WebSVN - NaviCtrl - Diff - Rev 330 and 331


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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// +     clearly linked as origin
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//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c.h"
#include "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
#include "eeprom.h"
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
u8 ErrorGpsFixLost = 0;
 
u8 ClearFCStatusFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
    static s32 no_error_delay = 0;
        s32 newErrorCode = 0;
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08;
        else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02;
        else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                newErrorCode = 3;
                StopNavigation = 1;
                DebugOut.Status[0] &= ~0x01; // status of FC Present
                DebugOut.Status[0] &= ~0x02; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no compass communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                newErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                DebugOut.Status[1] |= 0x08;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
#ifndef FOLLOW_ME
                sprintf(ErrorMSG,"FC not compatible ");
#else
                sprintf(ErrorMSG,"! FollowMe only ! ");
#endif
                newErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                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(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))
        {
                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;
              newErrorCode = 5;
                 }
                StopNavigation = 1;
//              UBX_Timeout = SetDelay(500);
        }
        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.Status[1] |= 0x08;
        }
        else // no error occured
        {
                StopNavigation = 0;
                LED_RED_OFF;
                if(no_error_delay) { no_error_delay--;  }
                else
                 {
                  sprintf(ErrorMSG,"No Error               ");
                  ErrorCode = 0;
                 }
        }
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04;
        else DebugOut.Status[1] &= ~0x04;
 
    if(newErrorCode)
         {
          if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 5; // 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;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /*
        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 usb
        USB_ConfigInit();
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag
        DebugOut.Status[1] = 0x00;
 
        Compass_Init();
 
#ifdef FOLLOW_ME
        TransmitAlsoToFC = 1;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
        TransmitAlsoToFC = 0;
#else
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
#endif
 
        GPS_Init();
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        Debug_OK("START");
 
        for (;;) // the endless main loop
        {
                UART0_ProcessRxData();  // process request
                UART1_ProcessRxData();  // process request
                USB_ProcessRxData();    // process request
                UART0_TransmitTxData(); // send answer
                UART1_TransmitTxData(); // send answer
                UART2_TransmitTxData(); // send answer
                USB_TransmitTxData();   // send answer
                SPI0_UpdateBuffer();    // handle new SPI Data
 
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(CheckDelay(SPI0_Timeout) && (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;
                }
 
                // ---------------- Logging  ---------------------------------------
                Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
 
                /*
                // test
                if(CheckDelay(ftimer))
                {
 
                        s8* filename = "test.txt";
 
                        ftimer = SetDelay(100);
                        if(FC.Poti[3]>100 && fstate == 0)
                        {
                                fstate = 1;
                        }
                        else if(FC.Poti[3]<100 && fstate == 2)
                        {
                                fstate = 3;
                        }
 
                        switch(fstate)
                        {
                                case 1:
                                        sprintf(text,"\r\nStart writing file: %s", filename);
                                        UART1_PutString(text);
                                        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(text,"\r\nClosing file: %s", filename);
                                        UART1_PutString(text);
                                        fclose_(f);
                                        fstate = 0;
                                        break;
 
                                default:
                                        break;
                        }
                }
                */
        }
}
 
 
 

