WebSVN - NaviCtrl - Diff - Rev 138 and 141


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + 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 der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "GPS.h"
#include "i2c.h"
#include "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 "settings.h"
#include "main.h"
 
u32 TimerCompassUpdate;
u32 TimerCheckError;
u32 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s32 GeoMag = 0;
 
u8 ClearMKFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl V%d.%d%c",  VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
void CheckErrors(void)
{
        if(!CheckSPIOkay)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                ErrorCode = 3;
                StopNavigation = 1;
        }
        else if(!CheckI2COkay)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no MK3Mag communication ");
                ErrorCode = 4;
                StopNavigation = 1;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC not compatible ");
                ErrorCode = 1;
                StopNavigation = 1;
        }
        else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                sprintf(ErrorMSG,"MK3Mag not compatible ");
                LED_RED_ON;
                ErrorCode = 2;
                StopNavigation = 1;
        }
        else if(!CheckGPSOkay)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
        }
        else if(I2C_Heading.Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
        }
        else if(FC.RC_Quality < 100)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                ErrorCode = 7;
        }
        else // no error occured
        {
                sprintf(ErrorMSG,"No Error               ");
                ErrorCode = 0;
                StopNavigation = 0;
                LED_RED_OFF;
        }
        CheckSPIOkay = 0;
        CheckGPSOkay = 0;
        CheckI2COkay = 0;
}
 
 
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        // initialize the interrupt handler
        Interrupt_Init();
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize timer 2 for servo outputs
        TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize usb
        //USB_ConfigInit();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus to MK3MAG (needs Timer 1)
        I2C1_Init();
        // initialize the gps position controller (needs Timer 1)
        GPS_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCompassUpdate = SetDelay(5);
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n---------------------------------------------");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
       
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE);
                //UART1_PutString(ErrorMSG);
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
 
        I2C1_GetMK3MagVersion();
        if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                UART1_PutString("\n\r MK3Mag not compatible");
                LED_RED_ON;
        }
 
        UART0_GetMKOSDVersion();
 
        UART1_PutString("\r\n---------------------------------------------\r\n\r\n");
 
        for (;;)
        {
                UART1_ProcessRxData();  // process request
                UART1_TransmitTxData();         // send answer
 
                UART0_ProcessRxData();  // process request
                UART0_TransmitTxData();         // send answer
 
                USB_ProcessRxData();    // process request
                USB_TransmitTxData();   // send answer
 
                SPI0_UpdateBuffer();
                // ------------------------- I2C Timing --------------------------------
                if(I2C_State != I2C_OFF)
                {
                        if (CheckDelay(TimerCompassUpdate))
                        {
                                // check for hanging I2C bus
                                if(CheckDelay(I2C1_Timeout))
                                {       // reset I2C
                                        UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r");
                                        I2C1_Deinit();
                                        I2C1_Init();
                                }
                                else
                                {       // check for incomming compass calibration request
                                        // update CalByte from spi input queue
                                        fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte));
                                        // send new calstate
                                        if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte)
                                        {
                                                I2C1_SendCommand(I2C_CMD_WRITE_CAL);
                                        }
                                        else // request current heading
                                        {
                                                I2C1_SendCommand(I2C_CMD_READ_HEADING);
                                        }
                                        TimerCompassUpdate = SetDelay(25);    // every 25 ms
                                }
 
                                // update ADC readings
                                ADC_ConversionCmd(ADC_Conversion_Start);
                        }
                }
 
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected
                        CheckErrors();
                        if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0;
                        UART1_Request_SendFollowMe = TRUE;
                        if(SerialLinkOkay) SerialLinkOkay--;
                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                }
                // ---------------- Logging  ---------------------------------------
                Logging_Update();
        }
}
 
 
 

