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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" |
65 | #include "i2c0.h" |
66 | #include "i2c1.h" |
66 | #include "i2c1.h" |
67 | #include "compass.h" |
67 | #include "compass.h" |
68 | #include "ncmag.h" |
68 | #include "ncmag.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 "sdc.h" |
74 | #include "sdc.h" |
75 | #include "logging.h" |
75 | #include "logging.h" |
76 | #include "params.h" |
76 | #include "params.h" |
77 | #include "settings.h" |
77 | #include "settings.h" |
78 | #include "config.h" |
78 | #include "config.h" |
79 | #include "main.h" |
79 | #include "main.h" |
80 | #include "debug.h" |
80 | #include "debug.h" |
81 | #include "eeprom.h" |
81 | #include "eeprom.h" |
82 | #include "ssc.h" |
82 | #include "ssc.h" |
83 | #include "sdc.h" |
83 | #include "sdc.h" |
84 | #include "uart1.h" |
84 | #include "uart1.h" |
85 | 85 | ||
86 | 86 | ||
87 | 87 | ||
88 | #ifdef FOLLOW_ME |
88 | #ifdef FOLLOW_ME |
89 | u8 TransmitAlsoToFC = 0; |
89 | u8 TransmitAlsoToFC = 0; |
90 | #endif |
90 | #endif |
91 | u32 TimerCheckError; |
91 | u32 TimerCheckError; |
92 | u8 ErrorCode = 0; |
92 | u8 ErrorCode = 0; |
93 | u16 BeepTime; |
93 | u16 BeepTime; |
94 | u8 NCFlags = 0; |
94 | u8 NCFlags = 0; |
95 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
95 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
96 | u8 ErrorGpsFixLost = 0; |
96 | u8 ErrorGpsFixLost = 0; |
97 | 97 | ||
98 | u8 ClearFCStatusFlags = 0; |
98 | u8 ClearFCStatusFlags = 0; |
99 | u8 StopNavigation = 0; |
99 | u8 StopNavigation = 0; |
100 | volatile u32 PollingTimeout = 10000; |
100 | volatile u32 PollingTimeout = 10000; |
101 | Param_t Parameter; |
101 | Param_t Parameter; |
102 | volatile FC_t FC; |
102 | volatile FC_t FC; |
103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
106 | 106 | ||
107 | s8 ErrorMSG[25]; |
107 | s8 ErrorMSG[25]; |
108 | 108 | ||
109 | //---------------------------------------------------------------------------------------------------- |
109 | //---------------------------------------------------------------------------------------------------- |
110 | void SCU_Config(void) |
110 | void SCU_Config(void) |
111 | { |
111 | { |
112 | /* configure PLL and set it as master clock source */ |
112 | /* configure PLL and set it as master clock source */ |
113 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
113 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
114 | SCU_PLLCmd(DISABLE); // now disable the PLL |
114 | SCU_PLLCmd(DISABLE); // now disable the PLL |
115 | #ifdef MCLK96MHZ |
115 | #ifdef MCLK96MHZ |
116 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
116 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
117 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
117 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
118 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
118 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
119 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
119 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
120 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
120 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
121 | #else |
121 | #else |
122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
123 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
123 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
124 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
124 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
125 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
125 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
126 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
126 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
127 | #endif |
127 | #endif |
128 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
128 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
129 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
129 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
130 | } |
130 | } |
131 | 131 | ||
132 | //---------------------------------------------------------------------------------------------------- |
132 | //---------------------------------------------------------------------------------------------------- |
133 | void GetNaviCtrlVersion(void) |
133 | void GetNaviCtrlVersion(void) |
134 | { |
134 | { |