Rev 330	Rev 331
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:	31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz	32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
35	// + this list of conditions and the following disclaimer.	35	// + this list of conditions and the following disclaimer.
36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
37	// + from this software without specific prior written permission.	37	// + from this software without specific prior written permission.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
39	// + for non-commercial use (directly or indirectly)	39	// + for non-commercial use (directly or indirectly)
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
41	// + with our written permission	41	// + with our written permission
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
43	// + clearly linked as origin	43	// + clearly linked as origin
44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
45	//	45	//
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
56	// + POSSIBILITY OF SUCH DAMAGE.	56	// + POSSIBILITY OF SUCH DAMAGE.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	58	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	59	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	60	#include <stdio.h>
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "led.h"	62	#include "led.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "uart2.h"	65	#include "uart2.h"
66	#include "gps.h"	66	#include "gps.h"
67	#include "i2c.h"	67	#include "i2c.h"
68	#include "compass.h"	68	#include "compass.h"
69	#include "timer1.h"	69	#include "timer1.h"
70	#include "timer2.h"	70	#include "timer2.h"
71	#include "analog.h"	71	#include "analog.h"
72	#include "spi_slave.h"	72	#include "spi_slave.h"
73	#include "fat16.h"	73	#include "fat16.h"
74	#include "usb.h"	74	#include "usb.h"
75	#include "sdc.h"	75	#include "sdc.h"
76	#include "logging.h"	76	#include "logging.h"
77	#include "params.h"	77	#include "params.h"
78	#include "settings.h"	78	#include "settings.h"
79	#include "config.h"	79	#include "config.h"
80	#include "main.h"	80	#include "main.h"
81	#include "debug.h"	81	#include "debug.h"
82	#include "eeprom.h"	82	#include "eeprom.h"
83		83
84	#ifdef FOLLOW_ME	84	#ifdef FOLLOW_ME
85	u8 TransmitAlsoToFC = 0;	85	u8 TransmitAlsoToFC = 0;
86	#endif	86	#endif
87	u32 TimerCheckError;	87	u32 TimerCheckError;
88	u8 ErrorCode = 0;	88	u8 ErrorCode = 0;
89	u16 BeepTime;	89	u16 BeepTime;
90	u8 NCFlags = 0;	90	u8 NCFlags = 0;
91	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	91	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
92	u8 ErrorGpsFixLost = 0;	92	u8 ErrorGpsFixLost = 0;
93		93
94	u8 ClearFCStatusFlags = 0;	94	u8 ClearFCStatusFlags = 0;
95	u8 StopNavigation = 0;	95	u8 StopNavigation = 0;
96	Param_t Parameter;	96	Param_t Parameter;
97	volatile FC_t FC;	97	volatile FC_t FC;
98		98
99	s8 ErrorMSG[25];	99	s8 ErrorMSG[25];
100		100
101	//----------------------------------------------------------------------------------------------------	101	//----------------------------------------------------------------------------------------------------
102	void SCU_Config(void)	102	void SCU_Config(void)
103	{	103	{
104	/* configure PLL and set it as master clock source */	104	/* configure PLL and set it as master clock source */
105	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	105	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
106	SCU_PLLCmd(DISABLE); // now disable the PLL	106	SCU_PLLCmd(DISABLE); // now disable the PLL
107	#ifdef MCLK96MHZ	107	#ifdef MCLK96MHZ
108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
109	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	109	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
110	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	110	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
111	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	111	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
112	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	112	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
113	#else	113	#else
114	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	114	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
