193		195
194	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)	196	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
195	{	197	{
196	LED_RED_ON;	198	LED_RED_ON;
197	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	199	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
198	ErrorCode = 10;	200	ErrorCode = 10;
199	}	201	}
200	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)	202	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
201	{	203	{
202	LED_RED_ON;	204	LED_RED_ON;
203	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	205	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
204	ErrorCode = 11;	206	ErrorCode = 11;
205	}	207	}
206	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)	208	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
207	{	209	{
208	LED_RED_ON;	210	LED_RED_ON;
209	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	211	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
210	ErrorCode = 12;	212	ErrorCode = 12;
211	}	213	}
212	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)	214	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
213	{	215	{
214	LED_RED_ON;	216	LED_RED_ON;
215	sprintf(ErrorMSG,"ERR: FC Nick ACC");	217	sprintf(ErrorMSG,"ERR: FC Nick ACC");
216	ErrorCode = 13;	218	ErrorCode = 13;
217	}	219	}
218	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)	220	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
219	{	221	{
220	LED_RED_ON;	222	LED_RED_ON;
221	sprintf(ErrorMSG,"ERR: FC Roll ACC");	223	sprintf(ErrorMSG,"ERR: FC Roll ACC");
222	ErrorCode = 14;	224	ErrorCode = 14;
223	}	225	}
224	else if(FC_ErrorCode[0] & DEFEKT_A_Z)	226	else if(FC_ErrorCode[0] & DEFEKT_A_Z)
225	{	227	{
226	LED_RED_ON;	228	LED_RED_ON;
227	sprintf(ErrorMSG,"ERR: FC Z-ACC");	229	sprintf(ErrorMSG,"ERR: FC Z-ACC");
228	ErrorCode = 15;	230	ErrorCode = 15;
229	}	231	}
230	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)	232	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
231	{	233	{
232	LED_RED_ON;	234	LED_RED_ON;
233	sprintf(ErrorMSG,"ERR: Pressure sensor");	235	sprintf(ErrorMSG,"ERR: Pressure sensor");
234	ErrorCode = 16;	236	ErrorCode = 16;
235	}	237	}
236	else if(FC_ErrorCode[1] & DEFEKT_I2C)	238	else if(FC_ErrorCode[1] & DEFEKT_I2C)
237	{	239	{
238	LED_RED_ON;	240	LED_RED_ON;
239	sprintf(ErrorMSG,"ERR: FC I2C");	241	sprintf(ErrorMSG,"ERR: FC I2C");
240	ErrorCode = 17;	242	ErrorCode = 17;
241	}	243	}
242	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)	244	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
243	{	245	{
244	LED_RED_ON;	246	LED_RED_ON;
245	sprintf(ErrorMSG,"ERR: Bl Missing");	247	sprintf(ErrorMSG,"ERR: Bl Missing");
246	ErrorCode = 18;	248	ErrorCode = 18;
247	}	249	}
248	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)	250	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
249	{	251	{
250	LED_RED_ON;	252	LED_RED_ON;
251	sprintf(ErrorMSG,"Mixer Error");	253	sprintf(ErrorMSG,"Mixer Error");
252	ErrorCode = 19;	254	ErrorCode = 19;
253	}	255	}
254	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	256	/* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
255	{	257	{
256	sprintf(ErrorMSG,"MK3Mag not compatible ");	258	sprintf(ErrorMSG,"MK3Mag not compatible ");
257	LED_RED_ON;	259	LED_RED_ON;
258	ErrorCode = 2;	260	ErrorCode = 2;
259	StopNavigation = 1;	261	StopNavigation = 1;
260	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;	262	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_INCOMPATIBLE;
261	} */	263	} */
262	else if(CheckDelay(UBX_Timeout))	264	else if(CheckDelay(UBX_Timeout))
263	{	265	{
264	LED_RED_ON;	266	LED_RED_ON;
265	sprintf(ErrorMSG,"no GPS communication ");	267	sprintf(ErrorMSG,"no GPS communication ");
266	ErrorCode = 5;	268	ErrorCode = 5;
267	StopNavigation = 1;	269	StopNavigation = 1;
268	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;	270	UART_VersionInfo.HardwareError[0] \|= ERROR_GPS_COMMUNICATION;
269	}	271	}
270	else if(CompassHeading < 0)	272	else if(Compass_Heading < 0)
271	{	273	{
272	LED_RED_ON;	274	LED_RED_ON;
273	sprintf(ErrorMSG,"bad compass value ");	275	sprintf(ErrorMSG,"bad compass value ");
274	ErrorCode = 6;	276	ErrorCode = 6;
275	StopNavigation = 1;	277	StopNavigation = 1;
276	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;	278	UART_VersionInfo.HardwareError[0] \|= ERROR_COMPASS_VALUE;
277	}	279	}
278	else if(FC.Flags & FCFLAG_SPI_RX_ERR)	280	else if(FC.Flags & FCFLAG_SPI_RX_ERR)
279	{	281	{
280	LED_RED_ON;	282	LED_RED_ON;
281	sprintf(ErrorMSG,"FC spi rx error ");	283	sprintf(ErrorMSG,"FC spi rx error ");
282	ErrorCode = 8;	284	ErrorCode = 8;
283	StopNavigation = 1;	285	StopNavigation = 1;
284	}	286	}
285	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)	287	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
286	{	288	{
287	LED_RED_ON;	289	LED_RED_ON;
288	sprintf(ErrorMSG,"FC: Carefree Error");	290	sprintf(ErrorMSG,"FC: Carefree Error");