135 | u8 msg[25]; |
135 | u8 msg[25]; |
136 | 136 | ||
137 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
137 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
138 | UART1_PutString(msg); |
138 | UART1_PutString(msg); |
139 | } |
139 | } |
140 | 140 | ||
141 | //---------------------------------------------------------------------------------------------------- |
141 | //---------------------------------------------------------------------------------------------------- |
142 | 142 | ||
143 | void CheckErrors(void) |
143 | void CheckErrors(void) |
144 | { |
144 | { |
145 | static s32 no_error_delay = 0; |
145 | static s32 no_error_delay = 0; |
146 | s32 newErrorCode = 0; |
146 | s32 newErrorCode = 0; |
147 | UART_VersionInfo.HardwareError[0] = 0; |
147 | UART_VersionInfo.HardwareError[0] = 0; |
- | 148 | ||
148 | 149 | if((I2C_CompassPort == I2C_INTERN_1 && CheckDelay(I2C1_Timeout)) || (I2C_CompassPort == I2C_EXTERN_0 && CheckDelay(I2C0_Timeout)) || (Compass_Heading < 0)) |
|
149 | //ToDo |
150 | |
150 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
151 | DebugOut.StatusRed |= AMPEL_COMPASS; |
151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
152 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
152 | 153 | ||
153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
154 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
155 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
155 | 156 | ||
156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
157 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
158 | else DebugOut.StatusRed &= ~AMPEL_NC; |
158 | 159 | ||
159 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
160 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
160 | { |
161 | { |
161 | sprintf(ErrorMSG,"Calibrate... "); |
162 | sprintf(ErrorMSG,"Calibrate... "); |
162 | newErrorCode = 0; |
163 | newErrorCode = 0; |
163 | ErrorCode = 0; |
164 | ErrorCode = 0; |
164 | no_error_delay = 1; |
165 | no_error_delay = 1; |
165 | } |
166 | } |
166 | else |
- | |
167 | if(CheckDelay(SPI0_Timeout)) |
167 | else if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1)) |
168 | { |
168 | { |
169 | LED_RED_ON; |
169 | LED_RED_ON; |
170 | sprintf(ErrorMSG,"no FC communication "); |
170 | sprintf(ErrorMSG,"no compass communica"); |
- | 171 | //Reset I2CBus |
|
- | 172 | I2C1_Deinit(); |
|
- | 173 | I2C1_Init(); |
|
171 | newErrorCode = 3; |
174 | newErrorCode = 4; |
172 | StopNavigation = 1; |
175 | StopNavigation = 1; |
173 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
176 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
174 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
177 | DebugOut.StatusRed |= AMPEL_COMPASS; |
175 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
- | |
176 | } |
178 | } |
177 | //ToDo |
- | |
178 | else if(CheckDelay(I2C1_Timeout)) |
179 | else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0)) |
179 | { |
180 | { |
180 | LED_RED_ON; |
181 | LED_RED_ON; |
181 | sprintf(ErrorMSG,"no compass communica"); |
182 | sprintf(ErrorMSG,"no ext. compass "); |
182 | //Reset I2CBus |
183 | //Reset I2CBus |
183 | I2C1_Deinit(); |
184 | I2C0_Deinit(); |
184 | I2C1_Init(); |
185 | I2C0_Init(); |
185 | newErrorCode = 4; |
186 | newErrorCode = 4; |
186 | StopNavigation = 1; |
187 | StopNavigation = 1; |
187 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
188 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
188 | DebugOut.StatusRed |= AMPEL_COMPASS; |
189 | DebugOut.StatusRed |= AMPEL_COMPASS; |
189 | } |
190 | } |
- | 191 | else |
|
- | 192 | if(CheckDelay(SPI0_Timeout)) |
|
- | 193 | { |
|
- | 194 | LED_RED_ON; |
|
- | 195 | sprintf(ErrorMSG,"no FC communication "); |
|
- | 196 | newErrorCode = 3; |
|
- | 197 | StopNavigation = 1; |
|
- | 198 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
|
- | 199 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
|
- | 200 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
|
- | 201 | } |
|
190 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
202 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
191 | { |
203 | { |
192 | LED_RED_ON; |
204 | LED_RED_ON; |
193 | #ifndef FOLLOW_ME |
205 | #ifndef FOLLOW_ME |
194 | sprintf(ErrorMSG,"FC not compatible "); |
206 | sprintf(ErrorMSG,"FC not compatible "); |
195 | #else |
207 | #else |
196 | sprintf(ErrorMSG,"! FollowMe only ! "); |