115	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	115	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
116	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	116	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
117	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	117	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
118	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	118	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
119	#endif	119	#endif
120	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	120	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
121	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	121	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
122	}	122	}
123		123
124	//----------------------------------------------------------------------------------------------------	124	//----------------------------------------------------------------------------------------------------
125	void GetNaviCtrlVersion(void)	125	void GetNaviCtrlVersion(void)
126	{	126	{
127	u8 msg[25];	127	u8 msg[25];
128		128
129	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	129	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);
130	UART1_PutString(msg);	130	UART1_PutString(msg);
131	}	131	}
132		132
133	//----------------------------------------------------------------------------------------------------	133	//----------------------------------------------------------------------------------------------------
134		134
135	void CheckErrors(void)	135	void CheckErrors(void)
136	{	136	{
137	static s32 no_error_delay = 0;	137	static s32 no_error_delay = 0;
138	s32 newErrorCode = 0;	138	s32 newErrorCode = 0;
139	UART_VersionInfo.HardwareError[0] = 0;	139	UART_VersionInfo.HardwareError[0] = 0;
140		140
141	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;	141	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.Status[1] \|= 0x08;
142	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	142	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
143		143
144	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	144	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
145	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	145	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
146		146
147	if(CheckDelay(SPI0_Timeout))	147	if(CheckDelay(SPI0_Timeout))
148	{	148	{
149	LED_RED_ON;	149	LED_RED_ON;
150	sprintf(ErrorMSG,"no FC communication ");	150	sprintf(ErrorMSG,"no FC communication ");
151	newErrorCode = 3;	151	newErrorCode = 3;
152	StopNavigation = 1;	152	StopNavigation = 1;
153	DebugOut.Status[0] &= ~0x01; // status of FC Present	153	DebugOut.Status[0] &= ~0x01; // status of FC Present
154	DebugOut.Status[0] &= ~0x02; // status of BL Present	154	DebugOut.Status[0] &= ~0x02; // status of BL Present
155	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	155	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
156	}	156	}
157	else if(CheckDelay(I2C1_Timeout))	157	else if(CheckDelay(I2C1_Timeout))
158	{	158	{
159	LED_RED_ON;	159	LED_RED_ON;
160	sprintf(ErrorMSG,"no compass communication ");	160	sprintf(ErrorMSG,"no compass communication ");
161	//Reset I2CBus	161	//Reset I2CBus
162	I2C1_Deinit();	162	I2C1_Deinit();
163	I2C1_Init();	163	I2C1_Init();
164	newErrorCode = 4;	164	newErrorCode = 4;
165	StopNavigation = 1;	165	StopNavigation = 1;
166	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	166	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
167	DebugOut.Status[1] \|= 0x08;	167	DebugOut.Status[1] \|= 0x08;
168	}	168	}
169	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	169	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
170	{	170	{
171	LED_RED_ON;	171	LED_RED_ON;
172	#ifndef FOLLOW_ME	172	#ifndef FOLLOW_ME
173	sprintf(ErrorMSG,"FC not compatible ");	173	sprintf(ErrorMSG,"FC not compatible ");
174	#else	174	#else
175	sprintf(ErrorMSG,"! FollowMe only ! ");	175	sprintf(ErrorMSG,"! FollowMe only ! ");
176	#endif	176	#endif
177	newErrorCode = 1;	177	newErrorCode = 1;
178	StopNavigation = 1;	178	StopNavigation = 1;
179	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	179	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
