WebSVN - NaviCtrl - Diff - Rev 469 and 470


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c0.h"
#include "i2c1.h"       
#include "compass.h"
#include "ncmag.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
 
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
#include "eeprom.h"
#include "ssc.h"
#include "sdc.h"
#include "uart1.h"
 
 
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;                        
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
u8 ErrorGpsFixLost = 0;
 
u8 ClearFCStatusFlags = 0;
u8 StopNavigation = 0;
volatile u32 PollingTimeout = 10000;
Param_t Parameter;
volatile FC_t FC;
volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero
u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
    static s32 no_error_delay = 0;
        s32 newErrorCode = 0;
        UART_VersionInfo.HardwareError[0] = 0;
 
        //ToDo
        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;
        else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL;
        else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
 
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
        else DebugOut.StatusRed &= ~AMPEL_NC;
 
    if((FCCalibActive || CompassCalState) && FC_Version.Hardware)
     {
                sprintf(ErrorMSG,"Calibrate... ");
                newErrorCode = 0;
                ErrorCode = 0;
                no_error_delay = 1;
         }
        else
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;              
                sprintf(ErrorMSG,"no FC communication ");
                newErrorCode = 3;
                StopNavigation = 1;
                DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
                DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
        }
        //ToDo
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;              
                sprintf(ErrorMSG,"no compass communica");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                newErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                DebugOut.StatusRed |= AMPEL_COMPASS;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
#ifndef FOLLOW_ME
                sprintf(ErrorMSG,"FC not compatible ");
#else
                sprintf(ErrorMSG,"! FollowMe only ! ");
#endif
                newErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
                DebugOut.StatusRed |= AMPEL_NC;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                newErrorCode = 10;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                newErrorCode = 11;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                newErrorCode = 12;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                newErrorCode = 13;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                newErrorCode = 14;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:FC Z-ACC");
                newErrorCode = 15;
        }
        else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:Flying range!");
                newErrorCode = 28;
        }
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;              
                sprintf(ErrorMSG,"ERR:Pressure sensor");
                newErrorCode = 16;
        }
        else if(FC.Error[1] &  FC_ERROR1_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:I2C FC to BL");
                newErrorCode = 17;
        }
        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                newErrorCode = 18;
        }
        else if(FC.Error[1] &  FC_ERROR1_MIXER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                newErrorCode = 19;
        }
        else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
        {
                LED_RED_ON;
//      if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
//              else 
                 {                                     
                  sprintf(ErrorMSG,"no GPS communication");
                  UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
                  UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;
              newErrorCode = 5;
                 }
                StopNavigation = 1;
//              UBX_Timeout = SetDelay(500);
        }
        else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"compass not calibr.");
                newErrorCode = 31;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                newErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if((FC.Error[1] &  FC_ERROR1_SPI_RX))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                newErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                newErrorCode = 20;
        }
        else if(FC.Error[1] &  FC_ERROR1_PPM)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                newErrorCode = 7;
        }
        else if(ErrorGpsFixLost)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"GPS Fix lost    ");
         newErrorCode = 21;
        }
        else if(ErrorDisturbedEarthMagnetField)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"Magnet error    ");
         newErrorCode = 22;
         DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;
         UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Motor restart  ");
         newErrorCode = 23;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:BL Limitation   ");
         newErrorCode = 24;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:GPS range  ");
         newErrorCode = 25;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:No SD-Card  ");
         newErrorCode = 26;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
        {
         LED_RED_ON;       
         sprintf(ErrorMSG,"ERR:SD Logging abort");
         newErrorCode = 27;
         DebugOut.StatusRed |= AMPEL_NC;
         SD_LoggingError = 0;
        }
        else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Max Altitude ");
         newErrorCode = 29;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50)))
        {                                                                                                                                                  
         LED_RED_ON;
         sprintf(ErrorMSG,"No GPS Fix      ");
         newErrorCode = 30;
        }
        else // no error occured
        {
                StopNavigation = 0;
                LED_RED_OFF;
                if(no_error_delay) { no_error_delay--;  }
                else
                 {                                     
                  sprintf(ErrorMSG,"No Error            ");
                  ErrorCode = 0;
                 }
        }
 
    if(newErrorCode)
         {
          if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
          ErrorCode = newErrorCode;
         }
 FC.Error[0] = 0;
 FC.Error[1] = 0;
 FC.Error[2] = 0;
 FC.Error[3] = 0;
 FC.Error[4] = 0;
 ErrorGpsFixLost = 0;
}
 