289	ErrorCode = 20;	291	ErrorCode = 20;
290	}	292	}
291	else if(FC.RC_Quality < 100)	293	else if(FC.RC_Quality < 100)
292	{	294	{
293	LED_RED_ON;	295	LED_RED_ON;
294	sprintf(ErrorMSG,"RC Signal lost ");	296	sprintf(ErrorMSG,"RC Signal lost ");
295	ErrorCode = 7;	297	ErrorCode = 7;
296	}	298	}
297	else // no error occured	299	else // no error occured
298	{	300	{
299	sprintf(ErrorMSG,"No Error ");	301	sprintf(ErrorMSG,"No Error ");
300	ErrorCode = 0;	302	ErrorCode = 0;
301	StopNavigation = 0;	303	StopNavigation = 0;
302	LED_RED_OFF;	304	LED_RED_OFF;
303	}	305	}
304	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;	306	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
305	else DebugOut.Status[1] &= ~0x04;	307	else DebugOut.Status[1] &= ~0x04;
306	}	308	}
307		309
308	// the handler will be cyclic called by the timer 1 ISR	310	// the handler will be cyclic called by the timer 1 ISR
309	// used is for critical timing parts that normaly would handled	311	// used is for critical timing parts that normaly would handled
310	// within the main loop that could block longer at logging activities	312	// within the main loop that could block longer at logging activities
311	void EXTIT3_IRQHandler(void)	313	void EXTIT3_IRQHandler(void)
312	{	314	{
313	IENABLE;	315	IENABLE;
314		316
315	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	317	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
316	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	318	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
317	Compass_UpdateHeading(); // update compass communication	319	Compass_UpdateHeading(); // update compass communication
318	Analog_Update(); // get new ADC values	320	Analog_Update(); // get new ADC values
319	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	321	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
320		322
321	IDISABLE;	323	IDISABLE;
322	}	324	}
323		325
324	//----------------------------------------------------------------------------------------------------	326	//----------------------------------------------------------------------------------------------------
325	int main(void)	327	int main(void)
326	{	328	{
327	/* Configure the system clocks */	329	/* Configure the system clocks */
328	SCU_Config();	330	SCU_Config();
329	/* init VIC (Vectored Interrupt Controller) */	331	/* init VIC (Vectored Interrupt Controller) */
330	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	332	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
331	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	333	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
332	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	334	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
333	VIC_InitDefaultVectors();	335	VIC_InitDefaultVectors();
334		336
335	// initialize timer 1 for System Clock and delay rountines	337	// initialize timer 1 for System Clock and delay rountines
336	TIMER1_Init();	338	TIMER1_Init();
337	// initialize the LEDs (needs Timer 1)	339	// initialize the LEDs (needs Timer 1)
338	Led_Init();	340	Led_Init();
339	// initialize the debug UART1	341	// initialize the debug UART1
340	UART1_Init();	342	UART1_Init();
341	UART1_PutString("\r\n---------------------------------------------");	343	UART1_PutString("\r\n---------------------------------------------");
342	// initialize timer 2 for servo outputs	344	// initialize timer 2 for servo outputs
343	//TIMER2_Init();	345	//TIMER2_Init();
344	// initialize UART2 to FLIGHTCTRL	346	// initialize UART2 to FLIGHTCTRL
345	UART2_Init();	347	UART2_Init();
346	// initialize UART0 (to MKGPS or MK3MAG)	348	// initialize UART0 (to MKGPS or MK3MAG)
347	UART0_Init();	349	UART0_Init();
348	// initialize adc	350	// initialize adc
349	Analog_Init();	351	Analog_Init();
350	// initialize usb	352	// initialize usb
351	//USB_ConfigInit();	353	USB_ConfigInit();
352	// initialize SPI0 to FC	354	// initialize SPI0 to FC
353	SPI0_Init();	355	SPI0_Init();
354	// initialize i2c bus (needs Timer 1)	356	// initialize i2c bus (needs Timer 1)
355	I2C1_Init();	357	I2C1_Init();
356	// initialize fat16 partition on sd card (needs Timer 1)	358	// initialize fat16 partition on sd card (needs Timer 1)
357	Fat16_Init();	359	Fat16_Init();
358	// initialize NC params	360	// initialize NC params
359	NCParams_Init();	361	NCParams_Init();
360	// initialize the settings	362	// initialize the settings
361	Settings_Init();	363	Settings_Init();
362	// initialize logging (needs settings)	364	// initialize logging (needs settings)
363	Logging_Init();	365	Logging_Init();
364		366
365	TimerCheckError = SetDelay(3000);	367	TimerCheckError = SetDelay(3000);
366	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	368	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
367	UART1_PutString("\n\r Version information:");	369	UART1_PutString("\n\r Version information:");
