WebSVN - NaviCtrl - Diff - Rev 24 and 27


/*#######################################################################################*/
/* !!! 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. 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
const unsigned long _Main_Crystal = 25000;
 
#include "main.h"
#include "kml.h"
 
u32 TimerCompassUpdate;
u32 TimerI2CReadDelay;
u32 TimerDebugDataDelay;
u32 KmlAddPointDelay;
 
u8 BeepTime;
void Init_Undef(void);
u8 Parameter_UserParam1;
u8 Parameter_UserParam2;
u8 Parameter_UserParam3;
u8 Parameter_UserParam4;
u8 Parameter_UserParam5;
u8 Parameter_UserParam6;
u8 Parameter_UserParam7;
u8 Parameter_UserParam8;
//++++++++++++++++++++++++++++++++++++++++++++++++++
s32 FC_StickNick;
s32 FC_StickRoll;
s32 FC_StickGier;
s32 FC_StickGas;
s32 FC_Poti1;
s32 FC_Poti2;
s32 FC_Poti3;
s32 FC_Poti4;
//++++++++++++++++++++++++++++++++++++++++++++++++++
s32 SenderOkay = 0;
s32 UBat = 0;
s32 UndervoltageLevel = 0;
s32 ActiveSetting = 1;
//++++++++++++++++++++++++++++++++++++++++++++++++++
s32 Parameter_NaviGpsModeControl = 128;
s32 Parameter_NaviGpsGain = 0;
s32 Parameter_NaviGpsP = 90;
s32 Parameter_NaviGpsI = 0;
s32 Parameter_NaviGpsD = 90;
s32 Parameter_NaviGpsACC = 0;
s32 Parameter_NaviGpsMinSat = 3;
s32 Parameter_NaviStickThreshold = 8;
s32 Parameter_RadiusAlert = 15;
//++++++++++++++++++++++++++++++++++++++++++++++++++
#define FLAG_MOTOR_RUN  1
#define FLAG_FLY        2
#define FLAG_CALIBRATE  4
#define FLAG_START      8
u32 MikroKopterFlags;
u32 ClearFlags = 1;
//++++++++++++++++++++++++++++++++++++++++++++++++++
u8 text[20];
 
//----------------------------------------------------------------------------------------------------
void Leds_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
 
        SCU_APBPeriphClockConfig(__GPIO6, ENABLE);      
    SCU_APBPeriphClockConfig(__GPIO5, ENABLE);  
   
        //GPIO_DeInit(GPIO5);
    GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
    GPIO_InitStructure.GPIO_Pin =               GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Type =              GPIO_Type_PushPull ;
    GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1  ;
    GPIO_Init(GPIO5, &GPIO_InitStructure);
 
        //SD_SWITCH
    GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =               GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Type =              GPIO_Type_PushPull;
    GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
    GPIO_Init(GPIO5, &GPIO_InitStructure);
 
}
  //
void OutputStartupData(void)
{
   
   char tex[20];
   SerialPutString("\n\r--------------\n\r");
   
   sprintf(text,"NaviCtrl V%d.%d\n\r",  VersionInfo.Hauptversion,  VersionInfo.Nebenversion); SerialPutString(text);
 
 
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
   static u8 oldCompassCalState = 0;
 
 
   static u8 kml_state = 0;
   u8 kml_cnt = 0;
   KML_Document_t       mydocument;
   File *file1;
 
   
   u8 str[80];
 
 
   KML_DocumentInit(&mydocument);                                       // Initialise the new kml-document for further use.     
 
 
  // SCU_MCLKSourceConfig(SCU_MCLK_OSC);
  // SCU_PCLKDivisorConfig(SCU_PCLK_Div2);
  // SCU_MCLKSourceConfig(SCU_MCLK_PLL);
 
 
   SCU_MCLKSourceConfig(SCU_MCLK_OSC);
   SCU_PLLCmd(DISABLE); // PLL aus 
   SCU_RCLKDivisorConfig(SCU_RCLK_Div1);
   SCU_HCLKDivisorConfig(SCU_HCLK_Div1);
   SCU_PCLKDivisorConfig(SCU_PCLK_Div2);
  // SCU_FMICLKDivisorConfig(SCU_FMICLK_Div1);
  // FMI_Config(FMI_READ_WAIT_STATE_3,FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE,FMI_FREQ_HIGH);
   SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz 
 
