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| 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" |
- | |
| 66 | #include "i2c1.h" |
65 | #include "i2c.h" |
| 67 | #include "compass.h" |
66 | #include "compass.h" |
| 68 | #include "ncmag.h" |
67 | #include "ncmag.h" |
| 69 | #include "timer1.h" |
68 | #include "timer1.h" |
| 70 | #include "timer2.h" |
69 | #include "timer2.h" |
| 71 | #include "analog.h" |
70 | #include "analog.h" |
| 72 | #include "spi_slave.h" |
71 | #include "spi_slave.h" |
| 73 | #include "fat16.h" |
72 | #include "fat16.h" |
| 74 | #include "sdc.h" |
73 | #include "sdc.h" |
| 75 | #include "logging.h" |
74 | #include "logging.h" |
| 76 | #include "params.h" |
75 | #include "params.h" |
| 77 | #include "settings.h" |
76 | #include "settings.h" |
| 78 | #include "config.h" |
77 | #include "config.h" |
| 79 | #include "main.h" |
78 | #include "main.h" |
| 80 | #include "debug.h" |
79 | #include "debug.h" |
| 81 | #include "eeprom.h" |
80 | #include "eeprom.h" |
| 82 | #include "ssc.h" |
81 | #include "ssc.h" |
| 83 | #include "sdc.h" |
82 | #include "sdc.h" |
| 84 | #include "uart1.h" |
83 | #include "uart1.h" |
| 85 | #include "ncmag.h" |
- | |
| - | 84 | ||
| 86 | 85 | ||
| 87 | 86 | ||
| 88 | #ifdef FOLLOW_ME |
87 | #ifdef FOLLOW_ME |
| 89 | u8 TransmitAlsoToFC = 0; |
88 | u8 TransmitAlsoToFC = 0; |
| 90 | #endif |
89 | #endif |
| 91 | u32 TimerCheckError; |
90 | u32 TimerCheckError; |
| 92 | u8 ErrorCode = 0; |
91 | u8 ErrorCode = 0; |
| 93 | u16 BeepTime; |
92 | u16 BeepTime; |
| 94 | u8 NCFlags = 0; |
93 | u8 NCFlags = 0; |
| 95 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
| 96 | u8 ErrorGpsFixLost = 0; |
95 | u8 ErrorGpsFixLost = 0; |
| 97 | 96 | ||
| 98 | u8 ClearFCStatusFlags = 0; |
97 | u8 ClearFCStatusFlags = 0; |
| 99 | u8 StopNavigation = 0; |
98 | u8 StopNavigation = 0; |
| 100 | volatile u32 PollingTimeout = 10000; |
99 | volatile u32 PollingTimeout = 10000; |
| 101 | Param_t Parameter; |
100 | Param_t Parameter; |
| 102 | volatile FC_t FC; |
101 | volatile FC_t FC; |
| 103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
102 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
| 104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
103 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
| 105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
104 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
| 106 | 105 | ||
| 107 | s8 ErrorMSG[25]; |
106 | s8 ErrorMSG[25]; |
| 108 | 107 | ||
| 109 | //---------------------------------------------------------------------------------------------------- |
108 | //---------------------------------------------------------------------------------------------------- |
| 110 | void SCU_Config(void) |
109 | void SCU_Config(void) |
| 111 | { |
110 | { |
| 112 | /* configure PLL and set it as master clock source */ |
111 | /* 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 |
112 | 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 |
113 | SCU_PLLCmd(DISABLE); // now disable the PLL |
| 115 | #ifdef MCLK96MHZ |
114 | #ifdef MCLK96MHZ |
| 116 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
115 | 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) |
116 | 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) |
117 | 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) |
118 | 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 |
119 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
| 121 | #else |
120 | #else |
| 122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
121 | 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) |
122 | 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) |
123 | 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) |
124 | 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 |
125 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
| 127 | #endif |
126 | #endif |
| 128 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
127 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
| 129 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
128 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
| 130 | } |
129 | } |
| 131 | 130 | ||
| 132 | //---------------------------------------------------------------------------------------------------- |
131 | //---------------------------------------------------------------------------------------------------- |
| 133 | void GetNaviCtrlVersion(void) |
132 | void GetNaviCtrlVersion(void) |
| 134 | { |
133 | { |
| 135 | u8 msg[25]; |
134 | u8 msg[25]; |
| 136 | 135 | ||