368		370
369	GetNaviCtrlVersion();	371	GetNaviCtrlVersion();
370	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	372	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
371	DebugOut.Status[1] = 0x00;	373	DebugOut.Status[1] = 0x00;
372		374
373	Compass_Init();	375	Compass_Init();
374		376
375	SPI0_GetFlightCtrlVersion();	377	SPI0_GetFlightCtrlVersion();
376	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	378	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
377	{	379	{
378	UART1_PutString("\n\r Flight-Ctrl not compatible");	380	UART1_PutString("\n\r Flight-Ctrl not compatible");
379	LED_RED_ON;	381	LED_RED_ON;
380	}	382	}
381		383
382	GPS_Init();	384	GPS_Init();
-		385
-		386	/*{
-		387	u8 i;
-		388	u8 text[20];
-		389	u8 mesg[10];
-		390	UART1_PutString("\r\nFill\r\n");
-		391	for(i=0;i<20;i++)
-		392	{
-		393	text[i] = 0xAA;
-		394	sprintf(mesg,"%02X ", text[i]);
-		395	UART1_PutString(mesg);
-		396	}
-		397
-		398	sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(50, text, 18));
-		399	UART1_PutString(mesg);
-		400	for(i=0;i<20;i++)
-		401	{
-		402	sprintf(mesg,"%02X ", text[i]);
-		403	UART1_PutString(mesg);
-		404	text[i] = i;
-		405	}
-		406	UART1_PutString("\r\nFill\r\n");
-		407	for(i=0;i<20;i++)
-		408	{
-		409	sprintf(mesg,"%02X ", text[i]);
-		410	UART1_PutString(mesg);
-		411	}
-		412	sprintf(mesg, "\r\nEEWrite = %d\r\n", EEPROM_WriteBlock(0, text, 18));
-		413	UART1_PutString(mesg);
-		414	for(i=0;i<20;i++)
-		415	{
-		416	sprintf(mesg,"%02X ", text[i]);
-		417	UART1_PutString(mesg);
-		418	text[i]=0xAA;
-		419	}
-		420	UART1_PutString("\r\nFill\r\n");
-		421	for(i=0;i<20;i++)
-		422	{
-		423	sprintf(mesg,"%02X ", text[i]);
-		424	UART1_PutString(mesg);
-		425	}
-		426	sprintf(mesg, "\r\nEERead = %d\r\n", EEPROM_ReadBlock(0, text, 18));
-		427	UART1_PutString(mesg);
-		428	for(i=0;i<20;i++)
-		429	{
-		430	sprintf(mesg,"%02X ", text[i]);
-		431	UART1_PutString(mesg);
-		432	}
-		433	}*/
383		434
384	// ---------- Prepare the isr driven	435	// ---------- Prepare the isr driven
385	// set to absolute lowest priority	436	// set to absolute lowest priority
386	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	437	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
387	// enable interrupts	438	// enable interrupts
388	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	439	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
389		440
390	Debug_OK("START");	441	Debug_OK("START");
-		442
391		443
392	for (;;) // the endless main loop	444	for (;;) // the endless main loop
393	{	445	{
394	UART0_ProcessRxData(); // process request	446	UART0_ProcessRxData(); // process request
395	UART1_ProcessRxData(); // process request	447	UART1_ProcessRxData(); // process request
396	//USB_ProcessRxData(); // process request	448	USB_ProcessRxData(); // process request
397	UART0_TransmitTxData(); // send answer	449	UART0_TransmitTxData(); // send answer
398	UART1_TransmitTxData(); // send answer	450	UART1_TransmitTxData(); // send answer
399	UART2_TransmitTxData(); // send answer	451	UART2_TransmitTxData(); // send answer
400	//USB_TransmitTxData(); // send answer	452	USB_TransmitTxData(); // send answer
401	SPI0_UpdateBuffer(); // handle new SPI Data	453	SPI0_UpdateBuffer(); // handle new SPI Data
402	// ---------------- Error Check Timing ----------------------------	454	// ---------------- Error Check Timing ----------------------------
403	if(CheckDelay(TimerCheckError))	455	if(CheckDelay(TimerCheckError))
404	{	456	{
405	TimerCheckError = SetDelay(1000);	457	TimerCheckError = SetDelay(1000);
406	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	458	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
407	CheckErrors();	459	CheckErrors();
408	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	460	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
409	// else NaviData.FlyingTime = 0; // not the time per flight	461	// else NaviData.FlyingTime = 0; // not the time per flight
410	if(SerialLinkOkay) SerialLinkOkay--;	462	if(SerialLinkOkay) SerialLinkOkay--;
411	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	463	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
412	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	464	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
413	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	465	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
414	}	466	}
415	// ---------------- Logging ---------------------------------------	467	// ---------------- Logging ---------------------------------------
416	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	468	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
417	}	469	}
418	}	470	}
419		471
420		472
421		473

Subversion Repositories NaviCtrl

(root)/tags/V2.06f/main.c @ 552 - Rev 252 → 254