   SCU_PLLCmd(ENABLE); // PLL Enabled 
 
   SCU_MCLKSourceConfig(SCU_MCLK_PLL); // MCLK = PLL 
 
       
   VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
   VersionInfo.Nebenversion = VERSION_NEBENVERSION;
   VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;
 
   SCU_AHBPeriphClockConfig(__VIC,ENABLE);
   SCU_AHBPeriphReset(__VIC,DISABLE);
   VIC_DeInit();
   
   InitInterrupt();
   
   Leds_Init();
   Debug_UART1_Init();
   OutputStartupData();
 
   GPS_UART0_Init();
   USB_ConfigInit();
 
 
   SPI0_Init();
   
   
 
   TIMER1_Init();
   I2C1_Init();
   
   I2C_Version.Hauptversion = 0xff;
 
   SendI2C_Command(I2C_CMD_VERSION);
 
   TimerCompassUpdate = SetDelay(50);
   while (!CheckDelay(TimerCompassUpdate));
   
   TimerCompassUpdate = SetDelay(5);
   TimerI2CReadDelay = SetDelay(5);
 
   KmlAddPointDelay = SetDelay(250);
 
 
   SerialPutString("\r\n---------------------------------------------");
 
 
//   ReadSetting(1); 
   SerialPutString("\r\n---------------------------------------------\r\n\r\n");
   
   InitFat16();
   
 
   for (;;)
   {
    if(NeuerDatensatzEmpfangen)
          {
                 BearbeiteRxDaten();
             DatenUebertragung();
//               if (GPIO_ReadBit(GPIO5, GPIO_Pin_3)) SerialPutString("keine SD\n\r");    else SerialPutString("SD eingesteckt!\n\r");
   
      }
         
       
          UpdateSPI_Buffer();
          SPI_CheckSlaveSelect();
          UART1_Transmit();
   
   // ----------- I2C Timing -------------------------
          if (CheckDelay(TimerCompassUpdate))
          {
                if(oldCompassCalState != CompassCalState)
                  {
                    oldCompassCalState = CompassCalState;
                    TimerCompassUpdate = SetDelay(25);
            SendI2C_Command(I2C_CMD_WRITE_CAL);
                  }
                  else
                  {
                   GPIO_ToggleBit(GPIO5, GPIO_Pin_6);
                   GPIO_ToggleBit(GPIO5, GPIO_Pin_7);
               TimerCompassUpdate = SetDelay(25);
           SendI2C_Command(I2C_CMD_READ_HEADING);
                  }
               
           }
 
          if (CheckDelay(TimerI2CReadDelay))
          {
            if (I2C_ReadRequest)
                {
                  I2C_ReadRequest= 0;
                 
                  I2C_Direction = I2C_MODE_RECEIVER;
                  I2C_GenerateStart(I2C1, ENABLE);
                }
                TimerI2CReadDelay = SetDelay(1000);
          }
 
          if (CheckDelay(TimerDebugDataDelay))
          {  SendGPSPosAnforderung = 1;
         DatenUebertragung();
 
             TimerDebugDataDelay = SetDelay(500);
          }
 
 
   // ----------- KML Timing -------------------------
          if(CheckDelay(KmlAddPointDelay))
          {
                KmlAddPointDelay = SetDelay(500);
 
                switch(kml_state)
                {
                        case 0:
                                if((GPS_Data.Flags & GPS_FIX) && (GPS_Data.Used_Sat >= GPS_SAT_MIN))
                                {
                                        if(str_Volume.state == INITIALIZED)                                                                                     // has the volume and filesystem been initialized?
                                        {
                                                if(KML_DocumentOpen("flight01.kml",&mydocument))                                                // create a new kml-document on the memorycard.
                                                {
                                                        SerialPutString("\r\nopening kml-file\r\nadding data");
                                                        kml_state = 1;
                                                }
                                        }
                                        else
                                        {
                                                InitFat16();
                                                if(str_Volume.state != INITIALIZED) KmlAddPointDelay = SetDelay(5000);  // try again in 5 sek
                                        }
                                }
                        break;                                                                                                                                                          // document.state will be changed to DOC_OPENED automatic.
       