Rev 138	Rev 141
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	6	// + Nur für den privaten Gebrauch
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 der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG 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 this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	44	// + * PORTING this software (or part of it) to systems (other than 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 "timer1.h"	68	#include "timer1.h"
69	#include "timer2.h"	69	#include "timer2.h"
70	#include "analog.h"	70	#include "analog.h"
71	#include "spi_slave.h"	71	#include "spi_slave.h"
72	#include "fat16.h"	72	#include "fat16.h"
73	#include "usb.h"	73	#include "usb.h"
74	#include "sdc.h"	74	#include "sdc.h"
75	#include "logging.h"	75	#include "logging.h"
76	#include "settings.h"	76	#include "settings.h"
77	#include "main.h"	77	#include "main.h"
78		78
79	u32 TimerCompassUpdate;	79	u32 TimerCompassUpdate;
80	u32 TimerCheckError;	80	u32 TimerCheckError;
81	u32 ErrorCode = 0;	81	u32 ErrorCode = 0;
82	u16 BeepTime;	82	u16 BeepTime;
83	u8 NCFlags = 0;	83	u8 NCFlags = 0;
84	s32 GeoMag = 0;	84	s32 GeoMag = 0;
85		85
86	u8 ClearMKFlags = 0;	86	u8 ClearMKFlags = 0;
87	u8 StopNavigation = 0;	87	u8 StopNavigation = 0;
88	Param_t Parameter;	88	Param_t Parameter;
89	volatile FC_t FC;	89	volatile FC_t FC;
90		90
91	s8 ErrorMSG[25];	91	s8 ErrorMSG[25];
92		92
93	//----------------------------------------------------------------------------------------------------	93	//----------------------------------------------------------------------------------------------------
94	void SCU_Config(void)	94	void SCU_Config(void)
95	{	95	{
96	/* configure PLL and set it as master clock source */	96	/* configure PLL and set it as master clock source */
97	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	97	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
98	SCU_PLLCmd(DISABLE); // now disable the PLL	98	SCU_PLLCmd(DISABLE); // now disable the PLL
99	#ifdef MCLK96MHZ	99	#ifdef MCLK96MHZ
100	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	100	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
101	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	101	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
102	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	102	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
103	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	103	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
104	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	104	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
105	#else	105	#else
106	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	106	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
107	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	107	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
108	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	108	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
109	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	109	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
110	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	110	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
111	#endif	111	#endif
112	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	112	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
113	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	113	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
114	}	114	}
115		115
116	//----------------------------------------------------------------------------------------------------	116	//----------------------------------------------------------------------------------------------------
117	void GetNaviCtrlVersion(void)	117	void GetNaviCtrlVersion(void)
118	{	118	{
119	u8 msg[25];	119	u8 msg[25];
120		120
121	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	121	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
122	UART1_PutString(msg);	122	UART1_PutString(msg);
123	}	123	}
124		124
125	//----------------------------------------------------------------------------------------------------	125	//----------------------------------------------------------------------------------------------------
126	void CheckErrors(void)	126	void CheckErrors(void)
127	{	127	{
128	if(!CheckSPIOkay)	128	if(!CheckSPIOkay)
129	{	129	{
130	LED_RED_ON;	130	LED_RED_ON;
131	sprintf(ErrorMSG,"no FC communication ");	131	sprintf(ErrorMSG,"no FC communication ");
132	ErrorCode = 3;	132	ErrorCode = 3;
133	StopNavigation = 1;	133	StopNavigation = 1;
134	}	134	}
135	else if(!CheckI2COkay)	135	else if(!CheckI2COkay)
136	{	136	{
137	LED_RED_ON;	137	LED_RED_ON;
138	sprintf(ErrorMSG,"no MK3Mag communication ");	138	sprintf(ErrorMSG,"no MK3Mag communication ");
139	ErrorCode = 4;	139	ErrorCode = 4;
140	StopNavigation = 1;	140	StopNavigation = 1;
141	}	141	}
142	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	142	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
143	{	143	{
