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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 ToFC_MaxWpListIndex = 3; |
97 | u8 ToFC_MaxWpListIndex = 3; |
98 | u8 ClearFCStatusFlags = 0; |
98 | u8 ClearFCStatusFlags = 0; |
99 | u8 StopNavigation = 0; |
99 | u8 StopNavigation = 0; |
100 | volatile u32 PollingTimeout = 10000; |
100 | volatile u32 PollingTimeout = 10000; |
101 | Param_t Parameter; |
101 | Param_t Parameter; |
102 | volatile FC_t FC; |
102 | volatile FC_t FC; |
103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
- | 106 | u8 NewWPL_Name = 0; |
|
106 | 107 | ||
107 | s8 ErrorMSG[25]; |
108 | s8 ErrorMSG[25]; |
108 | 109 | ||
109 | //---------------------------------------------------------------------------------------------------- |
110 | //---------------------------------------------------------------------------------------------------- |
110 | void SCU_Config(void) |
111 | void SCU_Config(void) |
111 | { |
112 | { |
112 | /* configure PLL and set it as master clock source */ |
113 | /* configure PLL and set it as master clock source */ |
113 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
114 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
114 | SCU_PLLCmd(DISABLE); // now disable the PLL |
115 | SCU_PLLCmd(DISABLE); // now disable the PLL |
115 | #ifdef MCLK96MHZ |
116 | #ifdef MCLK96MHZ |
116 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
117 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
117 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
118 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
118 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
119 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
119 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
120 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
120 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
121 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
121 | #else |
122 | #else |
122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
123 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
123 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
124 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
124 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
125 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
125 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
126 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
126 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
127 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
127 | #endif |
128 | #endif |
128 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
129 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
129 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
130 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
130 | } |
131 | } |
131 | 132 | ||
132 | //---------------------------------------------------------------------------------------------------- |
133 | //---------------------------------------------------------------------------------------------------- |
133 | void GetNaviCtrlVersion(void) |
134 | void GetNaviCtrlVersion(void) |
134 | { |
135 | { |
135 | u8 msg[25]; |
136 | u8 msg[25]; |
136 | 137 | ||
137 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
138 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
138 | UART1_PutString(msg); |
139 | UART1_PutString(msg); |
139 | } |
140 | } |
140 | 141 | ||
141 | //---------------------------------------------------------------------------------------------------- |
142 | //---------------------------------------------------------------------------------------------------- |
142 | 143 | ||
143 | void CheckErrors(void) |
144 | void CheckErrors(void) |
144 | { |
145 | { |
145 | static s32 no_error_delay = 0; |
146 | static s32 no_error_delay = 0; |
146 | s32 newErrorCode = 0; |
147 | s32 newErrorCode = 0; |
147 | UART_VersionInfo.HardwareError[0] = 0; |
148 | UART_VersionInfo.HardwareError[0] = 0; |
148 | 149 | ||
149 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
150 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
150 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
151 | 152 | ||
152 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
153 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
154 | 155 | ||
155 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
156 | else DebugOut.StatusRed &= ~AMPEL_NC; |
157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
157 | 158 | ||
158 | 159 | ||
159 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