                        case 1:                                                                                                                                                         // linestring opened, so datapoint (gps_coordinates) can be added to the document.
                                if(kml_cnt++ < 20)                                                                                                                              // add 10 datapoints to the document.
                                {
                                        KML_LoggGPSCoordinates(GPS_Data,&mydocument);
                                }
                                else                                                                                                                                                    // after the datapoints have been written to the document close the document.
                                {
                                        KML_DocumentClose(&mydocument);                                                
                                        SerialPutString("\r\nfile closed");
                                        kml_state = 2;
                                }
                        break;
 
                        default:                                                                                                                                                        // all data has been written to card. open new document to add new data.
                }
          }
        }
}
 
 
 
 

Rev 24	Rev 27
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	const unsigned long _Main_Crystal = 25000;	58	const unsigned long _Main_Crystal = 25000;
59		59
60	#include "main.h"	60	#include "main.h"
61	#include "kml.h"	61	#include "kml.h"
62		62
63	u32 TimerCompassUpdate;	63	u32 TimerCompassUpdate;
64	u32 TimerI2CReadDelay;	64	u32 TimerI2CReadDelay;
65	u32 TimerDebugDataDelay;	65	u32 TimerDebugDataDelay;
66	u32 KmlAddPointDelay;	66	u32 KmlAddPointDelay;
67		67
68	u8 BeepTime;	68	u8 BeepTime;
69	void Init_Undef(void);	69	void Init_Undef(void);
70	u8 Parameter_UserParam1;	70	u8 Parameter_UserParam1;
71	u8 Parameter_UserParam2;	71	u8 Parameter_UserParam2;
72	u8 Parameter_UserParam3;	72	u8 Parameter_UserParam3;
73	u8 Parameter_UserParam4;	73	u8 Parameter_UserParam4;
74	u8 Parameter_UserParam5;	74	u8 Parameter_UserParam5;
75	u8 Parameter_UserParam6;	75	u8 Parameter_UserParam6;
76	u8 Parameter_UserParam7;	76	u8 Parameter_UserParam7;
77	u8 Parameter_UserParam8;	77	u8 Parameter_UserParam8;
-		78	//++++++++++++++++++++++++++++++++++++++++++++++++++
78	s32 FC_StickNick;	79	s32 FC_StickNick;
79	s32 FC_StickRoll;	80	s32 FC_StickRoll;
80	s32 FC_StickGier;	81	s32 FC_StickGier;
81	s32 FC_StickGas;	82	s32 FC_StickGas;
82	s32 FC_Poti1;	83	s32 FC_Poti1;
83	s32 FC_Poti2;	84	s32 FC_Poti2;
84	s32 FC_Poti3;	85	s32 FC_Poti3;
85	s32 FC_Poti4;	86	s32 FC_Poti4;
-		87	//++++++++++++++++++++++++++++++++++++++++++++++++++
86	s32 SenderOkay = 0;	88	s32 SenderOkay = 0;
-		89	s32 UBat = 0;
-		90	s32 UndervoltageLevel = 0;
-		91	s32 ActiveSetting = 1;
-		92	//++++++++++++++++++++++++++++++++++++++++++++++++++
-		93	s32 Parameter_NaviGpsModeControl = 128;
-		94	s32 Parameter_NaviGpsGain = 0;
-		95	s32 Parameter_NaviGpsP = 90;
-		96	s32 Parameter_NaviGpsI = 0;
-		97	s32 Parameter_NaviGpsD = 90;
-		98	s32 Parameter_NaviGpsACC = 0;
-		99	s32 Parameter_NaviGpsMinSat = 3;
-		100	s32 Parameter_NaviStickThreshold = 8;
-		101	s32 Parameter_RadiusAlert = 15;
-		102	//++++++++++++++++++++++++++++++++++++++++++++++++++
-		103	#define FLAG_MOTOR_RUN 1
-		104	#define FLAG_FLY 2
-		105	#define FLAG_CALIBRATE 4
-		106	#define FLAG_START 8
-		107	u32 MikroKopterFlags;
-		108	u32 ClearFlags = 1;
-		109	//++++++++++++++++++++++++++++++++++++++++++++++++++
87	u8 text[20];	110	u8 text[20];
88		111
