WebSVN - NaviCtrl - Diff - Rev 292 and 314


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     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 the sources to other systems or using the software on other systems (except 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 "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
 
#include "eeprom.h"
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearFCStatusFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08;
        else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02;
        else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                ErrorCode = 3;
                StopNavigation = 1;
                DebugOut.Status[0] &= ~0x01; // status of FC Present
                DebugOut.Status[0] &= ~0x02; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no compass communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                DebugOut.Status[1] |= 0x08;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC not compatible ");
                ErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                ErrorCode = 10;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                ErrorCode = 11;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                ErrorCode = 12;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                ErrorCode = 13;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                ErrorCode = 14;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Z-ACC");
                ErrorCode = 15;
        }
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Pressure sensor");
                ErrorCode = 16;
        }
        else if(FC.Error[1] &  FC_ERROR1_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC I2C");
                ErrorCode = 17;
        }
        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                ErrorCode = 18;
        }
        else if(FC.Error[1] &  FC_ERROR1_MIXER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                ErrorCode = 19;
        }
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if((FC.Error[1] &  FC_ERROR1_SPI_RX))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                ErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                ErrorCode = 20;
        }
        else if(FC.Error[1] &  FC_ERROR1_PPM)
        {
                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;
        }
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04;
        else DebugOut.Status[1] &= ~0x04;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize usb
        USB_ConfigInit();
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag
        DebugOut.Status[1] = 0x00;
 
        Compass_Init();
 
#ifdef FOLLOW_ME
        TransmitAlsoToFC = 1;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
        TransmitAlsoToFC = 0;
#else
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
#endif
 
        GPS_Init();
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        Debug_OK("START");
 
        for (;;) // the endless main loop
        {
                UART0_ProcessRxData();  // process request
                UART1_ProcessRxData();  // process request
                USB_ProcessRxData();    // process request
                UART0_TransmitTxData(); // send answer
                UART1_TransmitTxData(); // send answer
                UART2_TransmitTxData(); // send answer
                USB_TransmitTxData();   // send answer
                SPI0_UpdateBuffer();    // handle new SPI Data
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
                        CheckErrors();
                        if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0; // not the time per flight
                        if(SerialLinkOkay) SerialLinkOkay--;
                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50)) BeepTime = 1000;
                }
                // ---------------- Logging  ---------------------------------------
                Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
        }
}
 
 
 

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

Subversion Repositories NaviCtrl

(root)/tags/V2.10e/main.c @ 841 - Rev 292 → 314