 
 
void Polling(void)
{
 static u8 running = 0, oldFcFlags = 0, count5sec;
 if(running) return;
 running = 1;
                SPI0_UpdateBuffer();    // also calls the GPS-functions
                UART0_ProcessRxData();  // GPS process request
                UART0_TransmitTxData(); // GPS send answer
                UART1_ProcessRxData();  // PC process request
                UART1_TransmitTxData(); // PC send answer
                UART2_TransmitTxData(); // FC send answer
                CalcHeadFree();
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
                {
//CreateNmeaGGA();
                        if(CheckDelay(TimerCheckError))
                         {
                          TimerCheckError = SetDelay(1000);
                          if(++count5sec == 5)
                           {
                                count5sec = 0;
                                FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2;
                                FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2;
                                CountGpsProcessedIn5Sec = 0;
                                CountNewGpsDataIn5Sec = 0;  
                           }
                         }
                        oldFcFlags = FC.StatusFlags;
                        if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
       
                        if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors();
               
                        if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0; // not the time per flight
                        if(SerialLinkOkay) SerialLinkOkay--;
                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
                }
 running = 0;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
 
        if(!PollingTimeout)
        {
                PollingTimeout = 5;
                Polling();
        }
 
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
        IDISABLE;
        VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
       
        static u32 ftimer =0;
        static u8 fstate = 0;
//      static File_t* f = NULL;
       
       
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
 
 
 
        // initialize 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 busses (needs Timer 1)
        I2C0_Init();
        I2C1_Init();
 
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        LED_GRN_ON;
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag
        DebugOut.StatusRed = 0x00;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
 
        Compass_Init();
 
        GPS_Init();
 
#ifdef FOLLOW_ME
        TransmitAlsoToFC = 1;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
        TransmitAlsoToFC = 0;
#else
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible\n\r");
                LED_RED_ON;
        }
#endif
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        Debug_OK("START");
        UART1_PutString("\r\n");
        fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
        LED_GRN_ON;
        LED_RED_OFF;
    Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval);
        UART1_PutString("\r\n");
        for (;;) // the endless main loop
        {
                Polling();
                PollingTimeout = 15;
                // ---------------- Logging  ---------------------------------------
                if(SD_WatchDog)
                {
                        SD_WatchDog = 30000;
                        if(SDCardInfo.Valid == 1) Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
                        else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
                        if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
                }
               
/*             
                if(CheckDelay(ftimer))
                {
 
                        static s8 filename[35];
                        static u8 i = 0;
                        s8 dbgmsg[40];
                       
                       
 
                        ftimer = SetDelay(100);
                        if(FC.Poti[3]>100 && fstate == 0)
                        {
                                fstate = 1;
                                sprintf(filename, "/toast/toasta/toast%02i.txt",i++);
                        }
                        else if(FC.Poti[3]<100 && fstate == 2)
                        {
                                fstate = 3;
                        }
 
                        switch(fstate)
                        {
                                case 1:
                                        sprintf(dbgmsg,"\r\nStart writing file: %s", filename);
                                        Debug(dbgmsg);
                                        f = fopen_(filename, 'a');
                                        if(f== NULL) Fat16_Init();
                                        fstate = 2;
                                        break;
 
                                case 2:
                                        fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);
                                        break;
                                       
                                case 3:
                                        sprintf(dbgmsg,"\r\nClosing file: %s", filename);
                                        Debug(dbgmsg);
                                        fclose_(f);
                                        fstate = 0;
                                        break;
 
                                default:
                                        break;
                        }
                }
*/             
        }
}
//DebugOut.Analog[16]
 

