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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | //#define MCLK96MHZ |
56 | //#define MCLK96MHZ |
57 | const unsigned long _Main_Crystal = 25000; |
57 | const unsigned long _Main_Crystal = 25000; |
58 | //#include <stdio.h> |
58 | //#include <stdio.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "uart0.h" |
61 | #include "uart0.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "uart2.h" |
63 | #include "uart2.h" |
64 | #include "gps.h" |
64 | #include "gps.h" |
65 | #include "i2c.h" |
65 | #include "i2c.h" |
66 | #include "compass.h" |
66 | #include "compass.h" |
67 | #include "ncmag.h" |
67 | #include "ncmag.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 "sdc.h" |
73 | #include "sdc.h" |
74 | #include "logging.h" |
74 | #include "logging.h" |
75 | #include "params.h" |
75 | #include "params.h" |
76 | #include "settings.h" |
76 | #include "settings.h" |
77 | #include "config.h" |
77 | #include "config.h" |
78 | #include "main.h" |
78 | #include "main.h" |
79 | #include "debug.h" |
79 | #include "debug.h" |
80 | #include "eeprom.h" |
80 | #include "eeprom.h" |
81 | #include "ssc.h" |
81 | #include "ssc.h" |
82 | #include "sdc.h" |
82 | #include "sdc.h" |
83 | #include "uart1.h" |
83 | #include "uart1.h" |
84 | 84 | ||
85 | 85 | ||
86 | 86 | ||
87 | #ifdef FOLLOW_ME |
87 | #ifdef FOLLOW_ME |
88 | u8 TransmitAlsoToFC = 0; |
88 | u8 TransmitAlsoToFC = 0; |
89 | #endif |
89 | #endif |
90 | u32 TimerCheckError; |
90 | u32 TimerCheckError; |
91 | u8 ErrorCode = 0; |
91 | u8 ErrorCode = 0; |
92 | u16 BeepTime; |
92 | u16 BeepTime; |
93 | u8 NCFlags = 0; |
93 | u8 NCFlags = 0; |
94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
94 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
95 | u8 ErrorGpsFixLost = 0; |
95 | u8 ErrorGpsFixLost = 0; |
96 | u8 FromFC_LoadWP_List = 0; |
96 | u8 FromFC_LoadWP_List = 0; |
97 | u8 ClearFCStatusFlags = 0; |
97 | u8 ClearFCStatusFlags = 0; |
98 | u8 StopNavigation = 0; |
98 | u8 StopNavigation = 0; |
99 | volatile u32 PollingTimeout = 10000; |
99 | volatile u32 PollingTimeout = 10000; |
100 | Param_t Parameter; |
100 | Param_t Parameter; |
101 | volatile FC_t FC; |
101 | volatile FC_t FC; |
102 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
102 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
103 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
103 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
104 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
104 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
105 | 105 | ||
106 | s8 ErrorMSG[25]; |
106 | s8 ErrorMSG[25]; |
107 | 107 | ||
108 | //---------------------------------------------------------------------------------------------------- |
108 | //---------------------------------------------------------------------------------------------------- |
109 | void SCU_Config(void) |
109 | void SCU_Config(void) |
110 | { |
110 | { |
111 | /* configure PLL and set it as master clock source */ |
111 | /* configure PLL and set it as master clock source */ |
112 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
112 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
113 | SCU_PLLCmd(DISABLE); // now disable the PLL |
113 | SCU_PLLCmd(DISABLE); // now disable the PLL |
114 | #ifdef MCLK96MHZ |
114 | #ifdef MCLK96MHZ |
115 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
115 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
116 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
116 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
117 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
117 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
118 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
118 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
119 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
119 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
120 | #else |
120 | #else |
121 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
121 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
122 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
122 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
123 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
123 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
124 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
124 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
125 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
125 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
126 | #endif |
126 | #endif |
127 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
127 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
128 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