| 137 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
136 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 138 | UART1_PutString(msg); |
137 | UART1_PutString(msg); |
| 139 | } |
138 | } |
| 140 | 139 | ||
| 141 | //---------------------------------------------------------------------------------------------------- |
140 | //---------------------------------------------------------------------------------------------------- |
| 142 | 141 | ||
| 143 | void CheckErrors(void) |
142 | void CheckErrors(void) |
| 144 | { |
143 | { |
| 145 | static s32 no_error_delay = 0; |
144 | static s32 no_error_delay = 0; |
| 146 | s32 newErrorCode = 0; |
145 | s32 newErrorCode = 0; |
| 147 | UART_VersionInfo.HardwareError[0] = 0; |
146 | UART_VersionInfo.HardwareError[0] = 0; |
| 148 | 147 | ||
| 149 | if((I2C_CompassPort == I2C_INTERN_1 && CheckDelay(I2C1_Timeout)) || (I2C_CompassPort == I2C_EXTERN_0 && CheckDelay(I2C0_Timeout)) || (Compass_Heading < 0)) |
- | |
| 150 | - | ||
| 151 | DebugOut.StatusRed |= AMPEL_COMPASS; |
148 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
| 152 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
149 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
| 153 | 150 | ||
| 154 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
151 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
| 155 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
152 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
| 156 | 153 | ||
| 157 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
154 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
| 158 | else DebugOut.StatusRed &= ~AMPEL_NC; |
155 | else DebugOut.StatusRed &= ~AMPEL_NC; |
| 159 | - | ||
| 160 | if(I2C_CompassPort == I2C_EXTERN_0) LED_RED_OFF_T; |
- | |
| 161 | 156 | ||
| 162 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
157 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
| 163 | { |
158 | { |
| 164 | sprintf(ErrorMSG,"Calibrate... "); |
159 | sprintf(ErrorMSG,"Calibrate... "); |
| 165 | newErrorCode = 0; |
160 | newErrorCode = 0; |
| 166 | ErrorCode = 0; |
161 | ErrorCode = 0; |
| 167 | no_error_delay = 1; |
162 | no_error_delay = 1; |
| 168 | } |
163 | } |
| 169 | else if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1)) |
164 | else if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
| 170 | { |
165 | { |
| 171 | LED_RED_ON; |
166 | LED_RED_ON; |
| 172 | sprintf(ErrorMSG,"no compass communica"); |
167 | sprintf(ErrorMSG,"no compass communica"); |
| 173 | //Reset I2CBus |
168 | //Reset Compass communication |
| 174 | I2C1_Deinit(); |
- | |
| 175 | I2C1_Init(); |
169 | Compass_Init(); |
| 176 | newErrorCode = 4; |
170 | newErrorCode = 4; |
| 177 | StopNavigation = 1; |
171 | StopNavigation = 1; |
| 178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
172 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
| 179 | DebugOut.StatusRed |= AMPEL_COMPASS; |
173 | DebugOut.StatusRed |= AMPEL_COMPASS; |
| 180 | } |
174 | } |
| 181 | else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0)) |
- | |
| 182 | { |
- | |
| 183 | LED_RED_ON; |
- | |
| 184 | LED_RED_ON_T; |
- | |
| 185 | sprintf(ErrorMSG,"no ext. compass "); |
- | |
| 186 | //Reset I2CBus |
- | |
| 187 | I2C0_Deinit(); |
- | |
| 188 | I2C0_Init(); |
- | |
| 189 | NCMAG_Update(1); |
- | |
| 190 | newErrorCode = 33; |
- | |
| 191 | StopNavigation = 1; |
- | |
| 192 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
- | |
| 193 | DebugOut.StatusRed |= AMPEL_COMPASS; |
- | |
| 194 | } |
- | |
| 195 | else |
- | |
| 196 | if(CheckDelay(SPI0_Timeout)) |
175 | else if(CheckDelay(SPI0_Timeout)) |
| 197 | { |
176 | { |
| 198 | LED_RED_ON; |
177 | LED_RED_ON; |
| 199 | sprintf(ErrorMSG,"no FC communication "); |
178 | sprintf(ErrorMSG,"no FC communication "); |
| 200 | newErrorCode = 3; |
179 | newErrorCode = 3; |
| 201 | StopNavigation = 1; |
180 | StopNavigation = 1; |
| 202 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
181 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
| 203 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
182 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
| 204 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
183 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
| 205 | } |
184 | } |
| 206 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
185 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 207 | { |
186 | { |
| 208 | LED_RED_ON; |
187 | LED_RED_ON; |
| 209 | #ifndef FOLLOW_ME |
188 | #ifndef FOLLOW_ME |
| 210 | sprintf(ErrorMSG,"FC not compatible "); |