208 | sprintf(ErrorMSG,"! FollowMe only ! "); |
197 | #endif |
209 | #endif |
198 | newErrorCode = 1; |
210 | newErrorCode = 1; |
199 | StopNavigation = 1; |
211 | StopNavigation = 1; |
200 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
212 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
201 | DebugOut.StatusRed |= AMPEL_NC; |
213 | DebugOut.StatusRed |= AMPEL_NC; |
202 | } |
214 | } |
203 | 215 | ||
204 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
216 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
205 | { |
217 | { |
206 | LED_RED_ON; |
218 | LED_RED_ON; |
207 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
219 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
208 | newErrorCode = 10; |
220 | newErrorCode = 10; |
209 | } |
221 | } |
210 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
222 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
211 | { |
223 | { |
212 | LED_RED_ON; |
224 | LED_RED_ON; |
213 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
225 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
214 | newErrorCode = 11; |
226 | newErrorCode = 11; |
215 | } |
227 | } |
216 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
228 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
217 | { |
229 | { |
218 | LED_RED_ON; |
230 | LED_RED_ON; |
219 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
231 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
220 | newErrorCode = 12; |
232 | newErrorCode = 12; |
221 | } |
233 | } |
222 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
234 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
223 | { |
235 | { |
224 | LED_RED_ON; |
236 | LED_RED_ON; |
225 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
237 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
226 | newErrorCode = 13; |
238 | newErrorCode = 13; |
227 | } |
239 | } |
228 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
240 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
229 | { |
241 | { |
230 | LED_RED_ON; |
242 | LED_RED_ON; |
231 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
243 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
232 | newErrorCode = 14; |
244 | newErrorCode = 14; |
233 | } |
245 | } |
234 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
246 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
235 | { |
247 | { |
236 | LED_RED_ON; |
248 | LED_RED_ON; |
237 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
249 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
238 | newErrorCode = 15; |
250 | newErrorCode = 15; |
239 | } |
251 | } |
240 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
252 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
241 | { |
253 | { |
242 | LED_RED_ON; |
254 | LED_RED_ON; |
243 | sprintf(ErrorMSG,"ERR:Flying range!"); |
255 | sprintf(ErrorMSG,"ERR:Flying range!"); |
244 | newErrorCode = 28; |
256 | newErrorCode = 28; |
245 | } |
257 | } |
246 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
258 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
247 | { |
259 | { |
248 | LED_RED_ON; |
260 | LED_RED_ON; |
249 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
261 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
250 | newErrorCode = 16; |
262 | newErrorCode = 16; |
251 | } |
263 | } |
252 | else if(FC.Error[1] & FC_ERROR1_I2C) |
264 | else if(FC.Error[1] & FC_ERROR1_I2C) |
253 | { |
265 | { |
254 | LED_RED_ON; |
266 | LED_RED_ON; |
255 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
267 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
256 | newErrorCode = 17; |
268 | newErrorCode = 17; |
257 | } |
269 | } |
258 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
270 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
259 | { |
271 | { |
260 | LED_RED_ON; |
272 | LED_RED_ON; |
261 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
273 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
262 | newErrorCode = 18; |
274 | newErrorCode = 18; |
263 | } |
275 | } |
264 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
276 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
265 | { |
277 | { |
266 | LED_RED_ON; |
278 | LED_RED_ON; |
267 | sprintf(ErrorMSG,"Mixer Error"); |
279 | sprintf(ErrorMSG,"Mixer Error"); |
268 | newErrorCode = 19; |
280 | newErrorCode = 19; |
269 | } |
281 | } |