128 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
129 | } |
129 | } |
130 | 130 | ||
131 | //---------------------------------------------------------------------------------------------------- |
131 | //---------------------------------------------------------------------------------------------------- |
132 | void GetNaviCtrlVersion(void) |
132 | void GetNaviCtrlVersion(void) |
133 | { |
133 | { |
134 | u8 msg[25]; |
134 | u8 msg[25]; |
135 | 135 | ||
136 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
136 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
137 | UART1_PutString(msg); |
137 | UART1_PutString(msg); |
138 | } |
138 | } |
139 | 139 | ||
140 | //---------------------------------------------------------------------------------------------------- |
140 | //---------------------------------------------------------------------------------------------------- |
141 | 141 | ||
142 | void CheckErrors(void) |
142 | void CheckErrors(void) |
143 | { |
143 | { |
144 | static s32 no_error_delay = 0; |
144 | static s32 no_error_delay = 0; |
145 | s32 newErrorCode = 0; |
145 | s32 newErrorCode = 0; |
146 | UART_VersionInfo.HardwareError[0] = 0; |
146 | UART_VersionInfo.HardwareError[0] = 0; |
147 | 147 | ||
148 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
148 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
149 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
149 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
150 | 150 | ||
151 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
151 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
152 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
152 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
153 | 153 | ||
154 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
154 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
155 | else DebugOut.StatusRed &= ~AMPEL_NC; |
155 | else DebugOut.StatusRed &= ~AMPEL_NC; |
156 | 156 | ||
157 | 157 | ||
158 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
158 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
159 | { |
159 | { |
160 | LED_RED_ON; |
160 | LED_RED_ON; |
161 | sprintf(ErrorMSG,"no compass communica"); |
161 | sprintf(ErrorMSG,"no compass communica"); |
162 | //Reset Compass communication |
162 | //Reset Compass communication |
- | 163 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
|
163 | Compass_Init(); |
164 | Compass_Init(); |
164 | newErrorCode = 4; |
165 | newErrorCode = 4; |
165 | StopNavigation = 1; |
166 | StopNavigation = 1; |
166 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
167 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
167 | DebugOut.StatusRed |= AMPEL_COMPASS; |
168 | DebugOut.StatusRed |= AMPEL_COMPASS; |
168 | } |
169 | } |
169 | else if(CompassValueErrorCount > 30) |
170 | else if(CompassValueErrorCount > 30) |
170 | { |
171 | { |
171 | LED_RED_ON; |
172 | LED_RED_ON; |
172 | sprintf(ErrorMSG,"compass sensor error"); |
173 | sprintf(ErrorMSG,"compass sensor error"); |
173 | newErrorCode = 34; |
174 | newErrorCode = 34; |
174 | StopNavigation = 1; |
175 | StopNavigation = 1; |
175 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
176 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
- | 177 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
|
176 | Compass_Init(); |
178 | Compass_Init(); |
177 | } |
179 | } |
178 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
180 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
179 | { |
181 | { |
180 | sprintf(ErrorMSG,"Calibrate... "); |
182 | sprintf(ErrorMSG,"Calibrate... "); |
181 | newErrorCode = 0; |
183 | newErrorCode = 0; |
182 | ErrorCode = 0; |
184 | ErrorCode = 0; |
183 | no_error_delay = 1; |
185 | no_error_delay = 1; |
184 | } |
186 | } |
185 | else if(CheckDelay(SPI0_Timeout)) |
187 | else if(CheckDelay(SPI0_Timeout)) |
186 | { |
188 | { |
187 | LED_RED_ON; |
189 | LED_RED_ON; |
188 | sprintf(ErrorMSG,"no FC communication "); |
190 | sprintf(ErrorMSG,"no FC communication "); |
189 | newErrorCode = 3; |
191 | newErrorCode = 3; |
190 | StopNavigation = 1; |
192 | StopNavigation = 1; |
191 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
193 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
192 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
194 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
193 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
195 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
194 | } |
196 | } |
195 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
197 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
196 | { |
198 | { |
197 | LED_RED_ON; |
199 | LED_RED_ON; |
198 | #ifndef FOLLOW_ME |
200 | #ifndef FOLLOW_ME |