189 | sprintf(ErrorMSG,"FC not compatible "); |
| 211 | #else |
190 | #else |
| 212 | sprintf(ErrorMSG,"! FollowMe only ! "); |
191 | sprintf(ErrorMSG,"! FollowMe only ! "); |
| 213 | #endif |
192 | #endif |
| 214 | newErrorCode = 1; |
193 | newErrorCode = 1; |
| 215 | StopNavigation = 1; |
194 | StopNavigation = 1; |
| 216 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
195 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
| 217 | DebugOut.StatusRed |= AMPEL_NC; |
196 | DebugOut.StatusRed |= AMPEL_NC; |
| 218 | } |
197 | } |
| 219 | - | ||
| 220 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
198 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
| 221 | { |
199 | { |
| 222 | LED_RED_ON; |
200 | LED_RED_ON; |
| 223 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
201 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
| 224 | newErrorCode = 10; |
202 | newErrorCode = 10; |
| 225 | } |
203 | } |
| 226 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
204 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
| 227 | { |
205 | { |
| 228 | LED_RED_ON; |
206 | LED_RED_ON; |
| 229 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
207 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
| 230 | newErrorCode = 11; |
208 | newErrorCode = 11; |
| 231 | } |
209 | } |
| 232 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
210 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
| 233 | { |
211 | { |
| 234 | LED_RED_ON; |
212 | LED_RED_ON; |
| 235 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
213 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
| 236 | newErrorCode = 12; |
214 | newErrorCode = 12; |
| 237 | } |
215 | } |
| 238 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
216 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
| 239 | { |
217 | { |
| 240 | LED_RED_ON; |
218 | LED_RED_ON; |
| 241 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
219 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
| 242 | newErrorCode = 13; |
220 | newErrorCode = 13; |
| 243 | } |
221 | } |
| 244 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
222 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
| 245 | { |
223 | { |
| 246 | LED_RED_ON; |
224 | LED_RED_ON; |
| 247 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
225 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
| 248 | newErrorCode = 14; |
226 | newErrorCode = 14; |
| 249 | } |
227 | } |
| 250 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
228 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
| 251 | { |
229 | { |
| 252 | LED_RED_ON; |
230 | LED_RED_ON; |
| 253 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
231 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
| 254 | newErrorCode = 15; |
232 | newErrorCode = 15; |
| 255 | } |
233 | } |
| 256 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
234 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
| 257 | { |
235 | { |
| 258 | LED_RED_ON; |
236 | LED_RED_ON; |
| 259 | sprintf(ErrorMSG,"ERR:Flying range!"); |
237 | sprintf(ErrorMSG,"ERR:Flying range!"); |
| 260 | newErrorCode = 28; |
238 | newErrorCode = 28; |
| 261 | } |
239 | } |
| 262 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
240 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
| 263 | { |
241 | { |
| 264 | LED_RED_ON; |
242 | LED_RED_ON; |
| 265 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
243 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
| 266 | newErrorCode = 16; |
244 | newErrorCode = 16; |
| 267 | } |
245 | } |
| 268 | else if(FC.Error[1] & FC_ERROR1_I2C) |
246 | else if(FC.Error[1] & FC_ERROR1_I2C) |
| 269 | { |
247 | { |
| 270 | LED_RED_ON; |
248 | LED_RED_ON; |
| 271 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
249 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
| 272 | newErrorCode = 17; |
250 | newErrorCode = 17; |
| 273 | } |
251 | } |
| 274 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
252 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
| 275 | { |
253 | { |
| 276 | LED_RED_ON; |
254 | LED_RED_ON; |
| 277 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
255 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
| 278 | newErrorCode = 18; |
256 | newErrorCode = 18; |
| 279 | } |
257 | } |
| 280 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
258 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
| 281 | { |
259 | { |
| 282 | LED_RED_ON; |
260 | LED_RED_ON; |
| 283 | sprintf(ErrorMSG,"Mixer Error"); |
261 | sprintf(ErrorMSG,"Mixer Error"); |