160 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
160 | { |
161 | { |
161 | LED_RED_ON; |
162 | LED_RED_ON; |
162 | sprintf(ErrorMSG,"no compass communica"); |
163 | sprintf(ErrorMSG,"no compass communica"); |
163 | //Reset Compass communication |
164 | //Reset Compass communication |
164 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
165 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
165 | Compass_Init(); |
166 | Compass_Init(); |
166 | newErrorCode = 4; |
167 | newErrorCode = 4; |
167 | StopNavigation = 1; |
168 | StopNavigation = 1; |
168 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
169 | DebugOut.StatusRed |= AMPEL_COMPASS; |
170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
170 | } |
171 | } |
171 | else if(CompassValueErrorCount > 30) |
172 | else if(CompassValueErrorCount > 30) |
172 | { |
173 | { |
173 | LED_RED_ON; |
174 | LED_RED_ON; |
174 | sprintf(ErrorMSG,"compass sensor error"); |
175 | sprintf(ErrorMSG,"compass sensor error"); |
175 | newErrorCode = 34; |
176 | newErrorCode = 34; |
176 | StopNavigation = 1; |
177 | StopNavigation = 1; |
177 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
178 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
179 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
179 | Compass_Init(); |
180 | Compass_Init(); |
180 | } |
181 | } |
181 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
182 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
182 | { |
183 | { |
183 | sprintf(ErrorMSG,"Calibrate... "); |
184 | sprintf(ErrorMSG,"Calibrate... "); |
184 | newErrorCode = 0; |
185 | newErrorCode = 0; |
185 | ErrorCode = 0; |
186 | ErrorCode = 0; |
186 | no_error_delay = 1; |
187 | no_error_delay = 1; |
187 | } |
188 | } |
188 | else if(CheckDelay(SPI0_Timeout)) |
189 | else if(CheckDelay(SPI0_Timeout)) |
189 | { |
190 | { |
190 | LED_RED_ON; |
191 | LED_RED_ON; |
191 | sprintf(ErrorMSG,"no FC communication "); |
192 | sprintf(ErrorMSG,"no FC communication "); |
192 | newErrorCode = 3; |
193 | newErrorCode = 3; |
193 | StopNavigation = 1; |
194 | StopNavigation = 1; |
194 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
195 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
195 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
196 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
196 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
197 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
197 | } |
198 | } |
198 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
199 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
199 | { |
200 | { |
200 | LED_RED_ON; |
201 | LED_RED_ON; |
201 | #ifndef FOLLOW_ME |
202 | #ifndef FOLLOW_ME |
202 | sprintf(ErrorMSG,"FC not compatible "); |
203 | sprintf(ErrorMSG,"FC not compatible "); |
203 | #else |
204 | #else |
204 | sprintf(ErrorMSG,"! FollowMe only ! "); |
205 | sprintf(ErrorMSG,"! FollowMe only ! "); |
205 | #endif |
206 | #endif |
206 | newErrorCode = 1; |
207 | newErrorCode = 1; |
207 | StopNavigation = 1; |
208 | StopNavigation = 1; |
208 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
209 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
209 | DebugOut.StatusRed |= AMPEL_NC; |
210 | DebugOut.StatusRed |= AMPEL_NC; |
210 | } |
211 | } |
211 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
212 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
212 | { |
213 | { |
213 | LED_RED_ON; |
214 | LED_RED_ON; |
214 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
215 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
215 | newErrorCode = 10; |
216 | newErrorCode = 10; |
216 | } |
217 | } |
217 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
218 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
218 | { |
219 | { |
219 | LED_RED_ON; |
220 | LED_RED_ON; |
220 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
221 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
221 | newErrorCode = 11; |
222 | newErrorCode = 11; |
222 | } |
223 | } |
223 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
224 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
224 | { |
225 | { |
225 | LED_RED_ON; |
226 | LED_RED_ON; |
226 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
227 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
227 | newErrorCode = 12; |
228 | newErrorCode = 12; |
228 | } |
229 | } |
229 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
230 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
230 | { |
231 | { |
231 | LED_RED_ON; |
232 | LED_RED_ON; |
232 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