Rev 469	Rev 470
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + www.MikroKopter.com	5	// + www.MikroKopter.com
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	// + Software Nutzungsbedingungen (english version: see below)	7	// + Software Nutzungsbedingungen (english version: see below)
8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
22	// + des Mitverschuldens offen.	22	// + des Mitverschuldens offen.
23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Software LICENSING TERMS	32	// + Software LICENSING TERMS
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware	35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
37	// + The Software may only be used with the Licensor's products.	37	// + The Software may only be used with the Licensor's products.
38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + agreement shall be the property of the Licensor.	40	// + agreement shall be the property of the Licensor.
41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + features that can be used to identify the program may not be altered or defaced by the customer.	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
43	// + The customer shall be responsible for taking reasonable precautions	43	// + The customer shall be responsible for taking reasonable precautions
44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
53	// + #### END OF LICENSING TERMS ####	53	// + #### END OF LICENSING TERMS ####
54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
56	//#define MCLK96MHZ	56	//#define MCLK96MHZ
57	const unsigned long _Main_Crystal = 25000;	57	const unsigned long _Main_Crystal = 25000;
58	#include <stdio.h>	58	#include <stdio.h>
59	#include "91x_lib.h"	59	#include "91x_lib.h"
60	#include "led.h"	60	#include "led.h"
61	#include "uart0.h"	61	#include "uart0.h"
62	#include "uart1.h"	62	#include "uart1.h"
63	#include "uart2.h"	63	#include "uart2.h"
64	#include "gps.h"	64	#include "gps.h"
-		65	#include "i2c0.h"
65	#include "i2c.h"	66	#include "i2c1.h"
66	#include "compass.h"	67	#include "compass.h"
67	#include "ncmag.h"	68	#include "ncmag.h"
68	#include "timer1.h"	69	#include "timer1.h"
69	#include "timer2.h"	70	#include "timer2.h"
70	#include "analog.h"	71	#include "analog.h"
71	#include "spi_slave.h"	72	#include "spi_slave.h"
72	#include "fat16.h"	73	#include "fat16.h"
73	#include "usb.h"	-
74	#include "sdc.h"	74	#include "sdc.h"
75	#include "logging.h"	75	#include "logging.h"
76	#include "params.h"	76	#include "params.h"
77	#include "settings.h"	77	#include "settings.h"
78	#include "config.h"	78	#include "config.h"
79	#include "main.h"	79	#include "main.h"
80	#include "debug.h"	80	#include "debug.h"
81	#include "eeprom.h"	81	#include "eeprom.h"
82	#include "ssc.h"	82	#include "ssc.h"
83	#include "sdc.h"	83	#include "sdc.h"
84	#include "uart1.h"	84	#include "uart1.h"
85		85
86		86
87		87
88	#ifdef FOLLOW_ME	88	#ifdef FOLLOW_ME
89	u8 TransmitAlsoToFC = 0;	89	u8 TransmitAlsoToFC = 0;
90	#endif	90	#endif
91	u32 TimerCheckError;	91	u32 TimerCheckError;
92	u8 ErrorCode = 0;	92	u8 ErrorCode = 0;
93	u16 BeepTime;	93	u16 BeepTime;
94	u8 NCFlags = 0;	94	u8 NCFlags = 0;
95	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	95	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
96	u8 ErrorGpsFixLost = 0;	96	u8 ErrorGpsFixLost = 0;
97		97
98	u8 ClearFCStatusFlags = 0;	98	u8 ClearFCStatusFlags = 0;
99	u8 StopNavigation = 0;	99	u8 StopNavigation = 0;
100	volatile u32 PollingTimeout = 10000;	100	volatile u32 PollingTimeout = 10000;
101	Param_t Parameter;	101	Param_t Parameter;
102	volatile FC_t FC;	102	volatile FC_t FC;
103	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero	103	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
104	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero	104	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero
105	u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0;	105	u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0;
106		106
107	s8 ErrorMSG[25];	107	s8 ErrorMSG[25];
108		108
109	//----------------------------------------------------------------------------------------------------	109	//----------------------------------------------------------------------------------------------------
110	void SCU_Config(void)	110	void SCU_Config(void)
111	{	111	{
112	/* configure PLL and set it as master clock source */	112	/* configure PLL and set it as master clock source */
113	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	113	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