| 284 | newErrorCode = 19; |
262 | newErrorCode = 19; |
| 285 | } |
263 | } |
| 286 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
264 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
| 287 | { |
265 | { |
| 288 | LED_RED_ON; |
266 | LED_RED_ON; |
| 289 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
267 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
| 290 | // else |
268 | // else |
| 291 | { |
269 | { |
| 292 | sprintf(ErrorMSG,"no GPS communication"); |
270 | sprintf(ErrorMSG,"no GPS communication"); |
| 293 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
271 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
| 294 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
272 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
| 295 | newErrorCode = 5; |
273 | newErrorCode = 5; |
| 296 | } |
274 | } |
| 297 | StopNavigation = 1; |
275 | StopNavigation = 1; |
| 298 | // UBX_Timeout = SetDelay(500); |
276 | // UBX_Timeout = SetDelay(500); |
| 299 | } |
277 | } |
| 300 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
278 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
| 301 | { |
279 | { |
| 302 | LED_RED_ON; |
280 | LED_RED_ON; |
| 303 | sprintf(ErrorMSG,"compass not calibr."); |
281 | sprintf(ErrorMSG,"compass not calibr."); |
| 304 | newErrorCode = 31; |
282 | newErrorCode = 31; |
| 305 | StopNavigation = 1; |
283 | StopNavigation = 1; |
| 306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
284 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 307 | } |
285 | } |
| 308 | else if(Compass_Heading < 0) |
286 | else if(Compass_Heading < 0) |
| 309 | { |
287 | { |
| 310 | LED_RED_ON; |
288 | LED_RED_ON; |
| 311 | sprintf(ErrorMSG,"bad compass value "); |
289 | sprintf(ErrorMSG,"bad compass value "); |
| 312 | newErrorCode = 6; |
290 | newErrorCode = 6; |
| 313 | StopNavigation = 1; |
291 | StopNavigation = 1; |
| 314 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
292 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 315 | } |
293 | } |
| 316 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
294 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
| 317 | { |
295 | { |
| 318 | LED_RED_ON; |
296 | LED_RED_ON; |
| 319 | sprintf(ErrorMSG,"FC spi rx error "); |
297 | sprintf(ErrorMSG,"FC spi rx error "); |
| 320 | newErrorCode = 8; |
298 | newErrorCode = 8; |
| 321 | StopNavigation = 1; |
299 | StopNavigation = 1; |
| 322 | } |
300 | } |
| 323 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
301 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
| 324 | { |
302 | { |
| 325 | LED_RED_ON; |
303 | LED_RED_ON; |
| 326 | sprintf(ErrorMSG,"FC: Carefree Error"); |
304 | sprintf(ErrorMSG,"FC: Carefree Error"); |
| 327 | newErrorCode = 20; |
305 | newErrorCode = 20; |
| 328 | } |
306 | } |
| 329 | else if(FC.Error[1] & FC_ERROR1_PPM) |
307 | else if(FC.Error[1] & FC_ERROR1_PPM) |
| 330 | { |
308 | { |
| 331 | LED_RED_ON; |
309 | LED_RED_ON; |
| 332 | sprintf(ErrorMSG,"RC Signal lost "); |
310 | sprintf(ErrorMSG,"RC Signal lost "); |
| 333 | newErrorCode = 7; |
311 | newErrorCode = 7; |
| 334 | } |
312 | } |
| 335 | else if(ErrorGpsFixLost) |
313 | else if(ErrorGpsFixLost) |
| 336 | { |
314 | { |
| 337 | LED_RED_ON; |
315 | LED_RED_ON; |
| 338 | sprintf(ErrorMSG,"GPS Fix lost "); |
316 | sprintf(ErrorMSG,"GPS Fix lost "); |
| 339 | newErrorCode = 21; |
317 | newErrorCode = 21; |
| 340 | } |
318 | } |
| 341 | else if(ErrorDisturbedEarthMagnetField) |
319 | else if(ErrorDisturbedEarthMagnetField) |
| 342 | { |
320 | { |
| 343 | LED_RED_ON; |
321 | LED_RED_ON; |
| 344 | sprintf(ErrorMSG,"Magnet error "); |
322 | sprintf(ErrorMSG,"Magnet error "); |
| 345 | newErrorCode = 22; |
323 | newErrorCode = 22; |
| 346 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
324 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
| 347 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
325 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 348 | } |
326 | } |
| 349 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
327 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
| 350 | { |
328 | { |
| 351 | LED_RED_ON; |
329 | LED_RED_ON; |
| 352 | sprintf(ErrorMSG,"ERR:Motor restart "); |
330 | sprintf(ErrorMSG,"ERR:Motor restart "); |
| 353 | newErrorCode = 23; |
331 | newErrorCode = 23; |
| 354 | DebugOut.StatusRed |= AMPEL_BL; |
332 | DebugOut.StatusRed |= AMPEL_BL; |
| 355 | } |
333 | } |
| 356 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
334 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
| 357 | { |
335 | { |