89	//----------------------------------------------------------------------------------------------------	112	//----------------------------------------------------------------------------------------------------
90	void Leds_Init(void)	113	void Leds_Init(void)
91	{	114	{
92	GPIO_InitTypeDef GPIO_InitStructure;	115	GPIO_InitTypeDef GPIO_InitStructure;
93		116
94	SCU_APBPeriphClockConfig(__GPIO6, ENABLE);	117	SCU_APBPeriphClockConfig(__GPIO6, ENABLE);
95	SCU_APBPeriphClockConfig(__GPIO5, ENABLE);	118	SCU_APBPeriphClockConfig(__GPIO5, ENABLE);
96		119
97	//GPIO_DeInit(GPIO5);	120	//GPIO_DeInit(GPIO5);
98	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	121	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
99	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 \| GPIO_Pin_7;	122	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 \| GPIO_Pin_7;
100	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;	123	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
101	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1 ;	124	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1 ;
102	GPIO_Init(GPIO5, &GPIO_InitStructure);	125	GPIO_Init(GPIO5, &GPIO_InitStructure);
103		126
104	//SD_SWITCH	127	//SD_SWITCH
105	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	128	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
106	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	129	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
107	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	130	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
108	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	131	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
109	GPIO_Init(GPIO5, &GPIO_InitStructure);	132	GPIO_Init(GPIO5, &GPIO_InitStructure);
110		133
111	}	134	}
112	//	135	//
113	void OutputStartupData(void)	136	void OutputStartupData(void)
114	{	137	{
115		138
116	char tex[20];	139	char tex[20];
117	SerialPutString("\n\r--------------\n\r");	140	SerialPutString("\n\r--------------\n\r");
118		141
119	sprintf(text,"NaviCtrl V%d.%d\n\r", VersionInfo.Hauptversion, VersionInfo.Nebenversion); SerialPutString(text);	142	sprintf(text,"NaviCtrl V%d.%d\n\r", VersionInfo.Hauptversion, VersionInfo.Nebenversion); SerialPutString(text);
120		143
121		144
122	}	145	}
123		146
124	//----------------------------------------------------------------------------------------------------	147	//----------------------------------------------------------------------------------------------------
125	int main(void)	148	int main(void)
126	{	149	{
127	static u8 oldCompassCalState = 0;	150	static u8 oldCompassCalState = 0;
128		151
129		152
130	static u8 kml_state = 0;	153	static u8 kml_state = 0;
131	u8 kml_cnt = 0;	154	u8 kml_cnt = 0;
132	KML_Document_t mydocument;	155	KML_Document_t mydocument;
133	File *file1;	156	File *file1;
134		157
135		158
136	u8 str[80];	159	u8 str[80];
137		160
138		161
139	KML_DocumentInit(&mydocument); // Initialise the new kml-document for further use.	162	KML_DocumentInit(&mydocument); // Initialise the new kml-document for further use.
140		163
141		164
142	// SCU_MCLKSourceConfig(SCU_MCLK_OSC);	165	// SCU_MCLKSourceConfig(SCU_MCLK_OSC);
143	// SCU_PCLKDivisorConfig(SCU_PCLK_Div2);	166	// SCU_PCLKDivisorConfig(SCU_PCLK_Div2);
144	// SCU_MCLKSourceConfig(SCU_MCLK_PLL);	167	// SCU_MCLKSourceConfig(SCU_MCLK_PLL);
145		168
146		169
147	SCU_MCLKSourceConfig(SCU_MCLK_OSC);	170	SCU_MCLKSourceConfig(SCU_MCLK_OSC);
148	SCU_PLLCmd(DISABLE); // PLL aus	171	SCU_PLLCmd(DISABLE); // PLL aus
149	SCU_RCLKDivisorConfig(SCU_RCLK_Div1);	172	SCU_RCLKDivisorConfig(SCU_RCLK_Div1);
150	SCU_HCLKDivisorConfig(SCU_HCLK_Div1);	173	SCU_HCLKDivisorConfig(SCU_HCLK_Div1);
151	SCU_PCLKDivisorConfig(SCU_PCLK_Div2);	174	SCU_PCLKDivisorConfig(SCU_PCLK_Div2);
152	// SCU_FMICLKDivisorConfig(SCU_FMICLK_Div1);	175	// SCU_FMICLKDivisorConfig(SCU_FMICLK_Div1);