233 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
233 | newErrorCode = 13; |
234 | newErrorCode = 13; |
234 | } |
235 | } |
235 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
236 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
236 | { |
237 | { |
237 | LED_RED_ON; |
238 | LED_RED_ON; |
238 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
239 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
239 | newErrorCode = 14; |
240 | newErrorCode = 14; |
240 | } |
241 | } |
241 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
242 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
242 | { |
243 | { |
243 | LED_RED_ON; |
244 | LED_RED_ON; |
244 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
245 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
245 | newErrorCode = 15; |
246 | newErrorCode = 15; |
246 | } |
247 | } |
247 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
248 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
248 | { |
249 | { |
249 | LED_RED_ON; |
250 | LED_RED_ON; |
250 | sprintf(ErrorMSG,"ERR:Flying range!"); |
251 | sprintf(ErrorMSG,"ERR:Flying range!"); |
251 | newErrorCode = 28; |
252 | newErrorCode = 28; |
252 | } |
253 | } |
253 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
254 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
254 | { |
255 | { |
255 | LED_RED_ON; |
256 | LED_RED_ON; |
256 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
257 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
257 | newErrorCode = 16; |
258 | newErrorCode = 16; |
258 | } |
259 | } |
259 | else if(FC.Error[1] & FC_ERROR1_I2C) |
260 | else if(FC.Error[1] & FC_ERROR1_I2C) |
260 | { |
261 | { |
261 | LED_RED_ON; |
262 | LED_RED_ON; |
262 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
263 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
263 | newErrorCode = 17; |
264 | newErrorCode = 17; |
264 | } |
265 | } |
265 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
266 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
266 | { |
267 | { |
267 | LED_RED_ON; |
268 | LED_RED_ON; |
268 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
269 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
269 | newErrorCode = 18; |
270 | newErrorCode = 18; |
270 | } |
271 | } |
271 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
272 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
272 | { |
273 | { |
273 | LED_RED_ON; |
274 | LED_RED_ON; |
274 | sprintf(ErrorMSG,"Mixer Error"); |
275 | sprintf(ErrorMSG,"Mixer Error"); |
275 | newErrorCode = 19; |
276 | newErrorCode = 19; |
276 | } |
277 | } |
277 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
278 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
278 | { |
279 | { |
279 | LED_RED_ON; |
280 | LED_RED_ON; |
280 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
281 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
281 | // else |
282 | // else |
282 | { |
283 | { |
283 | sprintf(ErrorMSG,"no GPS communication"); |
284 | sprintf(ErrorMSG,"no GPS communication"); |
284 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
285 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
285 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
286 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
286 | newErrorCode = 5; |
287 | newErrorCode = 5; |
287 | } |
288 | } |
288 | StopNavigation = 1; |
289 | StopNavigation = 1; |
289 | // UBX_Timeout = SetDelay(500); |
290 | // UBX_Timeout = SetDelay(500); |
290 | } |
291 | } |
291 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
292 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
292 | { |
293 | { |
293 | LED_RED_ON; |
294 | LED_RED_ON; |
294 | sprintf(ErrorMSG,"compass not calibr."); |
295 | sprintf(ErrorMSG,"compass not calibr."); |
295 | newErrorCode = 31; |
296 | newErrorCode = 31; |
296 | StopNavigation = 1; |
297 | StopNavigation = 1; |
297 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
298 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
298 | } |
299 | } |
299 | else if(Compass_Heading < 0) |
300 | else if(Compass_Heading < 0) |
300 | { |
301 | { |
301 | LED_RED_ON; |
302 | LED_RED_ON; |
302 | sprintf(ErrorMSG,"bad compass value "); |
303 | sprintf(ErrorMSG,"bad compass value "); |
303 | newErrorCode = 6; |
304 | newErrorCode = 6; |
304 | StopNavigation = 1; |
305 | StopNavigation = 1; |
305 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
306 | } |
307 | } |
307 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
308 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
308 | { |
309 | { |
309 | LED_RED_ON; |