180	}	180	}
181		181
182	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	182	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
183	{	183	{
184	LED_RED_ON;	184	LED_RED_ON;
185	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	185	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
186	newErrorCode = 10;	186	newErrorCode = 10;
187	}	187	}
188	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	188	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
189	{	189	{
190	LED_RED_ON;	190	LED_RED_ON;
191	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	191	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
192	newErrorCode = 11;	192	newErrorCode = 11;
193	}	193	}
194	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	194	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
195	{	195	{
196	LED_RED_ON;	196	LED_RED_ON;
197	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	197	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
198	newErrorCode = 12;	198	newErrorCode = 12;
199	}	199	}
200	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	200	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
201	{	201	{
202	LED_RED_ON;	202	LED_RED_ON;
203	sprintf(ErrorMSG,"ERR: FC Nick ACC");	203	sprintf(ErrorMSG,"ERR: FC Nick ACC");
204	newErrorCode = 13;	204	newErrorCode = 13;
205	}	205	}
206	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	206	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
207	{	207	{
208	LED_RED_ON;	208	LED_RED_ON;
209	sprintf(ErrorMSG,"ERR: FC Roll ACC");	209	sprintf(ErrorMSG,"ERR: FC Roll ACC");
210	newErrorCode = 14;	210	newErrorCode = 14;
211	}	211	}
212	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	212	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
213	{	213	{
214	LED_RED_ON;	214	LED_RED_ON;
215	sprintf(ErrorMSG,"ERR:FC Z-ACC");	215	sprintf(ErrorMSG,"ERR:FC Z-ACC");
216	newErrorCode = 15;	216	newErrorCode = 15;
217	}	217	}
218	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	218	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
219	{	219	{
220	LED_RED_ON;	220	LED_RED_ON;
221	sprintf(ErrorMSG,"ERR:Pressure sensor");	221	sprintf(ErrorMSG,"ERR:Pressure sensor");
222	newErrorCode = 16;	222	newErrorCode = 16;
223	}	223	}
224	else if(FC.Error[1] & FC_ERROR1_I2C)	224	else if(FC.Error[1] & FC_ERROR1_I2C)
225	{	225	{
226	LED_RED_ON;	226	LED_RED_ON;
227	sprintf(ErrorMSG,"ERR:I2C FC to BL");	227	sprintf(ErrorMSG,"ERR:I2C FC to BL");
228	newErrorCode = 17;	228	newErrorCode = 17;
229	}	229	}
230	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	230	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
231	{	231	{
232	LED_RED_ON;	232	LED_RED_ON;
233	sprintf(ErrorMSG,"ERR: Bl Missing");	233	sprintf(ErrorMSG,"ERR: Bl Missing");
234	newErrorCode = 18;	234	newErrorCode = 18;
235	}	235	}
236	else if(FC.Error[1] & FC_ERROR1_MIXER)	236	else if(FC.Error[1] & FC_ERROR1_MIXER)
237	{	237	{
238	LED_RED_ON;	238	LED_RED_ON;
239	sprintf(ErrorMSG,"Mixer Error");	239	sprintf(ErrorMSG,"Mixer Error");
240	newErrorCode = 19;	240	newErrorCode = 19;
241	}	241	}
242	else if(CheckDelay(UBX_Timeout))	242	else if(CheckDelay(UBX_Timeout))
243	{	243	{
244	LED_RED_ON;	244	LED_RED_ON;
245	if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	245	if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
246	else	246	else
247	{	247	{
248	sprintf(ErrorMSG,"no GPS communication ");	248	sprintf(ErrorMSG,"no GPS communication ");
249	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	249	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
250	newErrorCode = 5;	250	newErrorCode = 5;
251	}	251	}
252	StopNavigation = 1;	252	StopNavigation = 1;
253	// UBX_Timeout = SetDelay(500);	253	// UBX_Timeout = SetDelay(500);
254	}	254	}
255	else if(Compass_Heading < 0)	255	else if(Compass_Heading < 0)
256	{	256	{
257	LED_RED_ON;	257	LED_RED_ON;
258	sprintf(ErrorMSG,"bad compass value ");	258	sprintf(ErrorMSG,"bad compass value ");
259	newErrorCode = 6;	259	newErrorCode = 6;
260	StopNavigation = 1;	260	StopNavigation = 1;
261	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	261	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
262	}	262	}