114	SCU_PLLCmd(DISABLE); // now disable the PLL	114	SCU_PLLCmd(DISABLE); // now disable the PLL
115	#ifdef MCLK96MHZ	115	#ifdef MCLK96MHZ
116	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	116	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
117	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	117	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
118	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	118	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
119	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	119	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
120	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	120	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
121	#else	121	#else
122	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	122	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
123	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	123	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
124	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	124	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
125	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	125	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
126	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	126	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
127	#endif	127	#endif
128	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	128	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
129	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	129	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
130	}	130	}
131		131
132	//----------------------------------------------------------------------------------------------------	132	//----------------------------------------------------------------------------------------------------
133	void GetNaviCtrlVersion(void)	133	void GetNaviCtrlVersion(void)
134	{	134	{
135	u8 msg[25];	135	u8 msg[25];
136		136
137	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	137	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);
138	UART1_PutString(msg);	138	UART1_PutString(msg);
139	}	139	}
140		140
141	//----------------------------------------------------------------------------------------------------	141	//----------------------------------------------------------------------------------------------------
142		142
143	void CheckErrors(void)	143	void CheckErrors(void)
144	{	144	{
145	static s32 no_error_delay = 0;	145	static s32 no_error_delay = 0;
146	s32 newErrorCode = 0;	146	s32 newErrorCode = 0;
147	UART_VersionInfo.HardwareError[0] = 0;	147	UART_VersionInfo.HardwareError[0] = 0;
148		148
149	//ToDo	149	//ToDo
150	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	150	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
151	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	151	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
152		152
153	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	153	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;
154	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status	154	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
155		155
156	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	156	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
157	else DebugOut.StatusRed &= ~AMPEL_NC;	157	else DebugOut.StatusRed &= ~AMPEL_NC;
158		158
159	if((FCCalibActive \|\| CompassCalState) && FC_Version.Hardware)	159	if((FCCalibActive \|\| CompassCalState) && FC_Version.Hardware)
160	{	160	{
161	sprintf(ErrorMSG,"Calibrate... ");	161	sprintf(ErrorMSG,"Calibrate... ");
162	newErrorCode = 0;	162	newErrorCode = 0;
163	ErrorCode = 0;	163	ErrorCode = 0;
164	no_error_delay = 1;	164	no_error_delay = 1;
165	}	165	}
166	else	166	else
167	if(CheckDelay(SPI0_Timeout))	167	if(CheckDelay(SPI0_Timeout))
168	{	168	{
169	LED_RED_ON;	169	LED_RED_ON;
170	sprintf(ErrorMSG,"no FC communication ");	170	sprintf(ErrorMSG,"no FC communication ");
171	newErrorCode = 3;	171	newErrorCode = 3;
172	StopNavigation = 1;	172	StopNavigation = 1;
173	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	173	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
174	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	174	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
175	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	175	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
176	}	176	}
177	//ToDo	177	//ToDo
178	else if(CheckDelay(I2C1_Timeout))	178	else if(CheckDelay(I2C1_Timeout))