310 | LED_RED_ON; |
310 | sprintf(ErrorMSG,"FC spi rx error "); |
311 | sprintf(ErrorMSG,"FC spi rx error "); |
311 | newErrorCode = 8; |
312 | newErrorCode = 8; |
312 | StopNavigation = 1; |
313 | StopNavigation = 1; |
313 | } |
314 | } |
314 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
315 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
315 | { |
316 | { |
316 | LED_RED_ON; |
317 | LED_RED_ON; |
317 | sprintf(ErrorMSG,"FC: Carefree Error"); |
318 | sprintf(ErrorMSG,"FC: Carefree Error"); |
318 | newErrorCode = 20; |
319 | newErrorCode = 20; |
319 | } |
320 | } |
320 | else if(FC.Error[1] & FC_ERROR1_PPM) |
321 | else if(FC.Error[1] & FC_ERROR1_PPM) |
321 | { |
322 | { |
322 | LED_RED_ON; |
323 | LED_RED_ON; |
323 | sprintf(ErrorMSG,"RC Signal lost "); |
324 | sprintf(ErrorMSG,"RC Signal lost "); |
324 | newErrorCode = 7; |
325 | newErrorCode = 7; |
325 | } |
326 | } |
326 | else if(ErrorGpsFixLost) |
327 | else if(ErrorGpsFixLost) |
327 | { |
328 | { |
328 | LED_RED_ON; |
329 | LED_RED_ON; |
329 | sprintf(ErrorMSG,"GPS Fix lost "); |
330 | sprintf(ErrorMSG,"GPS Fix lost "); |
330 | newErrorCode = 21; |
331 | newErrorCode = 21; |
331 | } |
332 | } |
332 | else if(ErrorDisturbedEarthMagnetField) |
333 | else if(ErrorDisturbedEarthMagnetField) |
333 | { |
334 | { |
334 | LED_RED_ON; |
335 | LED_RED_ON; |
335 | sprintf(ErrorMSG,"Magnet error "); |
336 | sprintf(ErrorMSG,"Magnet error "); |
336 | newErrorCode = 22; |
337 | newErrorCode = 22; |
337 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
338 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
338 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
339 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
339 | } |
340 | } |
340 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
341 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
341 | { |
342 | { |
342 | LED_RED_ON; |
343 | LED_RED_ON; |
343 | sprintf(ErrorMSG,"ERR:Motor restart "); |
344 | sprintf(ErrorMSG,"ERR:Motor restart "); |
344 | newErrorCode = 23; |
345 | newErrorCode = 23; |
345 | DebugOut.StatusRed |= AMPEL_BL; |
346 | DebugOut.StatusRed |= AMPEL_BL; |
346 | } |
347 | } |
347 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
348 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
348 | { |
349 | { |
349 | u16 i; |
350 | u16 i; |
350 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
351 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
351 | LED_RED_ON; |
352 | LED_RED_ON; |
352 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
353 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
353 | newErrorCode = 32; |
354 | newErrorCode = 32; |
354 | DebugOut.StatusRed |= AMPEL_BL; |
355 | DebugOut.StatusRed |= AMPEL_BL; |
355 | } |
356 | } |
356 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
357 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
357 | { |
358 | { |
358 | LED_RED_ON; |
359 | LED_RED_ON; |
359 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
360 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
360 | newErrorCode = 24; |
361 | newErrorCode = 24; |
361 | DebugOut.StatusRed |= AMPEL_BL; |
362 | DebugOut.StatusRed |= AMPEL_BL; |
362 | } |
363 | } |
363 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
364 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
364 | { |
365 | { |
365 | LED_RED_ON; |
366 | LED_RED_ON; |
366 | sprintf(ErrorMSG,"ERR:GPS range "); |
367 | sprintf(ErrorMSG,"ERR:GPS range "); |
367 | newErrorCode = 25; |
368 | newErrorCode = 25; |
368 | DebugOut.StatusRed |= AMPEL_NC; |
369 | DebugOut.StatusRed |= AMPEL_NC; |
369 | } |
370 | } |
370 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
371 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
371 | { |
372 | { |
372 | LED_RED_ON; |
373 | LED_RED_ON; |
373 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
374 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
374 | newErrorCode = 26; |
375 | newErrorCode = 26; |
375 | DebugOut.StatusRed |= AMPEL_NC; |
376 | DebugOut.StatusRed |= AMPEL_NC; |
376 | } |
377 | } |
377 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
378 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
378 | { |
379 | { |
379 | LED_RED_ON; |
380 | LED_RED_ON; |
380 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
381 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
381 | newErrorCode = 27; |
382 | newErrorCode = 27; |
382 | DebugOut.StatusRed |= AMPEL_NC; |
383 | DebugOut.StatusRed |= AMPEL_NC; |
383 | SD_LoggingError = 0; |
384 | SD_LoggingError = 0; |
384 | } |
385 | } |