144	LED_RED_ON;	144	LED_RED_ON;
145	sprintf(ErrorMSG,"FC not compatible ");	145	sprintf(ErrorMSG,"FC not compatible ");
146	ErrorCode = 1;	146	ErrorCode = 1;
147	StopNavigation = 1;	147	StopNavigation = 1;
148	}	148	}
149	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	149	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
150	{	150	{
151	sprintf(ErrorMSG,"MK3Mag not compatible ");	151	sprintf(ErrorMSG,"MK3Mag not compatible ");
152	LED_RED_ON;	152	LED_RED_ON;
153	ErrorCode = 2;	153	ErrorCode = 2;
154	StopNavigation = 1;	154	StopNavigation = 1;
155	}	155	}
156	else if(!CheckGPSOkay)	156	else if(!CheckGPSOkay)
157	{	157	{
158	LED_RED_ON;	158	LED_RED_ON;
159	sprintf(ErrorMSG,"no GPS communication ");	159	sprintf(ErrorMSG,"no GPS communication ");
160	ErrorCode = 5;	160	ErrorCode = 5;
161	StopNavigation = 1;	161	StopNavigation = 1;
162	}	162	}
163	else if(I2C_Heading.Heading < 0)	163	else if(I2C_Heading.Heading < 0)
164	{	164	{
165	LED_RED_ON;	165	LED_RED_ON;
166	sprintf(ErrorMSG,"bad compass value ");	166	sprintf(ErrorMSG,"bad compass value ");
167	ErrorCode = 6;	167	ErrorCode = 6;
168	StopNavigation = 1;	168	StopNavigation = 1;
169	}	169	}
170	else if(FC.RC_Quality < 100)	170	else if(FC.RC_Quality < 100)
171	{	171	{
172	LED_RED_ON;	172	LED_RED_ON;
173	sprintf(ErrorMSG,"RC Signal lost ");	173	sprintf(ErrorMSG,"RC Signal lost ");
174	ErrorCode = 7;	174	ErrorCode = 7;
175	}	175	}
176	else // no error occured	176	else // no error occured
177	{	177	{
178	sprintf(ErrorMSG,"No Error ");	178	sprintf(ErrorMSG,"No Error ");
179	ErrorCode = 0;	179	ErrorCode = 0;
180	StopNavigation = 0;	180	StopNavigation = 0;
181	LED_RED_OFF;	181	LED_RED_OFF;
182	}	182	}
183	CheckSPIOkay = 0;	183	CheckSPIOkay = 0;
184	CheckGPSOkay = 0;	184	CheckGPSOkay = 0;
185	CheckI2COkay = 0;	185	CheckI2COkay = 0;
186	}	186	}
187		187
188		188
189		189
190	//----------------------------------------------------------------------------------------------------	190	//----------------------------------------------------------------------------------------------------
191	int main(void)	191	int main(void)
192	{	192	{
193	/* Configure the system clocks */	193	/* Configure the system clocks */
194	SCU_Config();	194	SCU_Config();
195	/* init VIC (Vectored Interrupt Controller) */	195	/* init VIC (Vectored Interrupt Controller) */
196	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	196	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
197	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	197	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
198	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	198	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
199	// initialize the interrupt handler	199	// initialize the interrupt handler
200	Interrupt_Init();	200	Interrupt_Init();
201	// initialize timer 1 for System Clock and delay rountines	201	// initialize timer 1 for System Clock and delay rountines
202	TIMER1_Init();	202	TIMER1_Init();
203	// initialize the LEDs (needs Timer 1)	203	// initialize the LEDs (needs Timer 1)
204	Led_Init();	204	Led_Init();
205	// initialize the debug UART1	205	// initialize the debug UART1
206	UART1_Init();	206	UART1_Init();
207	UART1_PutString("\r\n---------------------------------------------");	207	UART1_PutString("\r\n---------------------------------------------");
208	// initialize timer 2 for servo outputs	208	// initialize timer 2 for servo outputs
209	TIMER2_Init();	209	TIMER2_Init();
210	// initialize UART2 to FLIGHTCTRL	210	// initialize UART2 to FLIGHTCTRL
211	UART2_Init();	211	UART2_Init();
212	// initialize UART0 (to MKGPS or MK3MAG)	212	// initialize UART0 (to MKGPS or MK3MAG)
213	UART0_Init();	213	UART0_Init();
214	// initialize adc	214	// initialize adc
215	Analog_Init();	215	Analog_Init();
216	// initialize usb	216	// initialize usb
217	USB_ConfigInit();	217	//USB_ConfigInit();
218	// initialize SPI0 to FC	218	// initialize SPI0 to FC
219	SPI0_Init();	219	SPI0_Init();
220	// initialize i2c bus to MK3MAG (needs Timer 1)	220	// initialize i2c bus to MK3MAG (needs Timer 1)
221	I2C1_Init();	221	I2C1_Init();
222	// initialize the gps position controller (needs Timer 1)	222	// initialize the gps position controller (needs Timer 1)
223	GPS_Init();	223	GPS_Init();
224	// initialize fat16 partition on sd card (needs Timer 1)	224	// initialize fat16 partition on sd card (needs Timer 1)
225	Fat16_Init();	225	Fat16_Init();
226	// initialize the settings	226	// initialize the settings
227	Settings_Init();	227	Settings_Init();
228	// initialize logging (needs settings)	228	// initialize logging (needs settings)
229	Logging_Init();	229	Logging_Init();
230		230
231	TimerCompassUpdate = SetDelay(5);	231	TimerCompassUpdate = SetDelay(5);
232	TimerCheckError = SetDelay(3000);	232	TimerCheckError = SetDelay(3000);
233	UART1_PutString("\r\n---------------------------------------------");	233	UART1_PutString("\r\n---------------------------------------------");
234	UART1_PutString("\n\r Version information:");	234	UART1_PutString("\n\r Version information:");