270 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
282 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
271 | { |
283 | { |
272 | LED_RED_ON; |
284 | LED_RED_ON; |
273 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
285 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
274 | // else |
286 | // else |
275 | { |
287 | { |
276 | sprintf(ErrorMSG,"no GPS communication"); |
288 | sprintf(ErrorMSG,"no GPS communication"); |
277 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
289 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
278 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
290 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
279 | newErrorCode = 5; |
291 | newErrorCode = 5; |
280 | } |
292 | } |
281 | StopNavigation = 1; |
293 | StopNavigation = 1; |
282 | // UBX_Timeout = SetDelay(500); |
294 | // UBX_Timeout = SetDelay(500); |
283 | } |
295 | } |
284 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
296 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
285 | { |
297 | { |
286 | LED_RED_ON; |
298 | LED_RED_ON; |
287 | sprintf(ErrorMSG,"compass not calibr."); |
299 | sprintf(ErrorMSG,"compass not calibr."); |
288 | newErrorCode = 31; |
300 | newErrorCode = 31; |
289 | StopNavigation = 1; |
301 | StopNavigation = 1; |
290 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
302 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
291 | } |
303 | } |
292 | else if(Compass_Heading < 0) |
304 | else if(Compass_Heading < 0) |
293 | { |
305 | { |
294 | LED_RED_ON; |
306 | LED_RED_ON; |
295 | sprintf(ErrorMSG,"bad compass value "); |
307 | sprintf(ErrorMSG,"bad compass value "); |
296 | newErrorCode = 6; |
308 | newErrorCode = 6; |
297 | StopNavigation = 1; |
309 | StopNavigation = 1; |
298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
310 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
299 | } |
311 | } |
300 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
312 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
301 | { |
313 | { |
302 | LED_RED_ON; |
314 | LED_RED_ON; |
303 | sprintf(ErrorMSG,"FC spi rx error "); |
315 | sprintf(ErrorMSG,"FC spi rx error "); |
304 | newErrorCode = 8; |
316 | newErrorCode = 8; |
305 | StopNavigation = 1; |
317 | StopNavigation = 1; |
306 | } |
318 | } |
307 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
319 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
308 | { |
320 | { |
309 | LED_RED_ON; |
321 | LED_RED_ON; |
310 | sprintf(ErrorMSG,"FC: Carefree Error"); |
322 | sprintf(ErrorMSG,"FC: Carefree Error"); |
311 | newErrorCode = 20; |
323 | newErrorCode = 20; |
312 | } |
324 | } |
313 | else if(FC.Error[1] & FC_ERROR1_PPM) |
325 | else if(FC.Error[1] & FC_ERROR1_PPM) |
314 | { |
326 | { |
315 | LED_RED_ON; |
327 | LED_RED_ON; |
316 | sprintf(ErrorMSG,"RC Signal lost "); |
328 | sprintf(ErrorMSG,"RC Signal lost "); |
317 | newErrorCode = 7; |
329 | newErrorCode = 7; |
318 | } |
330 | } |
319 | else if(ErrorGpsFixLost) |
331 | else if(ErrorGpsFixLost) |
320 | { |
332 | { |
321 | LED_RED_ON; |
333 | LED_RED_ON; |
322 | sprintf(ErrorMSG,"GPS Fix lost "); |
334 | sprintf(ErrorMSG,"GPS Fix lost "); |
323 | newErrorCode = 21; |
335 | newErrorCode = 21; |
324 | } |
336 | } |
325 | else if(ErrorDisturbedEarthMagnetField) |
337 | else if(ErrorDisturbedEarthMagnetField) |
326 | { |
338 | { |
327 | LED_RED_ON; |
339 | LED_RED_ON; |
328 | sprintf(ErrorMSG,"Magnet error "); |
340 | sprintf(ErrorMSG,"Magnet error "); |
329 | newErrorCode = 22; |
341 | newErrorCode = 22; |
330 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
342 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
331 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
343 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
332 | } |
344 | } |
333 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
345 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
334 | { |
346 | { |
335 | LED_RED_ON; |
347 | LED_RED_ON; |
336 | sprintf(ErrorMSG,"ERR:Motor restart "); |
348 | sprintf(ErrorMSG,"ERR:Motor restart "); |
337 | newErrorCode = 23; |
349 | newErrorCode = 23; |
338 | DebugOut.StatusRed |= AMPEL_BL; |
350 | DebugOut.StatusRed |= AMPEL_BL; |
339 | } |
351 | } |
- | 352 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
|
- | 353 | { |
|
- | 354 | unsigned int i; |
|
- | 355 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