385 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
386 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
386 | { |
387 | { |
387 | LED_RED_ON; |
388 | LED_RED_ON; |
388 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
389 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
389 | newErrorCode = 29; |
390 | newErrorCode = 29; |
390 | DebugOut.StatusRed |= AMPEL_NC; |
391 | DebugOut.StatusRed |= AMPEL_NC; |
391 | } |
392 | } |
392 | 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))) |
393 | 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))) |
393 | { |
394 | { |
394 | LED_RED_ON; |
395 | LED_RED_ON; |
395 | sprintf(ErrorMSG,"No GPS Fix "); |
396 | sprintf(ErrorMSG,"No GPS Fix "); |
396 | newErrorCode = 30; |
397 | newErrorCode = 30; |
397 | } |
398 | } |
398 | else // no error occured |
399 | else // no error occured |
399 | { |
400 | { |
400 | StopNavigation = 0; |
401 | StopNavigation = 0; |
401 | LED_RED_OFF; |
402 | LED_RED_OFF; |
402 | if(no_error_delay) { no_error_delay--; } |
403 | if(no_error_delay) { no_error_delay--; } |
403 | else |
404 | else |
404 | { |
405 | { |
405 | sprintf(ErrorMSG,"No Error "); |
406 | sprintf(ErrorMSG,"No Error "); |
406 | ErrorCode = 0; |
407 | ErrorCode = 0; |
407 | } |
408 | } |
408 | } |
409 | } |
409 | 410 | ||
410 | if(newErrorCode) |
411 | if(newErrorCode) |
411 | { |
412 | { |
412 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
413 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
413 | ErrorCode = newErrorCode; |
414 | ErrorCode = newErrorCode; |
414 | } |
415 | } |
415 | FC.Error[0] = 0; |
416 | FC.Error[0] = 0; |
416 | FC.Error[1] = 0; |
417 | FC.Error[1] = 0; |
417 | FC.Error[2] = 0; |
418 | FC.Error[2] = 0; |
418 | FC.Error[3] = 0; |
419 | FC.Error[3] = 0; |
419 | FC.Error[4] = 0; |
420 | FC.Error[4] = 0; |
420 | ErrorGpsFixLost = 0; |
421 | ErrorGpsFixLost = 0; |
421 | } |
422 | } |
422 | 423 | ||
423 | 424 | ||
424 | 425 | ||
425 | u8 Polling(void) |
426 | u8 Polling(void) |
426 | { |
427 | { |
427 | static u8 running = 0, oldFcFlags = 0, count5sec; |
428 | static u8 running = 0, oldFcFlags = 0, count5sec; |
428 | static u32 old_ms = 0; |
429 | static u32 old_ms = 0; |
429 | 430 | ||
430 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
431 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
431 | running = 1; |
432 | running = 1; |
432 | 433 | ||
433 | if(CountMilliseconds != old_ms) // 1 ms |
434 | if(CountMilliseconds != old_ms) // 1 ms |
434 | { |
435 | { |
435 | old_ms = CountMilliseconds; |
436 | old_ms = CountMilliseconds; |
436 | Compass_Update(); // update compass communication |
437 | Compass_Update(); // update compass communication |
437 | Analog_Update(); // get new ADC values |
438 | Analog_Update(); // get new ADC values |
438 | CalcHeadFree(); |
439 | CalcHeadFree(); |
439 | } |
440 | } |
440 | 441 | ||
441 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
442 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
442 | UART0_ProcessRxData(); // GPS process request |
443 | UART0_ProcessRxData(); // GPS process request |
443 | UART0_TransmitTxData(); // GPS send answer |
444 | UART0_TransmitTxData(); // GPS send answer |
444 | UART1_ProcessRxData(); // PC process request |
445 | UART1_ProcessRxData(); // PC process request |
445 | UART1_TransmitTxData(); // PC send answer |
446 | UART1_TransmitTxData(); // PC send answer |
446 | UART2_TransmitTxData(); // FC send answer |
447 | UART2_TransmitTxData(); // FC send answer |
447 | 448 | ||
448 | // ---------------- Error Check Timing ---------------------------- |
449 | // ---------------- Error Check Timing ---------------------------- |
449 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
450 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
450 | { |
451 | { |
451 | if(CheckDelay(TimerCheckError)) |
452 | if(CheckDelay(TimerCheckError)) |
452 | { |
453 | { |
453 | TimerCheckError = SetDelay(1000); |
454 | TimerCheckError = SetDelay(1000); |
454 | if(CompassValueErrorCount) CompassValueErrorCount--; |
455 | if(CompassValueErrorCount) CompassValueErrorCount--; |
455 | if(++count5sec == 5) |
456 | if(++count5sec == 5) |
456 | { |
457 | { |
457 | count5sec = 0; |
458 | count5sec = 0; |
458 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
459 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
459 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
460 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
460 | CountGpsProcessedIn5Sec = 0; |
461 | CountGpsProcessedIn5Sec = 0; |
461 | CountNewGpsDataIn5Sec = 0; |
462 | CountNewGpsDataIn5Sec = 0; |