153	// FMI_Config(FMI_READ_WAIT_STATE_3,FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE,FMI_FREQ_HIGH);	176	// FMI_Config(FMI_READ_WAIT_STATE_3,FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE,FMI_FREQ_HIGH);
154	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz	177	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz
155		178
156	SCU_PLLCmd(ENABLE); // PLL Enabled	179	SCU_PLLCmd(ENABLE); // PLL Enabled
157		180
158	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // MCLK = PLL	181	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // MCLK = PLL
159		182
160		183
161	VersionInfo.Hauptversion = VERSION_HAUPTVERSION;	184	VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
162	VersionInfo.Nebenversion = VERSION_NEBENVERSION;	185	VersionInfo.Nebenversion = VERSION_NEBENVERSION;
163	VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;	186	VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;
164		187
165	SCU_AHBPeriphClockConfig(__VIC,ENABLE);	188	SCU_AHBPeriphClockConfig(__VIC,ENABLE);
166	SCU_AHBPeriphReset(__VIC,DISABLE);	189	SCU_AHBPeriphReset(__VIC,DISABLE);
167	VIC_DeInit();	190	VIC_DeInit();
168		191
169	InitInterrupt();	192	InitInterrupt();
170		193
171	Leds_Init();	194	Leds_Init();
172	Debug_UART1_Init();	195	Debug_UART1_Init();
173	OutputStartupData();	196	OutputStartupData();
174		197
175	GPS_UART0_Init();	198	GPS_UART0_Init();
176	USB_ConfigInit();	199	USB_ConfigInit();
177		200
178		201
179	SPI0_Init();	202	SPI0_Init();
180		203
181		204
182		205
183	TIMER1_Init();	206	TIMER1_Init();
184	I2C1_Init();	207	I2C1_Init();
185		208
186	I2C_Version.Hauptversion = 0xff;	209	I2C_Version.Hauptversion = 0xff;
187		210
188	SendI2C_Command(I2C_CMD_VERSION);	211	SendI2C_Command(I2C_CMD_VERSION);
189		212
190	TimerCompassUpdate = SetDelay(50);	213	TimerCompassUpdate = SetDelay(50);
191	while (!CheckDelay(TimerCompassUpdate));	214	while (!CheckDelay(TimerCompassUpdate));
192		215
193	TimerCompassUpdate = SetDelay(5);	216	TimerCompassUpdate = SetDelay(5);
194	TimerI2CReadDelay = SetDelay(5);	217	TimerI2CReadDelay = SetDelay(5);
195		218
196	KmlAddPointDelay = SetDelay(250);	219	KmlAddPointDelay = SetDelay(250);
197		220
198		221
199	SerialPutString("\r\n---------------------------------------------");	222	SerialPutString("\r\n---------------------------------------------");
200		223
201		224
202	// ReadSetting(1);	225	// ReadSetting(1);
203	SerialPutString("\r\n---------------------------------------------\r\n\r\n");	226	SerialPutString("\r\n---------------------------------------------\r\n\r\n");
204		227
205	InitFat16();	228	InitFat16();
206		229
207		230
208	for (;;)	231	for (;;)
209	{	232	{
210	if(NeuerDatensatzEmpfangen)	233	if(NeuerDatensatzEmpfangen)
211	{	234	{
212	BearbeiteRxDaten();	235	BearbeiteRxDaten();
213	DatenUebertragung();	236	DatenUebertragung();
214	// if (GPIO_ReadBit(GPIO5, GPIO_Pin_3)) SerialPutString("keine SD\n\r"); else SerialPutString("SD eingesteckt!\n\r");	237	// if (GPIO_ReadBit(GPIO5, GPIO_Pin_3)) SerialPutString("keine SD\n\r"); else SerialPutString("SD eingesteckt!\n\r");
215		238
216	}	239	}
217		240
218		241
219	UpdateSPI_Buffer();	242	UpdateSPI_Buffer();
220	SPI_CheckSlaveSelect();	243	SPI_CheckSlaveSelect();
221	UART1_Transmit();	244	UART1_Transmit();
222		245
223	// ----------- I2C Timing -------------------------	246	// ----------- I2C Timing -------------------------
224	if (CheckDelay(TimerCompassUpdate))	247	if (CheckDelay(TimerCompassUpdate))
225	{	248	{
226	if(oldCompassCalState != CompassCalState)	249	if(oldCompassCalState != CompassCalState)
227	{	250	{
228	oldCompassCalState = CompassCalState;	251	oldCompassCalState = CompassCalState;
229	TimerCompassUpdate = SetDelay(25);	252	TimerCompassUpdate = SetDelay(25);
230	SendI2C_Command(I2C_CMD_WRITE_CAL);	253	SendI2C_Command(I2C_CMD_WRITE_CAL);