| 358 | unsigned int i; |
336 | u16 i; |
| 359 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
337 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
| 360 | - | ||
| 361 | LED_RED_ON; |
338 | LED_RED_ON; |
| 362 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
339 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
| 363 | newErrorCode = 32; |
340 | newErrorCode = 32; |
| 364 | DebugOut.StatusRed |= AMPEL_BL; |
341 | DebugOut.StatusRed |= AMPEL_BL; |
| 365 | } |
342 | } |
| 366 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
343 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
| 367 | { |
344 | { |
| 368 | LED_RED_ON; |
345 | LED_RED_ON; |
| 369 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
346 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
| 370 | newErrorCode = 24; |
347 | newErrorCode = 24; |
| 371 | DebugOut.StatusRed |= AMPEL_BL; |
348 | DebugOut.StatusRed |= AMPEL_BL; |
| 372 | } |
349 | } |
| 373 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
350 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
| 374 | { |
351 | { |
| 375 | LED_RED_ON; |
352 | LED_RED_ON; |
| 376 | sprintf(ErrorMSG,"ERR:GPS range "); |
353 | sprintf(ErrorMSG,"ERR:GPS range "); |
| 377 | newErrorCode = 25; |
354 | newErrorCode = 25; |
| 378 | DebugOut.StatusRed |= AMPEL_NC; |
355 | DebugOut.StatusRed |= AMPEL_NC; |
| 379 | } |
356 | } |
| 380 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
357 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
| 381 | { |
358 | { |
| 382 | LED_RED_ON; |
359 | LED_RED_ON; |
| 383 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
360 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
| 384 | newErrorCode = 26; |
361 | newErrorCode = 26; |
| 385 | DebugOut.StatusRed |= AMPEL_NC; |
362 | DebugOut.StatusRed |= AMPEL_NC; |
| 386 | } |
363 | } |
| 387 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
364 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
| 388 | { |
365 | { |
| 389 | LED_RED_ON; |
366 | LED_RED_ON; |
| 390 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
367 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
| 391 | newErrorCode = 27; |
368 | newErrorCode = 27; |
| 392 | DebugOut.StatusRed |= AMPEL_NC; |
369 | DebugOut.StatusRed |= AMPEL_NC; |
| 393 | SD_LoggingError = 0; |
370 | SD_LoggingError = 0; |
| 394 | } |
371 | } |
| 395 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
372 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 396 | { |
373 | { |
| 397 | LED_RED_ON; |
374 | LED_RED_ON; |
| 398 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
375 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
| 399 | newErrorCode = 29; |
376 | newErrorCode = 29; |
| 400 | DebugOut.StatusRed |= AMPEL_NC; |
377 | DebugOut.StatusRed |= AMPEL_NC; |
| 401 | } |
378 | } |
| 402 | 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))) |
379 | 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))) |
| 403 | { |
380 | { |
| 404 | LED_RED_ON; |
381 | LED_RED_ON; |
| 405 | sprintf(ErrorMSG,"No GPS Fix "); |
382 | sprintf(ErrorMSG,"No GPS Fix "); |
| 406 | newErrorCode = 30; |
383 | newErrorCode = 30; |
| 407 | } |
384 | } |
| 408 | else // no error occured |
385 | else // no error occured |
| 409 | { |
386 | { |
| 410 | StopNavigation = 0; |
387 | StopNavigation = 0; |
| 411 | LED_RED_OFF; |
388 | LED_RED_OFF; |
| 412 | if(no_error_delay) { no_error_delay--; } |
389 | if(no_error_delay) { no_error_delay--; } |
| 413 | else |
390 | else |
| 414 | { |
391 | { |
| 415 | sprintf(ErrorMSG,"No Error "); |
392 | sprintf(ErrorMSG,"No Error "); |
| 416 | ErrorCode = 0; |
393 | ErrorCode = 0; |
| 417 | } |
394 | } |
| 418 | } |
395 | } |
| 419 | 396 | ||
| 420 | if(newErrorCode) |
397 | if(newErrorCode) |
| 421 | { |
398 | { |
| 422 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
399 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
| 423 | ErrorCode = newErrorCode; |
400 | ErrorCode = newErrorCode; |
| 424 | } |
401 | } |
| 425 | FC.Error[0] = 0; |
402 | FC.Error[0] = 0; |
| 426 | FC.Error[1] = 0; |
403 | FC.Error[1] = 0; |
| 427 | FC.Error[2] = 0; |
404 | FC.Error[2] = 0; |
| 428 | FC.Error[3] = 0; |
405 | FC.Error[3] = 0; |
| 429 | FC.Error[4] = 0; |
406 | FC.Error[4] = 0; |
| 430 | ErrorGpsFixLost = 0; |
407 | ErrorGpsFixLost = 0; |
| 431 | } |
408 | } |
| 432 | 409 | ||
| 433 | 410 | ||
| 434 | 411 | ||
| 435 | void Polling(void) |
412 | void Polling(void) |
| 436 | { |
413 | { |
| 437 | static u8 running = 0, oldFcFlags = 0, count5sec; |
414 | static u8 running = 0, oldFcFlags = 0, count5sec; |