263	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	263	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
264	{	264	{
265	LED_RED_ON;	265	LED_RED_ON;
266	sprintf(ErrorMSG,"FC spi rx error ");	266	sprintf(ErrorMSG,"FC spi rx error ");
267	newErrorCode = 8;	267	newErrorCode = 8;
268	StopNavigation = 1;	268	StopNavigation = 1;
269	}	269	}
270	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	270	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
271	{	271	{
272	LED_RED_ON;	272	LED_RED_ON;
273	sprintf(ErrorMSG,"FC: Carefree Error");	273	sprintf(ErrorMSG,"FC: Carefree Error");
274	newErrorCode = 20;	274	newErrorCode = 20;
275	}	275	}
276	else if(FC.Error[1] & FC_ERROR1_PPM)	276	else if(FC.Error[1] & FC_ERROR1_PPM)
277	{	277	{
278	LED_RED_ON;	278	LED_RED_ON;
279	sprintf(ErrorMSG,"RC Signal lost ");	279	sprintf(ErrorMSG,"RC Signal lost ");
280	newErrorCode = 7;	280	newErrorCode = 7;
281	}	281	}
282	else if(ErrorGpsFixLost)	282	else if(ErrorGpsFixLost)
283	{	283	{
284	LED_RED_ON;	284	LED_RED_ON;
285	sprintf(ErrorMSG,"GPS Fix lost ");	285	sprintf(ErrorMSG,"GPS Fix lost ");
286	newErrorCode = 21;	286	newErrorCode = 21;
287	}	287	}
288	else if(ErrorDisturbedEarthMagnetField)	288	else if(ErrorDisturbedEarthMagnetField)
289	{	289	{
290	LED_RED_ON;	290	LED_RED_ON;
291	sprintf(ErrorMSG,"Magnet error ");	291	sprintf(ErrorMSG,"Magnet error ");
292	newErrorCode = 22;	292	newErrorCode = 22;
-		293	DebugOut.Status[1] \|= 0x08;
293	}	294	}
294	else // no error occured	295	else // no error occured
295	{	296	{
296	StopNavigation = 0;	297	StopNavigation = 0;
297	LED_RED_OFF;	298	LED_RED_OFF;
298	if(no_error_delay) { no_error_delay--; }	299	if(no_error_delay) { no_error_delay--; }
299	else	300	else
300	{	301	{
301	sprintf(ErrorMSG,"No Error ");	302	sprintf(ErrorMSG,"No Error ");
302	ErrorCode = 0;	303	ErrorCode = 0;
303	}	304	}
304	}	305	}
305	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;	306	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
306	else DebugOut.Status[1] &= ~0x04;	307	else DebugOut.Status[1] &= ~0x04;
307		308
308	if(newErrorCode)	309	if(newErrorCode)
309	{	310	{
310	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 5; // delay the errors if the motors are running	311	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 5; // delay the errors if the motors are running
311	ErrorCode = newErrorCode;	312	ErrorCode = newErrorCode;
312	}	313	}
313	FC.Error[0] = 0;	314	FC.Error[0] = 0;
314	FC.Error[1] = 0;	315	FC.Error[1] = 0;
315	FC.Error[2] = 0;	316	FC.Error[2] = 0;
316	FC.Error[3] = 0;	317	FC.Error[3] = 0;
317	FC.Error[4] = 0;	318	FC.Error[4] = 0;
318	ErrorGpsFixLost = 0;	319	ErrorGpsFixLost = 0;
319	}	320	}
320		321
321	// the handler will be cyclic called by the timer 1 ISR	322	// the handler will be cyclic called by the timer 1 ISR
322	// used is for critical timing parts that normaly would handled	323	// used is for critical timing parts that normaly would handled
323	// within the main loop that could block longer at logging activities	324	// within the main loop that could block longer at logging activities
324	void EXTIT3_IRQHandler(void)	325	void EXTIT3_IRQHandler(void)
325	{	326	{
326	IENABLE;	327	IENABLE;
327		328
328	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	329	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
329	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	330	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
330	Compass_Update(); // update compass communication	331	Compass_Update(); // update compass communication
331	Analog_Update(); // get new ADC values	332	Analog_Update(); // get new ADC values
332	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	333	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
333		334
334	IDISABLE;	335	IDISABLE;
335	}	336	}
336		337
337	//----------------------------------------------------------------------------------------------------	338	//----------------------------------------------------------------------------------------------------
338	int main(void)	339	int main(void)
339	{	340	{
340	/*	341	/*
341	static u32 ftimer =0;	342	static u32 ftimer =0;
342	static u8 fstate = 0;	343	static u8 fstate = 0;
343	static File_t* f = NULL;	344	static File_t* f = NULL;
344	*/	345	*/