199 | sprintf(ErrorMSG,"FC not compatible "); |
201 | sprintf(ErrorMSG,"FC not compatible "); |
200 | #else |
202 | #else |
201 | sprintf(ErrorMSG,"! FollowMe only ! "); |
203 | sprintf(ErrorMSG,"! FollowMe only ! "); |
202 | #endif |
204 | #endif |
203 | newErrorCode = 1; |
205 | newErrorCode = 1; |
204 | StopNavigation = 1; |
206 | StopNavigation = 1; |
205 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
207 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
206 | DebugOut.StatusRed |= AMPEL_NC; |
208 | DebugOut.StatusRed |= AMPEL_NC; |
207 | } |
209 | } |
208 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
210 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
209 | { |
211 | { |
210 | LED_RED_ON; |
212 | LED_RED_ON; |
211 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
213 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
212 | newErrorCode = 10; |
214 | newErrorCode = 10; |
213 | } |
215 | } |
214 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
216 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
215 | { |
217 | { |
216 | LED_RED_ON; |
218 | LED_RED_ON; |
217 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
219 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
218 | newErrorCode = 11; |
220 | newErrorCode = 11; |
219 | } |
221 | } |
220 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
222 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
221 | { |
223 | { |
222 | LED_RED_ON; |
224 | LED_RED_ON; |
223 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
225 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
224 | newErrorCode = 12; |
226 | newErrorCode = 12; |
225 | } |
227 | } |
226 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
228 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
227 | { |
229 | { |
228 | LED_RED_ON; |
230 | LED_RED_ON; |
229 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
231 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
230 | newErrorCode = 13; |
232 | newErrorCode = 13; |
231 | } |
233 | } |
232 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
234 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
233 | { |
235 | { |
234 | LED_RED_ON; |
236 | LED_RED_ON; |
235 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
237 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
236 | newErrorCode = 14; |
238 | newErrorCode = 14; |
237 | } |
239 | } |
238 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
240 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
239 | { |
241 | { |
240 | LED_RED_ON; |
242 | LED_RED_ON; |
241 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
243 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
242 | newErrorCode = 15; |
244 | newErrorCode = 15; |
243 | } |
245 | } |
244 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
246 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
245 | { |
247 | { |
246 | LED_RED_ON; |
248 | LED_RED_ON; |
247 | sprintf(ErrorMSG,"ERR:Flying range!"); |
249 | sprintf(ErrorMSG,"ERR:Flying range!"); |
248 | newErrorCode = 28; |
250 | newErrorCode = 28; |
249 | } |
251 | } |
250 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
252 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
251 | { |
253 | { |
252 | LED_RED_ON; |
254 | LED_RED_ON; |
253 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
255 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
254 | newErrorCode = 16; |
256 | newErrorCode = 16; |
255 | } |
257 | } |
256 | else if(FC.Error[1] & FC_ERROR1_I2C) |
258 | else if(FC.Error[1] & FC_ERROR1_I2C) |
257 | { |
259 | { |
258 | LED_RED_ON; |
260 | LED_RED_ON; |
259 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
261 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
260 | newErrorCode = 17; |
262 | newErrorCode = 17; |
261 | } |
263 | } |
262 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
264 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
263 | { |
265 | { |
264 | LED_RED_ON; |
266 | LED_RED_ON; |
265 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
267 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
266 | newErrorCode = 18; |
268 | newErrorCode = 18; |
267 | } |
269 | } |
268 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
270 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
269 | { |
271 | { |
270 | LED_RED_ON; |
272 | LED_RED_ON; |
271 | sprintf(ErrorMSG,"Mixer Error"); |
273 | sprintf(ErrorMSG,"Mixer Error"); |
272 | newErrorCode = 19; |
274 | newErrorCode = 19; |
273 | } |
275 | } |
274 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
276 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
275 | { |
277 | { |
276 | LED_RED_ON; |
278 | LED_RED_ON; |
277 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