179	{	179	{
180	LED_RED_ON;	180	LED_RED_ON;
181	sprintf(ErrorMSG,"no compass communica");	181	sprintf(ErrorMSG,"no compass communica");
182	//Reset I2CBus	182	//Reset I2CBus
183	I2C1_Deinit();	183	I2C1_Deinit();
184	I2C1_Init();	184	I2C1_Init();
185	newErrorCode = 4;	185	newErrorCode = 4;
186	StopNavigation = 1;	186	StopNavigation = 1;
187	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	187	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
188	DebugOut.StatusRed \|= AMPEL_COMPASS;	188	DebugOut.StatusRed \|= AMPEL_COMPASS;
189	}	189	}
190	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	190	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
191	{	191	{
192	LED_RED_ON;	192	LED_RED_ON;
193	#ifndef FOLLOW_ME	193	#ifndef FOLLOW_ME
194	sprintf(ErrorMSG,"FC not compatible ");	194	sprintf(ErrorMSG,"FC not compatible ");
195	#else	195	#else
196	sprintf(ErrorMSG,"! FollowMe only ! ");	196	sprintf(ErrorMSG,"! FollowMe only ! ");
197	#endif	197	#endif
198	newErrorCode = 1;	198	newErrorCode = 1;
199	StopNavigation = 1;	199	StopNavigation = 1;
200	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	200	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
201	DebugOut.StatusRed \|= AMPEL_NC;	201	DebugOut.StatusRed \|= AMPEL_NC;
202	}	202	}
203		203
204	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	204	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
205	{	205	{
206	LED_RED_ON;	206	LED_RED_ON;
207	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	207	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
208	newErrorCode = 10;	208	newErrorCode = 10;
209	}	209	}
210	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	210	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
211	{	211	{
212	LED_RED_ON;	212	LED_RED_ON;
213	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	213	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
214	newErrorCode = 11;	214	newErrorCode = 11;
215	}	215	}
216	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	216	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
217	{	217	{
218	LED_RED_ON;	218	LED_RED_ON;
219	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	219	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
220	newErrorCode = 12;	220	newErrorCode = 12;
221	}	221	}
222	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	222	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
223	{	223	{
224	LED_RED_ON;	224	LED_RED_ON;
225	sprintf(ErrorMSG,"ERR: FC Nick ACC");	225	sprintf(ErrorMSG,"ERR: FC Nick ACC");
226	newErrorCode = 13;	226	newErrorCode = 13;
227	}	227	}
228	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	228	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
229	{	229	{
230	LED_RED_ON;	230	LED_RED_ON;
231	sprintf(ErrorMSG,"ERR: FC Roll ACC");	231	sprintf(ErrorMSG,"ERR: FC Roll ACC");
232	newErrorCode = 14;	232	newErrorCode = 14;
233	}	233	}
234	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	234	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
235	{	235	{
236	LED_RED_ON;	236	LED_RED_ON;
237	sprintf(ErrorMSG,"ERR:FC Z-ACC");	237	sprintf(ErrorMSG,"ERR:FC Z-ACC");
238	newErrorCode = 15;	238	newErrorCode = 15;
239	}	239	}
240	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)	240	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
241	{	241	{
242	LED_RED_ON;	242	LED_RED_ON;
243	sprintf(ErrorMSG,"ERR:Flying range!");	243	sprintf(ErrorMSG,"ERR:Flying range!");
244	newErrorCode = 28;	244	newErrorCode = 28;
245	}	245	}
246	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	246	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
247	{	247	{
248	LED_RED_ON;	248	LED_RED_ON;
249	sprintf(ErrorMSG,"ERR:Pressure sensor");	249	sprintf(ErrorMSG,"ERR:Pressure sensor");
250	newErrorCode = 16;	250	newErrorCode = 16;
251	}	251	}
252	else if(FC.Error[1] & FC_ERROR1_I2C)	252	else if(FC.Error[1] & FC_ERROR1_I2C)
253	{	253	{
254	LED_RED_ON;	254	LED_RED_ON;
255	sprintf(ErrorMSG,"ERR:I2C FC to BL");	255	sprintf(ErrorMSG,"ERR:I2C FC to BL");
256	newErrorCode = 17;	256	newErrorCode = 17;
257	}	257	}
258	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	258	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
259	{	259	{
260	LED_RED_ON;	260	LED_RED_ON;
261	sprintf(ErrorMSG,"ERR: Bl Missing");	261	sprintf(ErrorMSG,"ERR: Bl Missing");
262	newErrorCode = 18;	262	newErrorCode = 18;
263	}	263	}
264	else if(FC.Error[1] & FC_ERROR1_MIXER)	264	else if(FC.Error[1] & FC_ERROR1_MIXER)
265	{	265	{
266	LED_RED_ON;	266	LED_RED_ON;