235		235
236	GetNaviCtrlVersion();	236	GetNaviCtrlVersion();
237		237
238	SPI0_GetFlightCtrlVersion();	238	SPI0_GetFlightCtrlVersion();
239	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	239	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
240	{	240	{
241	//sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE);	241	//sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE);
242	//UART1_PutString(ErrorMSG);	242	//UART1_PutString(ErrorMSG);
243	UART1_PutString("\n\r Flight-Ctrl not compatible");	243	UART1_PutString("\n\r Flight-Ctrl not compatible");
244	LED_RED_ON;	244	LED_RED_ON;
245	}	245	}
246		246
247	I2C1_GetMK3MagVersion();	247	I2C1_GetMK3MagVersion();
248	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	248	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
249	{	249	{
250	UART1_PutString("\n\r MK3Mag not compatible");	250	UART1_PutString("\n\r MK3Mag not compatible");
251	LED_RED_ON;	251	LED_RED_ON;
252	}	252	}
253		253
254	UART0_GetMKOSDVersion();	254	UART0_GetMKOSDVersion();
255		255
256	UART1_PutString("\r\n---------------------------------------------\r\n\r\n");	256	UART1_PutString("\r\n---------------------------------------------\r\n\r\n");
257		257
258	for (;;)	258	for (;;)
259	{	259	{
260	UART1_ProcessRxData(); // process request	260	UART1_ProcessRxData(); // process request
261	UART1_TransmitTxData(); // send answer	261	UART1_TransmitTxData(); // send answer
262		262
263	UART0_ProcessRxData(); // process request	263	UART0_ProcessRxData(); // process request
264	UART0_TransmitTxData(); // send answer	264	UART0_TransmitTxData(); // send answer
265		265
266	USB_ProcessRxData(); // process request	266	USB_ProcessRxData(); // process request
267	USB_TransmitTxData(); // send answer	267	USB_TransmitTxData(); // send answer
268		268
269	SPI0_UpdateBuffer();	269	SPI0_UpdateBuffer();
270	// ------------------------- I2C Timing --------------------------------	270	// ------------------------- I2C Timing --------------------------------
271	if(I2C_State != I2C_OFF)	271	if(I2C_State != I2C_OFF)
272	{	272	{
273	if (CheckDelay(TimerCompassUpdate))	273	if (CheckDelay(TimerCompassUpdate))
274	{	274	{
275	// check for hanging I2C bus	275	// check for hanging I2C bus
276	if(CheckDelay(I2C1_Timeout))	276	if(CheckDelay(I2C1_Timeout))
277	{ // reset I2C	277	{ // reset I2C
278	UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r");	278	UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r");
279	I2C1_Deinit();	279	I2C1_Deinit();
280	I2C1_Init();	280	I2C1_Init();
281	}	281	}
282	else	282	else
283	{ // check for incomming compass calibration request	283	{ // check for incomming compass calibration request
284	// update CalByte from spi input queue	284	// update CalByte from spi input queue
285	fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte));	285	fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte));
286	// send new calstate	286	// send new calstate
287	if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte)	287	if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte)
288	{	288	{
289	I2C1_SendCommand(I2C_CMD_WRITE_CAL);	289	I2C1_SendCommand(I2C_CMD_WRITE_CAL);
290	}	290	}
291	else // request current heading	291	else // request current heading
292	{	292	{
293	I2C1_SendCommand(I2C_CMD_READ_HEADING);	293	I2C1_SendCommand(I2C_CMD_READ_HEADING);
294	}	294	}
295	TimerCompassUpdate = SetDelay(25); // every 25 ms	295	TimerCompassUpdate = SetDelay(25); // every 25 ms
296	}	296	}
297		-
-		297	// update ADC readings
-		298	ADC_ConversionCmd(ADC_Conversion_Start);
298	}	299	}
299	}	300	}
300		301
301	// ---------------- Error Check Timing ----------------------------	302	// ---------------- Error Check Timing ----------------------------
302	if(CheckDelay(TimerCheckError))	303	if(CheckDelay(TimerCheckError))
303	{	304	{
304	TimerCheckError = SetDelay(1000);	305	TimerCheckError = SetDelay(1000);
305	if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected	306	if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected
306	CheckErrors();	307	CheckErrors();
307	if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	308	if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
308	// else NaviData.FlyingTime = 0;	309	// else NaviData.FlyingTime = 0;
309	UART1_Request_SendFollowMe = TRUE;	310	UART1_Request_SendFollowMe = TRUE;
310	if(SerialLinkOkay) SerialLinkOkay--;	311	if(SerialLinkOkay) SerialLinkOkay--;
311	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	312	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
312	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	313	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
313	}	314	}
314	// ---------------- Logging ---------------------------------------	315	// ---------------- Logging ---------------------------------------
315	Logging_Update();	316	Logging_Update();
316	}	317	}
317	}	318	}
318		319
319		320
320		321

Subversion Repositories NaviCtrl

(root)/tags/V2.07b_Beta/main.c @ 575 - Rev 138 → 141