|
- | 356 | ||
- | 357 | LED_RED_ON; |
|
- | 358 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
|
- | 359 | newErrorCode = 32; |
|
- | 360 | DebugOut.StatusRed |= AMPEL_BL; |
|
- | 361 | } |
|
340 | else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
362 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
341 | { |
363 | { |
342 | LED_RED_ON; |
364 | LED_RED_ON; |
343 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
365 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
344 | newErrorCode = 24; |
366 | newErrorCode = 24; |
345 | DebugOut.StatusRed |= AMPEL_BL; |
367 | DebugOut.StatusRed |= AMPEL_BL; |
346 | } |
368 | } |
347 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
369 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
348 | { |
370 | { |
349 | LED_RED_ON; |
371 | LED_RED_ON; |
350 | sprintf(ErrorMSG,"ERR:GPS range "); |
372 | sprintf(ErrorMSG,"ERR:GPS range "); |
351 | newErrorCode = 25; |
373 | newErrorCode = 25; |
352 | DebugOut.StatusRed |= AMPEL_NC; |
374 | DebugOut.StatusRed |= AMPEL_NC; |
353 | } |
375 | } |
354 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
376 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
355 | { |
377 | { |
356 | LED_RED_ON; |
378 | LED_RED_ON; |
357 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
379 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
358 | newErrorCode = 26; |
380 | newErrorCode = 26; |
359 | DebugOut.StatusRed |= AMPEL_NC; |
381 | DebugOut.StatusRed |= AMPEL_NC; |
360 | } |
382 | } |
361 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
383 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
362 | { |
384 | { |
363 | LED_RED_ON; |
385 | LED_RED_ON; |
364 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
386 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
365 | newErrorCode = 27; |
387 | newErrorCode = 27; |
366 | DebugOut.StatusRed |= AMPEL_NC; |
388 | DebugOut.StatusRed |= AMPEL_NC; |
367 | SD_LoggingError = 0; |
389 | SD_LoggingError = 0; |
368 | } |
390 | } |
369 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
391 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
370 | { |
392 | { |
371 | LED_RED_ON; |
393 | LED_RED_ON; |
372 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
394 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
373 | newErrorCode = 29; |
395 | newErrorCode = 29; |
374 | DebugOut.StatusRed |= AMPEL_NC; |
396 | DebugOut.StatusRed |= AMPEL_NC; |
375 | } |
397 | } |
376 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
398 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
377 | { |
399 | { |
378 | LED_RED_ON; |
400 | LED_RED_ON; |
379 | sprintf(ErrorMSG,"No GPS Fix "); |
401 | sprintf(ErrorMSG,"No GPS Fix "); |
380 | newErrorCode = 30; |
402 | newErrorCode = 30; |
381 | } |
403 | } |
382 | else // no error occured |
404 | else // no error occured |
383 | { |
405 | { |
384 | StopNavigation = 0; |
406 | StopNavigation = 0; |
385 | LED_RED_OFF; |
407 | LED_RED_OFF; |
386 | if(no_error_delay) { no_error_delay--; } |
408 | if(no_error_delay) { no_error_delay--; } |
387 | else |
409 | else |
388 | { |
410 | { |
389 | sprintf(ErrorMSG,"No Error "); |
411 | sprintf(ErrorMSG,"No Error "); |
390 | ErrorCode = 0; |
412 | ErrorCode = 0; |
391 | } |
413 | } |
392 | } |
414 | } |
393 | 415 | ||
394 | if(newErrorCode) |
416 | if(newErrorCode) |
395 | { |
417 | { |
396 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
418 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
397 | ErrorCode = newErrorCode; |
419 | ErrorCode = newErrorCode; |
398 | } |
420 | } |
399 | FC.Error[0] = 0; |
421 | FC.Error[0] = 0; |
400 | FC.Error[1] = 0; |
422 | FC.Error[1] = 0; |
401 | FC.Error[2] = 0; |
423 | FC.Error[2] = 0; |
402 | FC.Error[3] = 0; |
424 | FC.Error[3] = 0; |
403 | FC.Error[4] = 0; |
425 | FC.Error[4] = 0; |
404 | ErrorGpsFixLost = 0; |
426 | ErrorGpsFixLost = 0; |
405 | } |
427 | } |
406 | 428 | ||
407 | 429 | ||
408 | 430 | ||
409 | void Polling(void) |
431 | void Polling(void) |
410 | { |
432 | { |
411 | static u8 running = 0, oldFcFlags = 0, count5sec; |
433 | static u8 running = 0, oldFcFlags = 0, count5sec; |
412 | if(running) return; |
434 | if(running) return; |
413 | running = 1; |
435 | running = 1; |
414 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
436 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