267	sprintf(ErrorMSG,"Mixer Error");	267	sprintf(ErrorMSG,"Mixer Error");
268	newErrorCode = 19;	268	newErrorCode = 19;
269	}	269	}
270	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)	270	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
271	{	271	{
272	LED_RED_ON;	272	LED_RED_ON;
273	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	273	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
274	// else	274	// else
275	{	275	{
276	sprintf(ErrorMSG,"no GPS communication");	276	sprintf(ErrorMSG,"no GPS communication");
277	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	277	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
278	UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;	278	UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;
279	newErrorCode = 5;	279	newErrorCode = 5;
280	}	280	}
281	StopNavigation = 1;	281	StopNavigation = 1;
282	// UBX_Timeout = SetDelay(500);	282	// UBX_Timeout = SetDelay(500);
283	}	283	}
284	else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)	284	else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)
285	{	285	{
286	LED_RED_ON;	286	LED_RED_ON;
287	sprintf(ErrorMSG,"compass not calibr.");	287	sprintf(ErrorMSG,"compass not calibr.");
288	newErrorCode = 31;	288	newErrorCode = 31;
289	StopNavigation = 1;	289	StopNavigation = 1;
290	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	290	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
291	}	291	}
292	else if(Compass_Heading < 0)	292	else if(Compass_Heading < 0)
293	{	293	{
294	LED_RED_ON;	294	LED_RED_ON;
295	sprintf(ErrorMSG,"bad compass value ");	295	sprintf(ErrorMSG,"bad compass value ");
296	newErrorCode = 6;	296	newErrorCode = 6;
297	StopNavigation = 1;	297	StopNavigation = 1;
298	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	298	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
299	}	299	}
300	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	300	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
301	{	301	{
302	LED_RED_ON;	302	LED_RED_ON;
303	sprintf(ErrorMSG,"FC spi rx error ");	303	sprintf(ErrorMSG,"FC spi rx error ");
304	newErrorCode = 8;	304	newErrorCode = 8;
305	StopNavigation = 1;	305	StopNavigation = 1;
306	}	306	}
307	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	307	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
308	{	308	{
309	LED_RED_ON;	309	LED_RED_ON;
310	sprintf(ErrorMSG,"FC: Carefree Error");	310	sprintf(ErrorMSG,"FC: Carefree Error");
311	newErrorCode = 20;	311	newErrorCode = 20;
312	}	312	}
313	else if(FC.Error[1] & FC_ERROR1_PPM)	313	else if(FC.Error[1] & FC_ERROR1_PPM)
314	{	314	{
315	LED_RED_ON;	315	LED_RED_ON;
316	sprintf(ErrorMSG,"RC Signal lost ");	316	sprintf(ErrorMSG,"RC Signal lost ");
317	newErrorCode = 7;	317	newErrorCode = 7;
318	}	318	}
319	else if(ErrorGpsFixLost)	319	else if(ErrorGpsFixLost)
320	{	320	{
321	LED_RED_ON;	321	LED_RED_ON;
322	sprintf(ErrorMSG,"GPS Fix lost ");	322	sprintf(ErrorMSG,"GPS Fix lost ");
323	newErrorCode = 21;	323	newErrorCode = 21;
324	}	324	}
325	else if(ErrorDisturbedEarthMagnetField)	325	else if(ErrorDisturbedEarthMagnetField)
326	{	326	{
327	LED_RED_ON;	327	LED_RED_ON;
328	sprintf(ErrorMSG,"Magnet error ");	328	sprintf(ErrorMSG,"Magnet error ");
329	newErrorCode = 22;	329	newErrorCode = 22;
330	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	330	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
331	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	331	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
332	}	332	}
333	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	333	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
334	{	334	{
335	LED_RED_ON;	335	LED_RED_ON;
336	sprintf(ErrorMSG,"ERR:Motor restart ");	336	sprintf(ErrorMSG,"ERR:Motor restart ");
337	newErrorCode = 23;	337	newErrorCode = 23;
338	DebugOut.StatusRed \|= AMPEL_BL;	338	DebugOut.StatusRed \|= AMPEL_BL;
339	}	339	}
340	else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	340	else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
341	{	341	{
342	LED_RED_ON;	342	LED_RED_ON;
343	sprintf(ErrorMSG,"ERR:BL Limitation ");	343	sprintf(ErrorMSG,"ERR:BL Limitation ");
344	newErrorCode = 24;	344	newErrorCode = 24;
345	DebugOut.StatusRed \|= AMPEL_BL;	345	DebugOut.StatusRed \|= AMPEL_BL;
346	}	346	}
347	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	347	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
348	{	348	{
349	LED_RED_ON;	349	LED_RED_ON;
350	sprintf(ErrorMSG,"ERR:GPS range ");	350	sprintf(ErrorMSG,"ERR:GPS range ");