231	}	254	}
232	else	255	else
233	{	256	{
234	GPIO_ToggleBit(GPIO5, GPIO_Pin_6);	257	GPIO_ToggleBit(GPIO5, GPIO_Pin_6);
235	GPIO_ToggleBit(GPIO5, GPIO_Pin_7);	258	GPIO_ToggleBit(GPIO5, GPIO_Pin_7);
236	TimerCompassUpdate = SetDelay(25);	259	TimerCompassUpdate = SetDelay(25);
237	SendI2C_Command(I2C_CMD_READ_HEADING);	260	SendI2C_Command(I2C_CMD_READ_HEADING);
238	}	261	}
239		262
240	}	263	}
241		264
242	if (CheckDelay(TimerI2CReadDelay))	265	if (CheckDelay(TimerI2CReadDelay))
243	{	266	{
244	if (I2C_ReadRequest)	267	if (I2C_ReadRequest)
245	{	268	{
246	I2C_ReadRequest= 0;	269	I2C_ReadRequest= 0;
247		270
248	I2C_Direction = I2C_MODE_RECEIVER;	271	I2C_Direction = I2C_MODE_RECEIVER;
249	I2C_GenerateStart(I2C1, ENABLE);	272	I2C_GenerateStart(I2C1, ENABLE);
250	}	273	}
251	TimerI2CReadDelay = SetDelay(1000);	274	TimerI2CReadDelay = SetDelay(1000);
252	}	275	}
253		276
254	if (CheckDelay(TimerDebugDataDelay))	277	if (CheckDelay(TimerDebugDataDelay))
255	{ SendGPSPosAnforderung = 1;	278	{ SendGPSPosAnforderung = 1;
256	DatenUebertragung();	279	DatenUebertragung();
257		280
258	TimerDebugDataDelay = SetDelay(500);	281	TimerDebugDataDelay = SetDelay(500);
259	}	282	}
260		283
261		284
262	// ----------- KML Timing -------------------------	285	// ----------- KML Timing -------------------------
263	if(CheckDelay(KmlAddPointDelay))	286	if(CheckDelay(KmlAddPointDelay))
264	{	287	{
265	KmlAddPointDelay = SetDelay(500);	288	KmlAddPointDelay = SetDelay(500);
266		-
267	switch(kml_state)	289	switch(kml_state)
268	{	290	{
269	case 0:	291	case 0:
270	if((GPS_Data.Flags & GPS_FIX) && (GPS_Data.Used_Sat >= GPS_SAT_MIN))	292	if((GPS_Data.Flags & GPS_FIX) && (GPS_Data.Used_Sat >= GPS_SAT_MIN))
271	{	293	{
272	if(str_Volume.state == INITIALIZED) // has the volume and filesystem been initialized?	294	if(str_Volume.state == INITIALIZED) // has the volume and filesystem been initialized?
273	{	295	{
274	if(KML_DocumentOpen("flight01.kml",&mydocument)) // create a new kml-document on the memorycard.	296	if(KML_DocumentOpen("flight01.kml",&mydocument)) // create a new kml-document on the memorycard.
275	{	297	{
276	SerialPutString("\r\nopening kml-file\r\nadding data");	298	SerialPutString("\r\nopening kml-file\r\nadding data");
277	kml_state = 1;	299	kml_state = 1;
278	}	300	}
279	}	301	}
280	else	302	else
281	{	303	{
282	InitFat16();	304	InitFat16();
-		305	if(str_Volume.state != INITIALIZED) KmlAddPointDelay = SetDelay(5000); // try again in 5 sek
283	}	306	}
284	}	307	}
285	break; // document.state will be changed to DOC_OPENED automatic.	308	break; // document.state will be changed to DOC_OPENED automatic.
286		309
287	case 1: // linestring opened, so datapoint (gps_coordinates) can be added to the document.	310	case 1: // linestring opened, so datapoint (gps_coordinates) can be added to the document.
288	if(kml_cnt++ < 20) // add 10 datapoints to the document.	311	if(kml_cnt++ < 20) // add 10 datapoints to the document.
289	{	312	{
290	KML_LoggGPSCoordinates(GPS_Data,&mydocument);	313	KML_LoggGPSCoordinates(GPS_Data,&mydocument);
291	}	314	}
292	else // after the datapoints have been written to the document close the document.	315	else // after the datapoints have been written to the document close the document.
293	{	316	{
294	KML_DocumentClose(&mydocument);	317	KML_DocumentClose(&mydocument);
295	SerialPutString("\r\nfile closed");	318	SerialPutString("\r\nfile closed");
296	kml_state = 2;	319	kml_state = 2;
297	}	320	}
298	break;	321	break;
299		322
300	default: // all data has been written to card. open new document to add new data.	323	default: // all data has been written to card. open new document to add new data.
301	}	324	}
302	}	325	}
303	}	326	}
304	}	327	}
305		328
306		329
307		330
308		331

Subversion Repositories NaviCtrl

(root)/tags/V2.08a/main.c @ 608 - Rev 24 → 27