415 | UART0_ProcessRxData(); // GPS process request |
437 | UART0_ProcessRxData(); // GPS process request |
416 | UART0_TransmitTxData(); // GPS send answer |
438 | UART0_TransmitTxData(); // GPS send answer |
417 | UART1_ProcessRxData(); // PC process request |
439 | UART1_ProcessRxData(); // PC process request |
418 | UART1_TransmitTxData(); // PC send answer |
440 | UART1_TransmitTxData(); // PC send answer |
419 | UART2_TransmitTxData(); // FC send answer |
441 | UART2_TransmitTxData(); // FC send answer |
420 | CalcHeadFree(); |
442 | CalcHeadFree(); |
421 | // ---------------- Error Check Timing ---------------------------- |
443 | // ---------------- Error Check Timing ---------------------------- |
422 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
444 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
423 | { |
445 | { |
424 | //CreateNmeaGGA(); |
- | |
425 | if(CheckDelay(TimerCheckError)) |
446 | if(CheckDelay(TimerCheckError)) |
426 | { |
447 | { |
427 | TimerCheckError = SetDelay(1000); |
448 | TimerCheckError = SetDelay(1000); |
428 | if(++count5sec == 5) |
449 | if(++count5sec == 5) |
429 | { |
450 | { |
430 | count5sec = 0; |
451 | count5sec = 0; |
431 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
452 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
432 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
453 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
433 | CountGpsProcessedIn5Sec = 0; |
454 | CountGpsProcessedIn5Sec = 0; |
434 | CountNewGpsDataIn5Sec = 0; |
455 | CountNewGpsDataIn5Sec = 0; |
435 | } |
456 | } |
436 | } |
457 | } |
437 | oldFcFlags = FC.StatusFlags; |
458 | oldFcFlags = FC.StatusFlags; |
438 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
459 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
439 | 460 | ||
440 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
461 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
441 | 462 | ||
442 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
463 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
443 | // else NaviData.FlyingTime = 0; // not the time per flight |
- | |
444 | if(SerialLinkOkay) SerialLinkOkay--; |
464 | if(SerialLinkOkay) SerialLinkOkay--; |
445 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
465 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
446 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
466 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
447 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
467 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
448 | } |
468 | } |
449 | running = 0; |
469 | running = 0; |
450 | } |
470 | } |
451 | 471 | ||
452 | // the handler will be cyclic called by the timer 1 ISR |
472 | // the handler will be cyclic called by the timer 1 ISR |
453 | // used is for critical timing parts that normaly would handled |
473 | // used is for critical timing parts that normaly would handled |
454 | // within the main loop that could block longer at logging activities |
474 | // within the main loop that could block longer at logging activities |
455 | void EXTIT3_IRQHandler(void) |
475 | void EXTIT3_IRQHandler(void) |
456 | { |
476 | { |
457 | IENABLE; |
477 | IENABLE; |
458 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
478 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
459 | Compass_Update(); // update compass communication |
479 | Compass_Update(); // update compass communication |
460 | Analog_Update(); // get new ADC values |
480 | Analog_Update(); // get new ADC values |
461 | 481 | ||
462 | if(!PollingTimeout) |
482 | if(!PollingTimeout) |
463 | { |
483 | { |
464 | PollingTimeout = 5; |
484 | PollingTimeout = 5; |
465 | Polling(); |
485 | Polling(); |
466 | } |
486 | } |
467 | 487 | ||
468 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
488 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
469 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
489 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
470 | IDISABLE; |
490 | IDISABLE; |
471 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
491 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
472 | } |
492 | } |
473 | 493 | ||
474 | //---------------------------------------------------------------------------------------------------- |
494 | //---------------------------------------------------------------------------------------------------- |