| 438 | if(running) return; |
415 | if(running) return; |
| 439 | running = 1; |
416 | running = 1; |
| 440 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
417 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
| 441 | UART0_ProcessRxData(); // GPS process request |
418 | UART0_ProcessRxData(); // GPS process request |
| 442 | UART0_TransmitTxData(); // GPS send answer |
419 | UART0_TransmitTxData(); // GPS send answer |
| 443 | UART1_ProcessRxData(); // PC process request |
420 | UART1_ProcessRxData(); // PC process request |
| 444 | UART1_TransmitTxData(); // PC send answer |
421 | UART1_TransmitTxData(); // PC send answer |
| 445 | UART2_TransmitTxData(); // FC send answer |
422 | UART2_TransmitTxData(); // FC send answer |
| 446 | CalcHeadFree(); |
423 | CalcHeadFree(); |
| 447 | // ---------------- Error Check Timing ---------------------------- |
424 | // ---------------- Error Check Timing ---------------------------- |
| 448 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
425 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| 449 | { |
426 | { |
| 450 | if(CheckDelay(TimerCheckError)) |
427 | if(CheckDelay(TimerCheckError)) |
| 451 | { |
428 | { |
| 452 | TimerCheckError = SetDelay(1000); |
429 | TimerCheckError = SetDelay(1000); |
| 453 | if(++count5sec == 5) |
430 | if(++count5sec == 5) |
| 454 | { |
431 | { |
| 455 | count5sec = 0; |
432 | count5sec = 0; |
| 456 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
433 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
| 457 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
434 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
| 458 | CountGpsProcessedIn5Sec = 0; |
435 | CountGpsProcessedIn5Sec = 0; |
| 459 | CountNewGpsDataIn5Sec = 0; |
436 | CountNewGpsDataIn5Sec = 0; |
| 460 | } |
437 | } |
| 461 | } |
438 | } |
| 462 | oldFcFlags = FC.StatusFlags; |
439 | oldFcFlags = FC.StatusFlags; |
| 463 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
440 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| 464 | 441 | ||
| 465 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
442 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
| 466 | 443 | ||
| 467 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
444 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| 468 | if(SerialLinkOkay) SerialLinkOkay--; |
445 | if(SerialLinkOkay) SerialLinkOkay--; |
| 469 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
446 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| 470 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
447 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| 471 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
448 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
| 472 | } |
449 | } |
| 473 | running = 0; |
450 | running = 0; |
| 474 | } |
451 | } |
| 475 | 452 | ||
| 476 | // the handler will be cyclic called by the timer 1 ISR |
453 | // the handler will be cyclic called by the timer 1 ISR |
| 477 | // used is for critical timing parts that normaly would handled |
454 | // used is for critical timing parts that normaly would handled |
| 478 | // within the main loop that could block longer at logging activities |
455 | // within the main loop that could block longer at logging activities |
| 479 | void EXTIT3_IRQHandler(void) |
456 | void EXTIT3_IRQHandler(void) |
| 480 | { |
457 | { |
| 481 | IENABLE; |
458 | IENABLE; |
| 482 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
459 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
| 483 | Compass_Update(); // update compass communication |
460 | Compass_Update(); // update compass communication |
| 484 | Analog_Update(); // get new ADC values |
461 | Analog_Update(); // get new ADC values |
| 485 | 462 | ||
| 486 | if(!PollingTimeout) |
463 | if(!PollingTimeout) |
| 487 | { |
464 | { |
| 488 | PollingTimeout = 5; |
465 | PollingTimeout = 5; |
| 489 | Polling(); |
466 | Polling(); |
| 490 | } |
467 | } |
| 491 | 468 | ||
| 492 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
469 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
| 493 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
470 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
| 494 | IDISABLE; |
471 | IDISABLE; |
| 495 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
472 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
| 496 | } |
473 | } |
| 497 | 474 | ||
| 498 | //---------------------------------------------------------------------------------------------------- |