279 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
278 | // else |
280 | // else |
279 | { |
281 | { |
280 | sprintf(ErrorMSG,"no GPS communication"); |
282 | sprintf(ErrorMSG,"no GPS communication"); |
281 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
283 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
282 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
284 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
283 | newErrorCode = 5; |
285 | newErrorCode = 5; |
284 | } |
286 | } |
285 | StopNavigation = 1; |
287 | StopNavigation = 1; |
286 | // UBX_Timeout = SetDelay(500); |
288 | // UBX_Timeout = SetDelay(500); |
287 | } |
289 | } |
288 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
290 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
289 | { |
291 | { |
290 | LED_RED_ON; |
292 | LED_RED_ON; |
291 | sprintf(ErrorMSG,"compass not calibr."); |
293 | sprintf(ErrorMSG,"compass not calibr."); |
292 | newErrorCode = 31; |
294 | newErrorCode = 31; |
293 | StopNavigation = 1; |
295 | StopNavigation = 1; |
294 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
296 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
295 | } |
297 | } |
296 | else if(Compass_Heading < 0) |
298 | else if(Compass_Heading < 0) |
297 | { |
299 | { |
298 | LED_RED_ON; |
300 | LED_RED_ON; |
299 | sprintf(ErrorMSG,"bad compass value "); |
301 | sprintf(ErrorMSG,"bad compass value "); |
300 | newErrorCode = 6; |
302 | newErrorCode = 6; |
301 | StopNavigation = 1; |
303 | StopNavigation = 1; |
302 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
304 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
303 | } |
305 | } |
304 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
306 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
305 | { |
307 | { |
306 | LED_RED_ON; |
308 | LED_RED_ON; |
307 | sprintf(ErrorMSG,"FC spi rx error "); |
309 | sprintf(ErrorMSG,"FC spi rx error "); |
308 | newErrorCode = 8; |
310 | newErrorCode = 8; |
309 | StopNavigation = 1; |
311 | StopNavigation = 1; |
310 | } |
312 | } |
311 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
313 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
312 | { |
314 | { |
313 | LED_RED_ON; |
315 | LED_RED_ON; |
314 | sprintf(ErrorMSG,"FC: Carefree Error"); |
316 | sprintf(ErrorMSG,"FC: Carefree Error"); |
315 | newErrorCode = 20; |
317 | newErrorCode = 20; |
316 | } |
318 | } |
317 | else if(FC.Error[1] & FC_ERROR1_PPM) |
319 | else if(FC.Error[1] & FC_ERROR1_PPM) |
318 | { |
320 | { |
319 | LED_RED_ON; |
321 | LED_RED_ON; |
320 | sprintf(ErrorMSG,"RC Signal lost "); |
322 | sprintf(ErrorMSG,"RC Signal lost "); |
321 | newErrorCode = 7; |
323 | newErrorCode = 7; |
322 | } |
324 | } |
323 | else if(ErrorGpsFixLost) |
325 | else if(ErrorGpsFixLost) |
324 | { |
326 | { |
325 | LED_RED_ON; |
327 | LED_RED_ON; |
326 | sprintf(ErrorMSG,"GPS Fix lost "); |
328 | sprintf(ErrorMSG,"GPS Fix lost "); |
327 | newErrorCode = 21; |
329 | newErrorCode = 21; |
328 | } |
330 | } |
329 | else if(ErrorDisturbedEarthMagnetField) |
331 | else if(ErrorDisturbedEarthMagnetField) |
330 | { |
332 | { |
331 | LED_RED_ON; |
333 | LED_RED_ON; |
332 | sprintf(ErrorMSG,"Magnet error "); |
334 | sprintf(ErrorMSG,"Magnet error "); |
333 | newErrorCode = 22; |
335 | newErrorCode = 22; |
334 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
336 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
335 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
337 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
336 | } |
338 | } |
337 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
339 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
338 | { |
340 | { |
339 | LED_RED_ON; |
341 | LED_RED_ON; |
340 | sprintf(ErrorMSG,"ERR:Motor restart "); |
342 | sprintf(ErrorMSG,"ERR:Motor restart "); |
341 | newErrorCode = 23; |
343 | newErrorCode = 23; |
342 | DebugOut.StatusRed |= AMPEL_BL; |
344 | DebugOut.StatusRed |= AMPEL_BL; |
343 | } |
345 | } |
344 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
346 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
345 | { |
347 | { |
346 | u16 i; |
348 | u16 i; |
347 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
349 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
348 | LED_RED_ON; |
350 | LED_RED_ON; |
349 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
351 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
350 | newErrorCode = 32; |
352 | newErrorCode = 32; |
351 | DebugOut.StatusRed |= AMPEL_BL; |
353 | DebugOut.StatusRed |= AMPEL_BL; |
352 | } |
354 | } |
353 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
355 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
354 | { |
356 | { |
355 | LED_RED_ON; |
357 | LED_RED_ON; |