462 | } |
463 | } |
463 | } |
464 | } |
464 | oldFcFlags = FC.StatusFlags; |
465 | oldFcFlags = FC.StatusFlags; |
465 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
466 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
466 | 467 | ||
467 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
468 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
468 | 469 | ||
469 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
470 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
470 | if(SerialLinkOkay) SerialLinkOkay--; |
471 | if(SerialLinkOkay) SerialLinkOkay--; |
471 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
472 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
472 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
473 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
473 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
474 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
474 | } |
475 | } |
475 | running = 0; |
476 | running = 0; |
476 | if(!PollingTimeout) DebugOut.Analog[17]++; |
477 | if(!PollingTimeout) DebugOut.Analog[17]++; |
477 | return(0); |
478 | return(0); |
478 | } |
479 | } |
479 | 480 | ||
480 | // the handler will be cyclic called by the timer 1 ISR |
481 | // the handler will be cyclic called by the timer 1 ISR |
481 | // used is for critical timing parts that normaly would handled |
482 | // used is for critical timing parts that normaly would handled |
482 | // within the main loop that could block longer at logging activities |
483 | // within the main loop that could block longer at logging activities |
483 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
484 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
484 | { |
485 | { |
485 | IENABLE; |
486 | IENABLE; |
486 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
487 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
487 | 488 | ||
488 | if(PollingTimeout == 0) |
489 | if(PollingTimeout == 0) |
489 | { |
490 | { |
490 | PollingTimeout = 5; |
491 | PollingTimeout = 5; |
491 | //if(Polling() == 0) DebugOut.Analog[16]++; |
492 | //if(Polling() == 0) DebugOut.Analog[16]++; |
492 | Polling(); |
493 | Polling(); |
493 | } |
494 | } |
494 | 495 | ||
495 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
496 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
496 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
497 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
497 | IDISABLE; |
498 | IDISABLE; |
498 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
499 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
499 | } |
500 | } |
500 | 501 | ||
501 | //---------------------------------------------------------------------------------------------------- |
502 | //---------------------------------------------------------------------------------------------------- |
502 | int main(void) |
503 | int main(void) |
503 | { |
504 | { |
504 | 505 | ||
505 | // static u32 ftimer =0; |
506 | // static u32 ftimer =0; |
506 | // static u8 fstate = 0; |
507 | // static u8 fstate = 0; |
507 | // static File_t* f = NULL; |
508 | // static File_t* f = NULL; |
508 | 509 | ||
509 | 510 | ||
510 | /* Configure the system clocks */ |
511 | /* Configure the system clocks */ |
511 | SCU_Config(); |
512 | SCU_Config(); |
512 | /* init VIC (Vectored Interrupt Controller) */ |
513 | /* init VIC (Vectored Interrupt Controller) */ |
513 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
514 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
514 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
515 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
515 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
516 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
516 | VIC_InitDefaultVectors(); |
517 | VIC_InitDefaultVectors(); |
517 | 518 | ||
518 | // initialize timer 1 for System Clock and delay rountines |
519 | // initialize timer 1 for System Clock and delay rountines |
519 | TIMER1_Init(); |
520 | TIMER1_Init(); |
520 | // initialize the LEDs (needs Timer 1) |
521 | // initialize the LEDs (needs Timer 1) |
521 | Led_Init(); |
522 | Led_Init(); |
522 | // initialize the debug UART1 |
523 | // initialize the debug UART1 |
523 | UART1_Init(); |
524 | UART1_Init(); |
524 | UART1_PutString("\r\n---------------------------------------------"); |
525 | UART1_PutString("\r\n---------------------------------------------"); |
525 | // initialize timer 2 for servo outputs |
526 | // initialize timer 2 for servo outputs |
526 | //TIMER2_Init(); |
527 | //TIMER2_Init(); |