345		346
346	/* Configure the system clocks */	347	/* Configure the system clocks */
347	SCU_Config();	348	SCU_Config();
348	/* init VIC (Vectored Interrupt Controller) */	349	/* init VIC (Vectored Interrupt Controller) */
349	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	350	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
350	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	351	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
351	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	352	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
352	VIC_InitDefaultVectors();	353	VIC_InitDefaultVectors();
353		354
354	// initialize timer 1 for System Clock and delay rountines	355	// initialize timer 1 for System Clock and delay rountines
355	TIMER1_Init();	356	TIMER1_Init();
356	// initialize the LEDs (needs Timer 1)	357	// initialize the LEDs (needs Timer 1)
357	Led_Init();	358	Led_Init();
358	// initialize the debug UART1	359	// initialize the debug UART1
359	UART1_Init();	360	UART1_Init();
360	UART1_PutString("\r\n---------------------------------------------");	361	UART1_PutString("\r\n---------------------------------------------");
361	// initialize usb	362	// initialize usb
362	USB_ConfigInit();	363	USB_ConfigInit();
363	// initialize timer 2 for servo outputs	364	// initialize timer 2 for servo outputs
364	//TIMER2_Init();	365	//TIMER2_Init();
365	// initialize UART2 to FLIGHTCTRL	366	// initialize UART2 to FLIGHTCTRL
366	UART2_Init();	367	UART2_Init();
367	// initialize UART0 (to MKGPS or MK3MAG)	368	// initialize UART0 (to MKGPS or MK3MAG)
368	UART0_Init();	369	UART0_Init();
369	// initialize adc	370	// initialize adc
370	Analog_Init();	371	Analog_Init();
371	// initialize SPI0 to FC	372	// initialize SPI0 to FC
372	SPI0_Init();	373	SPI0_Init();
373	// initialize i2c bus (needs Timer 1)	374	// initialize i2c bus (needs Timer 1)
374	I2C1_Init();	375	I2C1_Init();
375	// initialize fat16 partition on sd card (needs Timer 1)	376	// initialize fat16 partition on sd card (needs Timer 1)
376	Fat16_Init();	377	Fat16_Init();
377	// initialize NC params	378	// initialize NC params
378	NCParams_Init();	379	NCParams_Init();
379	// initialize the settings	380	// initialize the settings
380	Settings_Init();	381	Settings_Init();
381	// initialize logging (needs settings)	382	// initialize logging (needs settings)
382	Logging_Init();	383	Logging_Init();
383		384
384	TimerCheckError = SetDelay(3000);	385	TimerCheckError = SetDelay(3000);
385	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	386	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
386	UART1_PutString("\n\r Version information:");	387	UART1_PutString("\n\r Version information:");
387		388
388	GetNaviCtrlVersion();	389	GetNaviCtrlVersion();
389	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag	390	DebugOut.Status[0] = 0x04 \| 0x08; // NC and MK3Mag
390	DebugOut.Status[1] = 0x00;	391	DebugOut.Status[1] = 0x00;
391		392
392	Compass_Init();	393	Compass_Init();
393		394
394	#ifdef FOLLOW_ME	395	#ifdef FOLLOW_ME
395	TransmitAlsoToFC = 1;	396	TransmitAlsoToFC = 1;
396	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	397	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
397	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");	398	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
398	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");	399	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
399	TransmitAlsoToFC = 0;	400	TransmitAlsoToFC = 0;
400	#else	401	#else
401	SPI0_GetFlightCtrlVersion();	402	SPI0_GetFlightCtrlVersion();
402	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	403	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
403	{	404	{
404	UART1_PutString("\n\r Flight-Ctrl not compatible");	405	UART1_PutString("\n\r Flight-Ctrl not compatible");
405	LED_RED_ON;	406	LED_RED_ON;
406	}	407	}
407	#endif	408	#endif
408		409
409	GPS_Init();	410	GPS_Init();
410		411
411	// ---------- Prepare the isr driven	412	// ---------- Prepare the isr driven
412	// set to absolute lowest priority	413	// set to absolute lowest priority
413	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	414	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