351	newErrorCode = 25;	351	newErrorCode = 25;
352	DebugOut.StatusRed \|= AMPEL_NC;	352	DebugOut.StatusRed \|= AMPEL_NC;
353	}	353	}
354	else if((!SD_SWITCH \|\| (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))	354	else if((!SD_SWITCH \|\| (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))
355	{	355	{
356	LED_RED_ON;	356	LED_RED_ON;
357	sprintf(ErrorMSG,"ERR:No SD-Card ");	357	sprintf(ErrorMSG,"ERR:No SD-Card ");
358	newErrorCode = 26;	358	newErrorCode = 26;
359	DebugOut.StatusRed \|= AMPEL_NC;	359	DebugOut.StatusRed \|= AMPEL_NC;
360	}	360	}
361	else if((SD_LoggingError \|\| (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)	361	else if((SD_LoggingError \|\| (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
362	{	362	{
363	LED_RED_ON;	363	LED_RED_ON;
364	sprintf(ErrorMSG,"ERR:SD Logging abort");	364	sprintf(ErrorMSG,"ERR:SD Logging abort");
365	newErrorCode = 27;	365	newErrorCode = 27;
366	DebugOut.StatusRed \|= AMPEL_NC;	366	DebugOut.StatusRed \|= AMPEL_NC;
367	SD_LoggingError = 0;	367	SD_LoggingError = 0;
368	}	368	}
369	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))	369	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
370	{	370	{
371	LED_RED_ON;	371	LED_RED_ON;
372	sprintf(ErrorMSG,"ERR:Max Altitude ");	372	sprintf(ErrorMSG,"ERR:Max Altitude ");
373	newErrorCode = 29;	373	newErrorCode = 29;
374	DebugOut.StatusRed \|= AMPEL_NC;	374	DebugOut.StatusRed \|= AMPEL_NC;
375	}	375	}
376	else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START \| FC_STATUS_MOTOR_RUN)) \|\| (FC.StickGas < -50 && FC.StickYaw < -50)))	376	else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START \| FC_STATUS_MOTOR_RUN)) \|\| (FC.StickGas < -50 && FC.StickYaw < -50)))
377	{	377	{
378	LED_RED_ON;	378	LED_RED_ON;
379	sprintf(ErrorMSG,"No GPS Fix ");	379	sprintf(ErrorMSG,"No GPS Fix ");
380	newErrorCode = 30;	380	newErrorCode = 30;
381	}	381	}
382	else // no error occured	382	else // no error occured
383	{	383	{
384	StopNavigation = 0;	384	StopNavigation = 0;
385	LED_RED_OFF;	385	LED_RED_OFF;
386	if(no_error_delay) { no_error_delay--; }	386	if(no_error_delay) { no_error_delay--; }
387	else	387	else
388	{	388	{
389	sprintf(ErrorMSG,"No Error ");	389	sprintf(ErrorMSG,"No Error ");
390	ErrorCode = 0;	390	ErrorCode = 0;
391	}	391	}
392	}	392	}
393		393
394	if(newErrorCode)	394	if(newErrorCode)
395	{	395	{
396	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running	396	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
397	ErrorCode = newErrorCode;	397	ErrorCode = newErrorCode;
398	}	398	}
399	FC.Error[0] = 0;	399	FC.Error[0] = 0;
400	FC.Error[1] = 0;	400	FC.Error[1] = 0;
401	FC.Error[2] = 0;	401	FC.Error[2] = 0;
402	FC.Error[3] = 0;	402	FC.Error[3] = 0;
403	FC.Error[4] = 0;	403	FC.Error[4] = 0;
404	ErrorGpsFixLost = 0;	404	ErrorGpsFixLost = 0;
405	}	405	}
406		406
407		407
408		408
409	void Polling(void)	409	void Polling(void)
410	{	410	{
411	static u8 running = 0, oldFcFlags = 0, count5sec;	411	static u8 running = 0, oldFcFlags = 0, count5sec;
412	if(running) return;	412	if(running) return;
413	running = 1;	413	running = 1;
414	SPI0_UpdateBuffer(); // also calls the GPS-functions	414	SPI0_UpdateBuffer(); // also calls the GPS-functions
415	UART0_ProcessRxData(); // GPS process request	415	UART0_ProcessRxData(); // GPS process request
416	UART0_TransmitTxData(); // GPS send answer	416	UART0_TransmitTxData(); // GPS send answer
417	UART1_ProcessRxData(); // PC process request	417	UART1_ProcessRxData(); // PC process request
418	UART1_TransmitTxData(); // PC send answer	418	UART1_TransmitTxData(); // PC send answer
419	UART2_TransmitTxData(); // FC send answer	419	UART2_TransmitTxData(); // FC send answer
420	CalcHeadFree();	420	CalcHeadFree();
421	// ---------------- Error Check Timing ----------------------------	421	// ---------------- Error Check Timing ----------------------------
422	if(CheckDelay(TimerCheckError) \|\| (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start	422	if(CheckDelay(TimerCheckError) \|\| (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
423	{	423	{
424	//CreateNmeaGGA();	424	//CreateNmeaGGA();
425	if(CheckDelay(TimerCheckError))	425	if(CheckDelay(TimerCheckError))
426	{	426	{
427	TimerCheckError = SetDelay(1000);	427	TimerCheckError = SetDelay(1000);
428	if(++count5sec == 5)	428	if(++count5sec == 5)
429	{	429	{
430	count5sec = 0;	430	count5sec = 0;
431	FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2;	431	FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2;