356 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
358 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
357 | newErrorCode = 24; |
359 | newErrorCode = 24; |
358 | DebugOut.StatusRed |= AMPEL_BL; |
360 | DebugOut.StatusRed |= AMPEL_BL; |
359 | } |
361 | } |
360 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
362 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
361 | { |
363 | { |
362 | LED_RED_ON; |
364 | LED_RED_ON; |
363 | sprintf(ErrorMSG,"ERR:GPS range "); |
365 | sprintf(ErrorMSG,"ERR:GPS range "); |
364 | newErrorCode = 25; |
366 | newErrorCode = 25; |
365 | DebugOut.StatusRed |= AMPEL_NC; |
367 | DebugOut.StatusRed |= AMPEL_NC; |
366 | } |
368 | } |
367 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
369 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
368 | { |
370 | { |
369 | LED_RED_ON; |
371 | LED_RED_ON; |
370 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
372 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
371 | newErrorCode = 26; |
373 | newErrorCode = 26; |
372 | DebugOut.StatusRed |= AMPEL_NC; |
374 | DebugOut.StatusRed |= AMPEL_NC; |
373 | } |
375 | } |
374 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
376 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
375 | { |
377 | { |
376 | LED_RED_ON; |
378 | LED_RED_ON; |
377 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
379 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
378 | newErrorCode = 27; |
380 | newErrorCode = 27; |
379 | DebugOut.StatusRed |= AMPEL_NC; |
381 | DebugOut.StatusRed |= AMPEL_NC; |
380 | SD_LoggingError = 0; |
382 | SD_LoggingError = 0; |
381 | } |
383 | } |
382 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
384 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
383 | { |
385 | { |
384 | LED_RED_ON; |
386 | LED_RED_ON; |
385 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
387 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
386 | newErrorCode = 29; |
388 | newErrorCode = 29; |
387 | DebugOut.StatusRed |= AMPEL_NC; |
389 | DebugOut.StatusRed |= AMPEL_NC; |
388 | } |
390 | } |
389 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
391 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
390 | { |
392 | { |
391 | LED_RED_ON; |
393 | LED_RED_ON; |
392 | sprintf(ErrorMSG,"No GPS Fix "); |
394 | sprintf(ErrorMSG,"No GPS Fix "); |
393 | newErrorCode = 30; |
395 | newErrorCode = 30; |
394 | } |
396 | } |
395 | else // no error occured |
397 | else // no error occured |
396 | { |
398 | { |
397 | StopNavigation = 0; |
399 | StopNavigation = 0; |
398 | LED_RED_OFF; |
400 | LED_RED_OFF; |
399 | if(no_error_delay) { no_error_delay--; } |
401 | if(no_error_delay) { no_error_delay--; } |
400 | else |
402 | else |
401 | { |
403 | { |
402 | sprintf(ErrorMSG,"No Error "); |
404 | sprintf(ErrorMSG,"No Error "); |
403 | ErrorCode = 0; |
405 | ErrorCode = 0; |
404 | } |
406 | } |
405 | } |
407 | } |
406 | 408 | ||
407 | if(newErrorCode) |
409 | if(newErrorCode) |
408 | { |
410 | { |
409 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
411 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
410 | ErrorCode = newErrorCode; |
412 | ErrorCode = newErrorCode; |
411 | } |
413 | } |
412 | FC.Error[0] = 0; |
414 | FC.Error[0] = 0; |
413 | FC.Error[1] = 0; |
415 | FC.Error[1] = 0; |
414 | FC.Error[2] = 0; |
416 | FC.Error[2] = 0; |
415 | FC.Error[3] = 0; |
417 | FC.Error[3] = 0; |
416 | FC.Error[4] = 0; |
418 | FC.Error[4] = 0; |
417 | ErrorGpsFixLost = 0; |
419 | ErrorGpsFixLost = 0; |
418 | } |
420 | } |
419 | 421 | ||
420 | 422 | ||
421 | 423 | ||
422 | u8 Polling(void) |
424 | u8 Polling(void) |
423 | { |
425 | { |
424 | static u8 running = 0, oldFcFlags = 0, count5sec; |
426 | static u8 running = 0, oldFcFlags = 0, count5sec; |
425 | static u32 old_ms = 0; |
427 | static u32 old_ms = 0; |
426 | 428 | ||
427 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
429 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
428 | running = 1; |
430 | running = 1; |
429 | 431 | ||
430 | if(CountMilliseconds != old_ms) // 1 ms |
432 | if(CountMilliseconds != old_ms) // 1 ms |
431 | { |
433 | { |
432 | old_ms = CountMilliseconds; |
434 | old_ms = CountMilliseconds; |
433 | Compass_Update(); // update compass communication |
435 | Compass_Update(); // update compass communication |
434 | Analog_Update(); // get new ADC values |
436 | Analog_Update(); // get new ADC values |
435 | CalcHeadFree(); |
437 | CalcHeadFree(); |
436 | } |
438 | } |
437 | 439 | ||
438 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
440 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
439 | UART0_ProcessRxData(); // GPS process request |
441 | UART0_ProcessRxData(); // GPS process request |
440 | UART0_TransmitTxData(); // GPS send answer |