527 | // initialize UART2 to FLIGHTCTRL |
528 | // initialize UART2 to FLIGHTCTRL |
528 | UART2_Init(); |
529 | UART2_Init(); |
529 | // initialize UART0 (to MKGPS or MK3MAG) |
530 | // initialize UART0 (to MKGPS or MK3MAG) |
530 | UART0_Init(); |
531 | UART0_Init(); |
531 | // initialize adc |
532 | // initialize adc |
532 | Analog_Init(); |
533 | Analog_Init(); |
533 | // initialize SPI0 to FC |
534 | // initialize SPI0 to FC |
534 | SPI0_Init(); |
535 | SPI0_Init(); |
535 | // initialize i2c busses (needs Timer 1) |
536 | // initialize i2c busses (needs Timer 1) |
536 | I2CBus_Init(I2C0); |
537 | I2CBus_Init(I2C0); |
537 | I2CBus_Init(I2C1); |
538 | I2CBus_Init(I2C1); |
538 | // initialize fat16 partition on sd card (needs Timer 1) |
539 | // initialize fat16 partition on sd card (needs Timer 1) |
539 | Fat16_Init(); |
540 | Fat16_Init(); |
540 | // initialize NC params |
541 | // initialize NC params |
541 | NCParams_Init(); |
542 | NCParams_Init(); |
542 | // initialize the settings |
543 | // initialize the settings |
543 | Settings_Init(); |
544 | Settings_Init(); |
544 | // initialize logging (needs settings) |
545 | // initialize logging (needs settings) |
545 | Logging_Init(); |
546 | Logging_Init(); |
546 | 547 | ||
547 | LED_GRN_ON; |
548 | LED_GRN_ON; |
548 | TimerCheckError = SetDelay(3000); |
549 | TimerCheckError = SetDelay(3000); |
549 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
550 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
550 | UART1_PutString("\n\r Version information:"); |
551 | UART1_PutString("\n\r Version information:"); |
551 | 552 | ||
552 | GetNaviCtrlVersion(); |
553 | GetNaviCtrlVersion(); |
553 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
554 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
554 | DebugOut.StatusRed = 0x00; |
555 | DebugOut.StatusRed = 0x00; |
555 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
556 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
556 | 557 | ||
557 | Compass_Init(); |
558 | Compass_Init(); |
558 | 559 | ||
559 | GPS_Init(); |
560 | GPS_Init(); |
560 | 561 | ||
561 | #ifdef FOLLOW_ME |
562 | #ifdef FOLLOW_ME |
562 | TransmitAlsoToFC = 1; |
563 | TransmitAlsoToFC = 1; |
563 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
564 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
564 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
565 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
565 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
566 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
566 | TransmitAlsoToFC = 0; |
567 | TransmitAlsoToFC = 0; |
567 | #else |
568 | #else |
568 | SPI0_GetFlightCtrlVersion(); |
569 | SPI0_GetFlightCtrlVersion(); |
569 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
570 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
570 | { |
571 | { |
571 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
572 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
572 | LED_RED_ON; |
573 | LED_RED_ON; |
573 | } |
574 | } |
574 | #endif |
575 | #endif |
575 | // ---------- Prepare the isr driven |
576 | // ---------- Prepare the isr driven |
576 | // set to absolute lowest priority |
577 | // set to absolute lowest priority |
577 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
578 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
578 | // enable interrupts |
579 | // enable interrupts |
579 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
580 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
580 | 581 | ||
581 | Debug_OK("START"); |
582 | Debug_OK("START"); |
582 | UART1_PutString("\r\n"); |
583 | UART1_PutString("\r\n"); |
583 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
584 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
584 | LED_GRN_ON; |
585 | LED_GRN_ON; |
585 | LED_RED_OFF; |
586 | LED_RED_OFF; |
586 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
587 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
587 | UART1_PutString("\r\n"); |
588 | UART1_PutString("\r\n"); |
588 | CompassValueErrorCount = 0; |
589 | CompassValueErrorCount = 0; |
589 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
590 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
590 | for (;;) // the endless main loop |
591 | for (;;) // the endless main loop |
591 | { |
592 | { |
592 | PollingTimeout = 5; |
593 | PollingTimeout = 5; |
593 | Polling(); |
594 | Polling(); |
594 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
595 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
595 | if(FromFC_LoadWP_List) |