475 | int main(void) |
495 | int main(void) |
476 | { |
496 | { |
477 | 497 | ||
478 | static u32 ftimer =0; |
498 | static u32 ftimer =0; |
479 | static u8 fstate = 0; |
499 | static u8 fstate = 0; |
480 | // static File_t* f = NULL; |
500 | // static File_t* f = NULL; |
481 | 501 | ||
482 | 502 | ||
483 | /* Configure the system clocks */ |
503 | /* Configure the system clocks */ |
484 | SCU_Config(); |
504 | SCU_Config(); |
485 | /* init VIC (Vectored Interrupt Controller) */ |
505 | /* init VIC (Vectored Interrupt Controller) */ |
486 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
506 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
487 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
507 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
488 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
508 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
489 | VIC_InitDefaultVectors(); |
509 | VIC_InitDefaultVectors(); |
490 | 510 | ||
491 | // initialize timer 1 for System Clock and delay rountines |
511 | // initialize timer 1 for System Clock and delay rountines |
492 | TIMER1_Init(); |
512 | TIMER1_Init(); |
493 | // initialize the LEDs (needs Timer 1) |
513 | // initialize the LEDs (needs Timer 1) |
494 | Led_Init(); |
514 | Led_Init(); |
495 | // initialize the debug UART1 |
515 | // initialize the debug UART1 |
496 | UART1_Init(); |
516 | UART1_Init(); |
497 | UART1_PutString("\r\n---------------------------------------------"); |
517 | UART1_PutString("\r\n---------------------------------------------"); |
498 | // initialize timer 2 for servo outputs |
518 | // initialize timer 2 for servo outputs |
499 | //TIMER2_Init(); |
519 | //TIMER2_Init(); |
500 | // initialize UART2 to FLIGHTCTRL |
520 | // initialize UART2 to FLIGHTCTRL |
501 | UART2_Init(); |
521 | UART2_Init(); |
502 | // initialize UART0 (to MKGPS or MK3MAG) |
522 | // initialize UART0 (to MKGPS or MK3MAG) |
503 | UART0_Init(); |
523 | UART0_Init(); |
504 | // initialize adc |
524 | // initialize adc |
505 | Analog_Init(); |
525 | Analog_Init(); |
506 | // initialize SPI0 to FC |
526 | // initialize SPI0 to FC |
507 | SPI0_Init(); |
527 | SPI0_Init(); |
508 | // initialize i2c busses (needs Timer 1) |
528 | // initialize i2c busses (needs Timer 1) |
509 | I2C0_Init(); |
529 | I2C0_Init(); |
510 | I2C1_Init(); |
530 | I2C1_Init(); |
511 | 531 | ||
512 | // initialize fat16 partition on sd card (needs Timer 1) |
532 | // initialize fat16 partition on sd card (needs Timer 1) |
513 | Fat16_Init(); |
533 | Fat16_Init(); |
514 | // initialize NC params |
534 | // initialize NC params |
515 | NCParams_Init(); |
535 | NCParams_Init(); |
516 | // initialize the settings |
536 | // initialize the settings |
517 | Settings_Init(); |
537 | Settings_Init(); |
518 | // initialize logging (needs settings) |
538 | // initialize logging (needs settings) |
519 | Logging_Init(); |
539 | Logging_Init(); |
520 | 540 | ||
521 | LED_GRN_ON; |
541 | LED_GRN_ON; |
522 | TimerCheckError = SetDelay(3000); |
542 | TimerCheckError = SetDelay(3000); |
523 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
543 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
524 | UART1_PutString("\n\r Version information:"); |
544 | UART1_PutString("\n\r Version information:"); |
525 | 545 | ||
526 | GetNaviCtrlVersion(); |
546 | GetNaviCtrlVersion(); |
527 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
547 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
528 | DebugOut.StatusRed = 0x00; |
548 | DebugOut.StatusRed = 0x00; |
529 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
549 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
530 | 550 | ||
531 | Compass_Init(); |
551 | Compass_Init(); |
532 | 552 | ||
533 | GPS_Init(); |
553 | GPS_Init(); |
534 | 554 | ||
535 | #ifdef FOLLOW_ME |
555 | #ifdef FOLLOW_ME |
536 | TransmitAlsoToFC = 1; |
556 | TransmitAlsoToFC = 1; |
537 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
557 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
538 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
558 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
539 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
559 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
540 | TransmitAlsoToFC = 0; |
560 | TransmitAlsoToFC = 0; |
541 | #else |