442 | UART0_TransmitTxData(); // GPS send answer |
441 | UART1_ProcessRxData(); // PC process request |
443 | UART1_ProcessRxData(); // PC process request |
442 | UART1_TransmitTxData(); // PC send answer |
444 | UART1_TransmitTxData(); // PC send answer |
443 | UART2_TransmitTxData(); // FC send answer |
445 | UART2_TransmitTxData(); // FC send answer |
444 | 446 | ||
445 | // ---------------- Error Check Timing ---------------------------- |
447 | // ---------------- Error Check Timing ---------------------------- |
446 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
448 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
447 | { |
449 | { |
448 | if(CheckDelay(TimerCheckError)) |
450 | if(CheckDelay(TimerCheckError)) |
449 | { |
451 | { |
450 | TimerCheckError = SetDelay(1000); |
452 | TimerCheckError = SetDelay(1000); |
451 | if(CompassValueErrorCount) CompassValueErrorCount--; |
453 | if(CompassValueErrorCount) CompassValueErrorCount--; |
452 | if(++count5sec == 5) |
454 | if(++count5sec == 5) |
453 | { |
455 | { |
454 | count5sec = 0; |
456 | count5sec = 0; |
455 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
457 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
456 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
458 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
457 | CountGpsProcessedIn5Sec = 0; |
459 | CountGpsProcessedIn5Sec = 0; |
458 | CountNewGpsDataIn5Sec = 0; |
460 | CountNewGpsDataIn5Sec = 0; |
459 | } |
461 | } |
460 | } |
462 | } |
461 | oldFcFlags = FC.StatusFlags; |
463 | oldFcFlags = FC.StatusFlags; |
462 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
464 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
463 | 465 | ||
464 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
466 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
465 | 467 | ||
466 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
468 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
467 | if(SerialLinkOkay) SerialLinkOkay--; |
469 | if(SerialLinkOkay) SerialLinkOkay--; |
468 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
470 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
469 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
471 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
470 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
472 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
471 | } |
473 | } |
472 | running = 0; |
474 | running = 0; |
473 | if(!PollingTimeout) DebugOut.Analog[17]++; |
475 | if(!PollingTimeout) DebugOut.Analog[17]++; |
474 | return(0); |
476 | return(0); |
475 | } |
477 | } |
476 | 478 | ||
477 | // the handler will be cyclic called by the timer 1 ISR |
479 | // the handler will be cyclic called by the timer 1 ISR |
478 | // used is for critical timing parts that normaly would handled |
480 | // used is for critical timing parts that normaly would handled |
479 | // within the main loop that could block longer at logging activities |
481 | // within the main loop that could block longer at logging activities |
480 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
482 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
481 | { |
483 | { |
482 | IENABLE; |
484 | IENABLE; |
483 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
485 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
484 | 486 | ||
485 | if(PollingTimeout == 0) |
487 | if(PollingTimeout == 0) |
486 | { |
488 | { |
487 | PollingTimeout = 5; |
489 | PollingTimeout = 5; |
488 | //if(Polling() == 0) DebugOut.Analog[16]++; |
490 | //if(Polling() == 0) DebugOut.Analog[16]++; |
489 | Polling(); |
491 | Polling(); |
490 | } |
492 | } |
491 | 493 | ||
492 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
494 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
493 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
495 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
494 | IDISABLE; |
496 | IDISABLE; |
495 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
497 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
496 | } |
498 | } |
497 | 499 | ||
498 | //---------------------------------------------------------------------------------------------------- |
500 | //---------------------------------------------------------------------------------------------------- |
499 | int main(void) |
501 | int main(void) |
500 | { |
502 | { |
501 | 503 | ||
502 | // static u32 ftimer =0; |
504 | // static u32 ftimer =0; |
503 | // static u8 fstate = 0; |
505 | // static u8 fstate = 0; |
504 | // static File_t* f = NULL; |
506 | // static File_t* f = NULL; |
505 | 507 | ||
506 | 508 | ||
507 | /* Configure the system clocks */ |
509 | /* Configure the system clocks */ |
508 | SCU_Config(); |