596 | if(FromFC_LoadWP_List) |
596 | { |
597 | { |
597 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
598 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
598 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
599 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
599 | { |
600 | { |
600 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
601 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
601 | { |
602 | { |
602 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
603 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
603 | { |
604 | { |
604 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
605 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
605 | { // take actual position |
606 | { // take actual position |
606 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
607 | if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
607 | } |
608 | } |
608 | else |
609 | else |
609 | { // take last target position |
610 | { // take last target position |
610 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
611 | if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
611 | } |
612 | } |
612 | } |
613 | } |
613 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
614 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
614 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
615 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
615 | BeepTime = 150; |
616 | BeepTime = 150; |
616 | } |
617 | } |
617 | FromFC_LoadWP_List = 0; |
- | |
618 | } |
618 | } |
- | 619 | FromFC_LoadWP_List = 0; |
|
619 | } |
620 | } |
620 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
621 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
621 | 622 | ||
622 | // ---------------- Logging --------------------------------------- |
623 | // ---------------- Logging --------------------------------------- |
623 | if(SD_WatchDog) |
624 | if(SD_WatchDog) |
624 | { |
625 | { |
625 | SD_WatchDog = 30000; |
626 | SD_WatchDog = 30000; |
626 | 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 |
627 | 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 |
627 | else |
628 | else |
628 | { |
629 | { |
629 | ToFC_MaxWpListIndex = 0; |
630 | ToFC_MaxWpListIndex = 0; |
630 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
631 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
631 | } |
632 | } |
632 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
633 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
633 | } |
634 | } |
634 | 635 | ||
635 | /* |
636 | /* |
636 | if(CheckDelay(ftimer)) |
637 | if(CheckDelay(ftimer)) |
637 | { |
638 | { |
638 | 639 | ||
639 | static s8 filename[35]; |
640 | static s8 filename[35]; |
640 | static u8 i = 0; |
641 | static u8 i = 0; |
641 | s8 dbgmsg[40]; |
642 | s8 dbgmsg[40]; |
642 | 643 | ||
643 | 644 | ||
644 | 645 | ||
645 | ftimer = SetDelay(100); |
646 | ftimer = SetDelay(100); |
646 | if(FC.Poti[3]>100 && fstate == 0) |
647 | if(FC.Poti[3]>100 && fstate == 0) |
647 | { |
648 | { |
648 | fstate = 1; |
649 | fstate = 1; |
649 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
650 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
650 | } |
651 | } |
651 | else if(FC.Poti[3]<100 && fstate == 2) |
652 | else if(FC.Poti[3]<100 && fstate == 2) |
652 | { |
653 | { |
653 | fstate = 3; |
654 | fstate = 3; |
654 | } |
655 | } |
655 | 656 | ||
656 | switch(fstate) |
657 | switch(fstate) |
657 | { |
658 | { |
658 | case 1: |
659 | case 1: |
659 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
660 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
660 | Debug(dbgmsg); |
661 | Debug(dbgmsg); |
661 | f = fopen_(filename, 'a'); |
662 | f = fopen_(filename, 'a'); |
662 | if(f== NULL) Fat16_Init(); |
663 | if(f== NULL) Fat16_Init(); |
663 | fstate = 2; |
664 | fstate = 2; |
664 | break; |
665 | break; |
665 | 666 | ||
666 | case 2: |
667 | case 2: |
667 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
668 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
668 | break; |
669 | break; |
669 | 670 | ||
670 | case 3: |
671 | case 3: |
671 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
672 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
672 | Debug(dbgmsg); |
673 | Debug(dbgmsg); |
673 | fclose_(f); |
674 | fclose_(f); |
674 | fstate = 0; |
675 | fstate = 0; |
675 | break; |
676 | break; |
676 | 677 | ||
677 | default: |
678 | default: |
678 | break; |
679 | break; |
679 | } |
680 | } |
680 | } |
681 | } |
681 | */ |
682 | */ |
682 | } |
683 | } |
683 | } |
684 | } |
684 | //DebugOut.Analog[16] |
685 | //DebugOut.Analog[16] |
685 | 686 |