561 | #else |
542 | SPI0_GetFlightCtrlVersion(); |
562 | SPI0_GetFlightCtrlVersion(); |
543 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
563 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
544 | { |
564 | { |
545 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
565 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
546 | LED_RED_ON; |
566 | LED_RED_ON; |
547 | } |
567 | } |
548 | #endif |
568 | #endif |
549 | // ---------- Prepare the isr driven |
569 | // ---------- Prepare the isr driven |
550 | // set to absolute lowest priority |
570 | // set to absolute lowest priority |
551 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
571 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
552 | // enable interrupts |
572 | // enable interrupts |
553 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
573 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
554 | 574 | ||
555 | Debug_OK("START"); |
575 | Debug_OK("START"); |
556 | UART1_PutString("\r\n"); |
576 | UART1_PutString("\r\n"); |
557 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
577 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
558 | LED_GRN_ON; |
578 | LED_GRN_ON; |
559 | LED_RED_OFF; |
579 | LED_RED_OFF; |
560 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
580 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
561 | UART1_PutString("\r\n"); |
581 | UART1_PutString("\r\n"); |
562 | for (;;) // the endless main loop |
582 | for (;;) // the endless main loop |
563 | { |
583 | { |
564 | Polling(); |
584 | Polling(); |
565 | PollingTimeout = 15; |
585 | PollingTimeout = 15; |
566 | // ---------------- Logging --------------------------------------- |
586 | // ---------------- Logging --------------------------------------- |
567 | if(SD_WatchDog) |
587 | if(SD_WatchDog) |
568 | { |
588 | { |
569 | SD_WatchDog = 30000; |
589 | SD_WatchDog = 30000; |
570 | 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 |
590 | 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 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
591 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
572 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
592 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
573 | } |
593 | } |
574 | 594 | ||
575 | /* |
595 | /* |
576 | if(CheckDelay(ftimer)) |
596 | if(CheckDelay(ftimer)) |
577 | { |
597 | { |
578 | 598 | ||
579 | static s8 filename[35]; |
599 | static s8 filename[35]; |
580 | static u8 i = 0; |
600 | static u8 i = 0; |
581 | s8 dbgmsg[40]; |
601 | s8 dbgmsg[40]; |
582 | |
602 | |
583 | |
603 | |
584 | 604 | ||
585 | ftimer = SetDelay(100); |
605 | ftimer = SetDelay(100); |
586 | if(FC.Poti[3]>100 && fstate == 0) |
606 | if(FC.Poti[3]>100 && fstate == 0) |
587 | { |
607 | { |
588 | fstate = 1; |
608 | fstate = 1; |
589 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
609 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
590 | } |
610 | } |
591 | else if(FC.Poti[3]<100 && fstate == 2) |
611 | else if(FC.Poti[3]<100 && fstate == 2) |
592 | { |
612 | { |
593 | fstate = 3; |
613 | fstate = 3; |
594 | } |
614 | } |
595 | 615 | ||
596 | switch(fstate) |
616 | switch(fstate) |
597 | { |
617 | { |
598 | case 1: |
618 | case 1: |
599 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
619 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
600 | Debug(dbgmsg); |
620 | Debug(dbgmsg); |
601 | f = fopen_(filename, 'a'); |
621 | f = fopen_(filename, 'a'); |
602 | if(f== NULL) Fat16_Init(); |
622 | if(f== NULL) Fat16_Init(); |
603 | fstate = 2; |
623 | fstate = 2; |
604 | break; |
624 | break; |
605 | 625 | ||
606 | case 2: |
626 | case 2: |
607 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
627 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
608 | break; |
628 | break; |
609 | |
629 | |
610 | case 3: |
630 | case 3: |
611 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
631 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
612 | Debug(dbgmsg); |
632 | Debug(dbgmsg); |
613 | fclose_(f); |
633 | fclose_(f); |
614 | fstate = 0; |
634 | fstate = 0; |
615 | break; |
635 | break; |
616 | 636 | ||
617 | default: |
637 | default: |
618 | break; |
638 | break; |
619 | } |
639 | } |
620 | } |
640 | } |
621 | */ |
641 | */ |
622 | } |
642 | } |
623 | } |
643 | } |
624 | //DebugOut.Analog[16] |
644 | //DebugOut.Analog[16] |
625 | 645 |