432	FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2;	432	FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2;
433	CountGpsProcessedIn5Sec = 0;	433	CountGpsProcessedIn5Sec = 0;
434	CountNewGpsDataIn5Sec = 0;	434	CountNewGpsDataIn5Sec = 0;
435	}	435	}
436	}	436	}
437	oldFcFlags = FC.StatusFlags;	437	oldFcFlags = FC.StatusFlags;
438	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	438	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
439		439
440	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	440	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
441		441
442	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	442	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
443	// else NaviData.FlyingTime = 0; // not the time per flight	443	// else NaviData.FlyingTime = 0; // not the time per flight
444	if(SerialLinkOkay) SerialLinkOkay--;	444	if(SerialLinkOkay) SerialLinkOkay--;
445	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	445	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
446	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	446	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
447	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	447	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
448	}	448	}
449	running = 0;	449	running = 0;
450	}	450	}
451		451
452	// the handler will be cyclic called by the timer 1 ISR	452	// the handler will be cyclic called by the timer 1 ISR
453	// used is for critical timing parts that normaly would handled	453	// used is for critical timing parts that normaly would handled
454	// within the main loop that could block longer at logging activities	454	// within the main loop that could block longer at logging activities
455	void EXTIT3_IRQHandler(void)	455	void EXTIT3_IRQHandler(void)
456	{	456	{
457	IENABLE;	457	IENABLE;
458	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	458	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
459	Compass_Update(); // update compass communication	459	Compass_Update(); // update compass communication
460	Analog_Update(); // get new ADC values	460	Analog_Update(); // get new ADC values
461		461
462	if(!PollingTimeout)	462	if(!PollingTimeout)
463	{	463	{
464	PollingTimeout = 5;	464	PollingTimeout = 5;
465	Polling();	465	Polling();
466	}	466	}
467		467
468	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	468	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
469	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	469	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
470	IDISABLE;	470	IDISABLE;
471	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register	471	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
472	}	472	}
473		473
474	//----------------------------------------------------------------------------------------------------	474	//----------------------------------------------------------------------------------------------------
475	int main(void)	475	int main(void)
476	{	476	{
477		477
478	static u32 ftimer =0;	478	static u32 ftimer =0;
479	static u8 fstate = 0;	479	static u8 fstate = 0;
480	// static File_t* f = NULL;	480	// static File_t* f = NULL;
481		481
482		482
483	/* Configure the system clocks */	483	/* Configure the system clocks */
484	SCU_Config();	484	SCU_Config();
485	/* init VIC (Vectored Interrupt Controller) */	485	/* init VIC (Vectored Interrupt Controller) */
486	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	486	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
487	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	487	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
488	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	488	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
489	VIC_InitDefaultVectors();	489	VIC_InitDefaultVectors();
490		490
491	// initialize timer 1 for System Clock and delay rountines	491	// initialize timer 1 for System Clock and delay rountines
492	TIMER1_Init();	492	TIMER1_Init();
493	// initialize the LEDs (needs Timer 1)	493	// initialize the LEDs (needs Timer 1)
494	Led_Init();	494	Led_Init();
495	// initialize the debug UART1	495	// initialize the debug UART1
496	UART1_Init();	496	UART1_Init();
497	UART1_PutString("\r\n---------------------------------------------");	497	UART1_PutString("\r\n---------------------------------------------");
498	// initialize usb	-
499	// to do	-

Subversion Repositories NaviCtrl

(root)/tags/V2.06f/main.c @ 701 - Rev 469 → 470