510 | SCU_Config(); |
509 | /* init VIC (Vectored Interrupt Controller) */ |
511 | /* init VIC (Vectored Interrupt Controller) */ |
510 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
512 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
511 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
513 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
512 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
514 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
513 | VIC_InitDefaultVectors(); |
515 | VIC_InitDefaultVectors(); |
514 | 516 | ||
515 | // initialize timer 1 for System Clock and delay rountines |
517 | // initialize timer 1 for System Clock and delay rountines |
516 | TIMER1_Init(); |
518 | TIMER1_Init(); |
517 | // initialize the LEDs (needs Timer 1) |
519 | // initialize the LEDs (needs Timer 1) |
518 | Led_Init(); |
520 | Led_Init(); |
519 | // initialize the debug UART1 |
521 | // initialize the debug UART1 |
520 | UART1_Init(); |
522 | UART1_Init(); |
521 | UART1_PutString("\r\n---------------------------------------------"); |
523 | UART1_PutString("\r\n---------------------------------------------"); |
522 | // initialize timer 2 for servo outputs |
524 | // initialize timer 2 for servo outputs |
523 | //TIMER2_Init(); |
525 | //TIMER2_Init(); |
524 | // initialize UART2 to FLIGHTCTRL |
526 | // initialize UART2 to FLIGHTCTRL |
525 | UART2_Init(); |
527 | UART2_Init(); |
526 | // initialize UART0 (to MKGPS or MK3MAG) |
528 | // initialize UART0 (to MKGPS or MK3MAG) |
527 | UART0_Init(); |
529 | UART0_Init(); |
528 | // initialize adc |
530 | // initialize adc |
529 | Analog_Init(); |
531 | Analog_Init(); |
530 | // initialize SPI0 to FC |
532 | // initialize SPI0 to FC |
531 | SPI0_Init(); |
533 | SPI0_Init(); |
532 | // initialize i2c busses (needs Timer 1) |
534 | // initialize i2c busses (needs Timer 1) |
533 | I2CBus_Init(I2C0); |
535 | I2CBus_Init(I2C0); |
534 | I2CBus_Init(I2C1); |
536 | I2CBus_Init(I2C1); |
535 | 537 | ||
536 | // initialize fat16 partition on sd card (needs Timer 1) |
538 | // initialize fat16 partition on sd card (needs Timer 1) |
537 | Fat16_Init(); |
539 | Fat16_Init(); |
538 | // initialize NC params |
540 | // initialize NC params |
539 | NCParams_Init(); |
541 | NCParams_Init(); |
540 | // initialize the settings |
542 | // initialize the settings |
541 | Settings_Init(); |
543 | Settings_Init(); |
542 | // initialize logging (needs settings) |
544 | // initialize logging (needs settings) |
543 | Logging_Init(); |
545 | Logging_Init(); |
544 | 546 | ||
545 | LED_GRN_ON; |
547 | LED_GRN_ON; |
546 | TimerCheckError = SetDelay(3000); |
548 | TimerCheckError = SetDelay(3000); |
547 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
549 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
548 | UART1_PutString("\n\r Version information:"); |
550 | UART1_PutString("\n\r Version information:"); |
549 | 551 | ||
550 | GetNaviCtrlVersion(); |
552 | GetNaviCtrlVersion(); |
551 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
553 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
552 | DebugOut.StatusRed = 0x00; |
554 | DebugOut.StatusRed = 0x00; |
553 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
555 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
554 | 556 | ||
555 | Compass_Init(); |
557 | Compass_Init(); |
556 | 558 | ||
557 | GPS_Init(); |
559 | GPS_Init(); |
558 | 560 | ||
559 | #ifdef FOLLOW_ME |
561 | #ifdef FOLLOW_ME |
560 | TransmitAlsoToFC = 1; |
562 | TransmitAlsoToFC = 1; |
561 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
563 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
562 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
564 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
563 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
565 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
564 | TransmitAlsoToFC = 0; |
566 | TransmitAlsoToFC = 0; |
565 | #else |
567 | #else |
566 | SPI0_GetFlightCtrlVersion(); |
568 | SPI0_GetFlightCtrlVersion(); |
567 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
569 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
568 | { |
570 | { |
569 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
571 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
570 | LED_RED_ON; |
572 | LED_RED_ON; |
571 | } |
573 | } |
572 | #endif |
574 | #endif |
573 | // ---------- Prepare the isr driven |
575 | // ---------- Prepare the isr driven |
574 | // set to absolute lowest priority |
576 | // set to absolute lowest priority |
575 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
577 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
576 | // enable interrupts |
578 | // enable interrupts |