414	// enable interrupts	415	// enable interrupts
415	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	416	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
416		417
417	Debug_OK("START");	418	Debug_OK("START");
418		419
419	for (;;) // the endless main loop	420	for (;;) // the endless main loop
420	{	421	{
421	UART0_ProcessRxData(); // process request	422	UART0_ProcessRxData(); // process request
422	UART1_ProcessRxData(); // process request	423	UART1_ProcessRxData(); // process request
423	USB_ProcessRxData(); // process request	424	USB_ProcessRxData(); // process request
424	UART0_TransmitTxData(); // send answer	425	UART0_TransmitTxData(); // send answer
425	UART1_TransmitTxData(); // send answer	426	UART1_TransmitTxData(); // send answer
426	UART2_TransmitTxData(); // send answer	427	UART2_TransmitTxData(); // send answer
427	USB_TransmitTxData(); // send answer	428	USB_TransmitTxData(); // send answer
428	SPI0_UpdateBuffer(); // handle new SPI Data	429	SPI0_UpdateBuffer(); // handle new SPI Data
429		430
430	// ---------------- Error Check Timing ----------------------------	431	// ---------------- Error Check Timing ----------------------------
431	if(CheckDelay(TimerCheckError))	432	if(CheckDelay(TimerCheckError))
432	{	433	{
433	TimerCheckError = SetDelay(1000);	434	TimerCheckError = SetDelay(1000);
434	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	435	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
435		436
436	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	437	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
437		438
438	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	439	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
439	// else NaviData.FlyingTime = 0; // not the time per flight	440	// else NaviData.FlyingTime = 0; // not the time per flight
440	if(SerialLinkOkay) SerialLinkOkay--;	441	if(SerialLinkOkay) SerialLinkOkay--;
441	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	442	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
442	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	443	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
443	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	444	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
444	}	445	}
445		446
446	// ---------------- Logging ---------------------------------------	447	// ---------------- Logging ---------------------------------------
447	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	448	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
448		449
449	/*	450	/*
450	// test	451	// test
451	if(CheckDelay(ftimer))	452	if(CheckDelay(ftimer))
452	{	453	{
453		454
454	s8* filename = "test.txt";	455	s8* filename = "test.txt";
455		456
456	ftimer = SetDelay(100);	457	ftimer = SetDelay(100);
457	if(FC.Poti[3]>100 && fstate == 0)	458	if(FC.Poti[3]>100 && fstate == 0)
458	{	459	{
459	fstate = 1;	460	fstate = 1;
460	}	461	}
461	else if(FC.Poti[3]<100 && fstate == 2)	462	else if(FC.Poti[3]<100 && fstate == 2)
462	{	463	{
463	fstate = 3;	464	fstate = 3;
464	}	465	}
465		466
466	switch(fstate)	467	switch(fstate)
467	{	468	{
468	case 1:	469	case 1:
469	sprintf(text,"\r\nStart writing file: %s", filename);	470	sprintf(text,"\r\nStart writing file: %s", filename);
470	UART1_PutString(text);	471	UART1_PutString(text);
471	f = fopen_(filename, 'a');	472	f = fopen_(filename, 'a');
472	if(f== NULL) Fat16_Init();	473	if(f== NULL) Fat16_Init();
473	fstate = 2;	474	fstate = 2;
474	break;	475	break;
475		476
476	case 2:	477	case 2:
477	fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);	478	fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);
478	break;	479	break;
479		480
480	case 3:	481	case 3:
481	sprintf(text,"\r\nClosing file: %s", filename);	482	sprintf(text,"\r\nClosing file: %s", filename);
482	UART1_PutString(text);	483	UART1_PutString(text);
483	fclose_(f);	484	fclose_(f);
484	fstate = 0;	485	fstate = 0;
485	break;	486	break;
486		487
487	default:	488	default:
488	break;	489	break;
489	}	490	}
490	}	491	}
491	*/	492	*/
492	}	493	}
493	}	494	}
494		495
495		496
496		497

Subversion Repositories NaviCtrl

(root)/tags/V2.06i/main.c @ 630 - Rev 330 → 331