475 | //---------------------------------------------------------------------------------------------------- |
| 499 | int main(void) |
476 | int main(void) |
| 500 | { |
477 | { |
| 501 | 478 | ||
| 502 | static u32 ftimer =0; |
479 | // static u32 ftimer =0; |
| 503 | static u8 fstate = 0; |
480 | // static u8 fstate = 0; |
| 504 | // static File_t* f = NULL; |
481 | // static File_t* f = NULL; |
| 505 | 482 | ||
| 506 | 483 | ||
| 507 | /* Configure the system clocks */ |
484 | /* Configure the system clocks */ |
| 508 | SCU_Config(); |
485 | SCU_Config(); |
| 509 | /* init VIC (Vectored Interrupt Controller) */ |
486 | /* init VIC (Vectored Interrupt Controller) */ |
| 510 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
487 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
| 511 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
488 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
| 512 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
489 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
| 513 | VIC_InitDefaultVectors(); |
490 | VIC_InitDefaultVectors(); |
| 514 | 491 | ||
| 515 | // initialize timer 1 for System Clock and delay rountines |
492 | // initialize timer 1 for System Clock and delay rountines |
| 516 | TIMER1_Init(); |
493 | TIMER1_Init(); |
| 517 | // initialize the LEDs (needs Timer 1) |
494 | // initialize the LEDs (needs Timer 1) |
| 518 | Led_Init(); |
495 | Led_Init(); |
| 519 | // initialize the debug UART1 |
496 | // initialize the debug UART1 |
| 520 | UART1_Init(); |
497 | UART1_Init(); |
| 521 | UART1_PutString("\r\n---------------------------------------------"); |
498 | UART1_PutString("\r\n---------------------------------------------"); |
| 522 | // initialize timer 2 for servo outputs |
499 | // initialize timer 2 for servo outputs |
| 523 | //TIMER2_Init(); |
500 | //TIMER2_Init(); |
| 524 | // initialize UART2 to FLIGHTCTRL |
501 | // initialize UART2 to FLIGHTCTRL |
| 525 | UART2_Init(); |
502 | UART2_Init(); |
| 526 | // initialize UART0 (to MKGPS or MK3MAG) |
503 | // initialize UART0 (to MKGPS or MK3MAG) |
| 527 | UART0_Init(); |
504 | UART0_Init(); |
| 528 | // initialize adc |
505 | // initialize adc |
| 529 | Analog_Init(); |
506 | Analog_Init(); |
| 530 | // initialize SPI0 to FC |
507 | // initialize SPI0 to FC |
| 531 | SPI0_Init(); |
508 | SPI0_Init(); |
| 532 | // initialize i2c busses (needs Timer 1) |
509 | // initialize i2c busses (needs Timer 1) |
| 533 | I2C0_Init(); |
510 | I2CBus_Init(I2C0); |
| 534 | I2C1_Init(); |
511 | I2CBus_Init(I2C1); |
| 535 | 512 | ||
| 536 | // initialize fat16 partition on sd card (needs Timer 1) |
513 | // initialize fat16 partition on sd card (needs Timer 1) |
| 537 | Fat16_Init(); |
514 | Fat16_Init(); |
| 538 | // initialize NC params |
515 | // initialize NC params |
| 539 | NCParams_Init(); |
516 | NCParams_Init(); |
| 540 | // initialize the settings |
517 | // initialize the settings |
| 541 | Settings_Init(); |
518 | Settings_Init(); |
| 542 | // initialize logging (needs settings) |
519 | // initialize logging (needs settings) |
| 543 | Logging_Init(); |
520 | Logging_Init(); |
| 544 | 521 | ||
| 545 | LED_GRN_ON; |
522 | LED_GRN_ON; |
| 546 | TimerCheckError = SetDelay(3000); |
523 | TimerCheckError = SetDelay(3000); |
| 547 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
524 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 548 | UART1_PutString("\n\r Version information:"); |
525 | UART1_PutString("\n\r Version information:"); |
| 549 | 526 | ||
| 550 | GetNaviCtrlVersion(); |
527 | GetNaviCtrlVersion(); |
| 551 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
528 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
| 552 | DebugOut.StatusRed = 0x00; |
529 | DebugOut.StatusRed = 0x00; |
| 553 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
530 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 554 | 531 | ||
| 555 | Compass_Init(); |
532 | Compass_Init(); |
| 556 | 533 | ||
| 557 | GPS_Init(); |
534 | GPS_Init(); |
| 558 | 535 | ||
| 559 | #ifdef FOLLOW_ME |
536 | #ifdef FOLLOW_ME |
| 560 | TransmitAlsoToFC = 1; |
537 | TransmitAlsoToFC = 1; |
| 561 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
538 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 562 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
539 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
| 563 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
540 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
| 564 | TransmitAlsoToFC = 0; |
541 | TransmitAlsoToFC = 0; |