577 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
579 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
578 | 580 | ||
579 | Debug_OK("START"); |
581 | Debug_OK("START"); |
580 | UART1_PutString("\r\n"); |
582 | UART1_PutString("\r\n"); |
581 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
583 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
582 | LED_GRN_ON; |
584 | LED_GRN_ON; |
583 | LED_RED_OFF; |
585 | LED_RED_OFF; |
584 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
586 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
585 | UART1_PutString("\r\n"); |
587 | UART1_PutString("\r\n"); |
586 | CompassValueErrorCount = 0; |
588 | CompassValueErrorCount = 0; |
587 | 589 | ||
588 | for (;;) // the endless main loop |
590 | for (;;) // the endless main loop |
589 | { |
591 | { |
590 | PollingTimeout = 5; |
592 | PollingTimeout = 5; |
591 | Polling(); |
593 | Polling(); |
592 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
594 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
593 | if(FromFC_LoadWP_List) |
595 | if(FromFC_LoadWP_List) |
594 | { |
596 | { |
595 | //if(FromFC_LoadWP_List & 0x80) -> load relative |
597 | //if(FromFC_LoadWP_List & 0x80) -> load relative |
596 | WPL_Store.Index = FromFC_LoadWP_List; |
598 | WPL_Store.Index = FromFC_LoadWP_List; |
597 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
599 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
598 | { |
600 | { |
599 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
601 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
600 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
602 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
601 | BeepTime = 150; |
603 | BeepTime = 150; |
602 | } |
604 | } |
603 | FromFC_LoadWP_List = 0; |
605 | FromFC_LoadWP_List = 0; |
604 | } |
606 | } |
605 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
607 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
606 | 608 | ||
607 | // ---------------- Logging --------------------------------------- |
609 | // ---------------- Logging --------------------------------------- |
608 | if(SD_WatchDog) |
610 | if(SD_WatchDog) |
609 | { |
611 | { |
610 | SD_WatchDog = 30000; |
612 | SD_WatchDog = 30000; |
611 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
613 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
612 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
614 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
613 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
615 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
614 | } |
616 | } |
615 | 617 | ||
616 | 618 | ||
617 | 619 | ||
618 | /* |
620 | /* |
619 | if(CheckDelay(ftimer)) |
621 | if(CheckDelay(ftimer)) |
620 | { |
622 | { |
621 | 623 | ||
622 | static s8 filename[35]; |
624 | static s8 filename[35]; |
623 | static u8 i = 0; |
625 | static u8 i = 0; |
624 | s8 dbgmsg[40]; |
626 | s8 dbgmsg[40]; |
625 | 627 | ||
626 | 628 | ||
627 | 629 | ||
628 | ftimer = SetDelay(100); |
630 | ftimer = SetDelay(100); |
629 | if(FC.Poti[3]>100 && fstate == 0) |
631 | if(FC.Poti[3]>100 && fstate == 0) |
630 | { |
632 | { |
631 | fstate = 1; |
633 | fstate = 1; |
632 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
634 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
633 | } |
635 | } |
634 | else if(FC.Poti[3]<100 && fstate == 2) |
636 | else if(FC.Poti[3]<100 && fstate == 2) |
635 | { |
637 | { |
636 | fstate = 3; |
638 | fstate = 3; |
637 | } |
639 | } |
638 | 640 | ||
639 | switch(fstate) |
641 | switch(fstate) |
640 | { |
642 | { |
641 | case 1: |
643 | case 1: |
642 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
644 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
643 | Debug(dbgmsg); |
645 | Debug(dbgmsg); |
644 | f = fopen_(filename, 'a'); |
646 | f = fopen_(filename, 'a'); |
645 | if(f== NULL) Fat16_Init(); |
647 | if(f== NULL) Fat16_Init(); |
646 | fstate = 2; |
648 | fstate = 2; |
647 | break; |
649 | break; |
648 | 650 | ||
649 | case 2: |
651 | case 2: |
650 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
652 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
651 | break; |
653 | break; |
652 | 654 | ||
653 | case 3: |
655 | case 3: |
654 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
656 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
655 | Debug(dbgmsg); |
657 | Debug(dbgmsg); |
656 | fclose_(f); |
658 | fclose_(f); |
657 | fstate = 0; |
659 | fstate = 0; |
658 | break; |
660 | break; |
659 | 661 | ||
660 | default: |
662 | default: |
661 | break; |
663 | break; |
662 | } |
664 | } |
663 | } |
665 | } |
664 | */ |
666 | */ |
665 | } |
667 | } |
666 | } |
668 | } |
667 | //DebugOut.Analog[16] |
669 | //DebugOut.Analog[16] |
668 | 670 |