| 565 | #else |
542 | #else |
| 566 | SPI0_GetFlightCtrlVersion(); |
543 | SPI0_GetFlightCtrlVersion(); |
| 567 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
544 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 568 | { |
545 | { |
| 569 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
546 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
| 570 | LED_RED_ON; |
547 | LED_RED_ON; |
| 571 | } |
548 | } |
| 572 | #endif |
549 | #endif |
| 573 | // ---------- Prepare the isr driven |
550 | // ---------- Prepare the isr driven |
| 574 | // set to absolute lowest priority |
551 | // set to absolute lowest priority |
| 575 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
552 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
| 576 | // enable interrupts |
553 | // enable interrupts |
| 577 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
554 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
| 578 | 555 | ||
| 579 | Debug_OK("START"); |
556 | Debug_OK("START"); |
| 580 | UART1_PutString("\r\n"); |
557 | UART1_PutString("\r\n"); |
| 581 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
558 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 582 | LED_GRN_ON; |
559 | LED_GRN_ON; |
| 583 | LED_RED_OFF; |
560 | LED_RED_OFF; |
| 584 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
561 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
| 585 | UART1_PutString("\r\n"); |
562 | UART1_PutString("\r\n"); |
| 586 | for (;;) // the endless main loop |
563 | for (;;) // the endless main loop |
| 587 | { |
564 | { |
| 588 | Polling(); |
565 | Polling(); |
| 589 | PollingTimeout = 15; |
566 | PollingTimeout = 15; |
| 590 | // ---------------- Logging --------------------------------------- |
567 | // ---------------- Logging --------------------------------------- |
| 591 | if(SD_WatchDog) |
568 | if(SD_WatchDog) |
| 592 | { |
569 | { |
| 593 | SD_WatchDog = 30000; |
570 | SD_WatchDog = 30000; |
| 594 | 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 |
571 | 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 |
| 595 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
572 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
| 596 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
573 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
| 597 | } |
574 | } |
| 598 | 575 | ||
| 599 | /* |
576 | /* |
| 600 | if(CheckDelay(ftimer)) |
577 | if(CheckDelay(ftimer)) |
| 601 | { |
578 | { |
| 602 | 579 | ||
| 603 | static s8 filename[35]; |
580 | static s8 filename[35]; |
| 604 | static u8 i = 0; |
581 | static u8 i = 0; |
| 605 | s8 dbgmsg[40]; |
582 | s8 dbgmsg[40]; |
| 606 | |
583 | |
| 607 | |
584 | |
| 608 | 585 | ||
| 609 | ftimer = SetDelay(100); |
586 | ftimer = SetDelay(100); |
| 610 | if(FC.Poti[3]>100 && fstate == 0) |
587 | if(FC.Poti[3]>100 && fstate == 0) |
| 611 | { |
588 | { |
| 612 | fstate = 1; |
589 | fstate = 1; |
| 613 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
590 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
| 614 | } |
591 | } |
| 615 | else if(FC.Poti[3]<100 && fstate == 2) |
592 | else if(FC.Poti[3]<100 && fstate == 2) |
| 616 | { |
593 | { |
| 617 | fstate = 3; |
594 | fstate = 3; |
| 618 | } |
595 | } |
| 619 | 596 | ||
| 620 | switch(fstate) |
597 | switch(fstate) |
| 621 | { |
598 | { |
| 622 | case 1: |
599 | case 1: |
| 623 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
600 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
| 624 | Debug(dbgmsg); |
601 | Debug(dbgmsg); |
| 625 | f = fopen_(filename, 'a'); |
602 | f = fopen_(filename, 'a'); |
| 626 | if(f== NULL) Fat16_Init(); |
603 | if(f== NULL) Fat16_Init(); |
| 627 | fstate = 2; |
604 | fstate = 2; |
| 628 | break; |
605 | break; |
| 629 | 606 | ||
| 630 | case 2: |
607 | case 2: |
| 631 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
608 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
| 632 | break; |
609 | break; |
| 633 | |
610 | |
| 634 | case 3: |
611 | case 3: |
| 635 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
612 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
| 636 | Debug(dbgmsg); |
613 | Debug(dbgmsg); |
| 637 | fclose_(f); |
614 | fclose_(f); |
| 638 | fstate = 0; |
615 | fstate = 0; |
| 639 | break; |
616 | break; |
| 640 | 617 | ||
| 641 | default: |
618 | default: |
| 642 | break; |
619 | break; |
| 643 | } |
620 | } |
| 644 | } |
621 | } |
| 645 | */ |
622 | */ |
| 646 | } |
623 | } |
| 647 | } |
624 | } |
| 648 | //DebugOut.Analog[16] |
625 | //DebugOut.Analog[16] |
| 649 | 626 | ||