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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
| 32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 35 | // + this list of conditions and the following disclaimer. |
35 | // + this list of conditions and the following disclaimer. |
| 36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 37 | // + from this software without specific prior written permission. |
37 | // + from this software without specific prior written permission. |
| 38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 39 | // + for non-commercial use (directly or indirectly) |
39 | // + for non-commercial use (directly or indirectly) |
| 40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 41 | // + with our written permission |
41 | // + with our written permission |
| 42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 43 | // + clearly linked as origin |
43 | // + clearly linked as origin |
| 44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| 45 | // |
45 | // |
| 46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 56 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
| 57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 58 | //#define MCLK96MHZ |
58 | //#define MCLK96MHZ |
| 59 | const unsigned long _Main_Crystal = 25000; |
59 | const unsigned long _Main_Crystal = 25000; |
| 60 | #include <stdio.h> |
60 | #include <stdio.h> |
| 61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
| 62 | #include "led.h" |
62 | #include "led.h" |
| 63 | #include "uart0.h" |
63 | #include "uart0.h" |
| 64 | #include "uart1.h" |
64 | #include "uart1.h" |
| 65 | #include "uart2.h" |
65 | #include "uart2.h" |
| 66 | #include "GPS.h" |
66 | #include "GPS.h" |
| 67 | #include "i2c.h" |
67 | #include "i2c.h" |
| 68 | #include "timer1.h" |
68 | #include "timer1.h" |
| 69 | #include "timer2.h" |
69 | #include "timer2.h" |
| 70 | #include "analog.h" |
70 | #include "analog.h" |
| 71 | #include "spi_slave.h" |
71 | #include "spi_slave.h" |
| 72 | #include "fat16.h" |
72 | #include "fat16.h" |
| 73 | #include "usb.h" |
73 | #include "usb.h" |
| 74 | #include "sdc.h" |
74 | #include "sdc.h" |
| 75 | #include "logging.h" |
75 | #include "logging.h" |
| 76 | #include "settings.h" |
76 | #include "settings.h" |
| 77 | #include "main.h" |
77 | #include "main.h" |
| 78 | - | ||
| 79 | u32 TimerCompassUpdate; |
78 | |
| 80 | u32 TimerCheckError; |
79 | u32 TimerCheckError; |
| 81 | u32 ErrorCode = 0; |
80 | u32 ErrorCode = 0; |
| 82 | u16 BeepTime; |
81 | u16 BeepTime; |
| 83 | u8 NCFlags = 0; |
82 | u8 NCFlags = 0; |
| 84 | s32 GeoMag = 0; |
83 | s32 GeoMag = 0; |
| 85 | 84 | ||
| 86 | u8 ClearMKFlags = 0; |
85 | u8 ClearMKFlags = 0; |
| 87 | u8 StopNavigation = 0; |
86 | u8 StopNavigation = 0; |
| 88 | Param_t Parameter; |
87 | Param_t Parameter; |
| 89 | volatile FC_t FC; |
88 | volatile FC_t FC; |
| 90 | 89 | ||
| 91 | s8 ErrorMSG[25]; |
90 | s8 ErrorMSG[25]; |
| 92 | 91 | ||
| 93 | //---------------------------------------------------------------------------------------------------- |
92 | //---------------------------------------------------------------------------------------------------- |
| 94 | void SCU_Config(void) |
93 | void SCU_Config(void) |
| 95 | { |
94 | { |
| 96 | /* configure PLL and set it as master clock source */ |
95 | /* configure PLL and set it as master clock source */ |
| 97 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
96 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
| 98 | SCU_PLLCmd(DISABLE); // now disable the PLL |
97 | SCU_PLLCmd(DISABLE); // now disable the PLL |
| 99 | #ifdef MCLK96MHZ |
98 | #ifdef MCLK96MHZ |
| 100 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
99 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
| 101 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
100 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
| 102 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
101 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| 103 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
102 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| 104 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
103 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
| 105 | #else |
104 | #else |
| 106 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
105 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
| 107 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
106 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
| 108 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
107 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| 109 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
108 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| 110 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
109 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
| 111 | #endif |
110 | #endif |
| 112 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
111 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
| 113 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
112 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
| 114 | } |
113 | } |
| 115 | 114 | ||
| 116 | //---------------------------------------------------------------------------------------------------- |
115 | //---------------------------------------------------------------------------------------------------- |
| 117 | void GetNaviCtrlVersion(void) |
116 | void GetNaviCtrlVersion(void) |
| 118 | { |
117 | { |
| 119 | u8 msg[25]; |
118 | u8 msg[25]; |
| 120 | 119 | ||
| 121 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
120 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 122 | UART1_PutString(msg); |
121 | UART1_PutString(msg); |
| 123 | } |
122 | } |
| 124 | 123 | ||
| 125 | //---------------------------------------------------------------------------------------------------- |
124 | //---------------------------------------------------------------------------------------------------- |
| 126 | void CheckErrors(void) |
125 | void CheckErrors(void) |
| 127 | { |
126 | { |
| 128 | if(!CheckSPIOkay) |
127 | if(CheckDelay(SPI0_Timeout)) |
| 129 | { |
128 | { |
| 130 | LED_RED_ON; |
129 | LED_RED_ON; |
| 131 | sprintf(ErrorMSG,"no FC communication "); |
130 | sprintf(ErrorMSG,"no FC communication "); |
| 132 | ErrorCode = 3; |
131 | ErrorCode = 3; |
| 133 | StopNavigation = 1; |
132 | StopNavigation = 1; |
| 134 | } |
133 | } |
| 135 | else if(!CheckI2COkay) |
134 | else if(CheckDelay(I2C1_Timeout)) |
| 136 | { |
135 | { |
| 137 | LED_RED_ON; |
136 | LED_RED_ON; |
| 138 | sprintf(ErrorMSG,"no MK3Mag communication "); |
137 | sprintf(ErrorMSG,"no MK3Mag communication "); |
| 139 | ErrorCode = 4; |
138 | ErrorCode = 4; |
| 140 | StopNavigation = 1; |
139 | StopNavigation = 1; |
| 141 | } |
140 | } |
| 142 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
141 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 143 | { |
142 | { |
| 144 | LED_RED_ON; |
143 | LED_RED_ON; |
| 145 | sprintf(ErrorMSG,"FC not compatible "); |
144 | sprintf(ErrorMSG,"FC not compatible "); |
| 146 | ErrorCode = 1; |
145 | ErrorCode = 1; |
| 147 | StopNavigation = 1; |
146 | StopNavigation = 1; |
| 148 | } |
147 | } |
| 149 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
148 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| 150 | { |
149 | { |
| 151 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
150 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
| 152 | LED_RED_ON; |
151 | LED_RED_ON; |
| 153 | ErrorCode = 2; |
152 | ErrorCode = 2; |
| 154 | StopNavigation = 1; |
153 | StopNavigation = 1; |
| 155 | } |
154 | } |
| 156 | else if(!CheckGPSOkay) |
155 | else if(CheckDelay(UBX_Timeout)) |
| 157 | { |
156 | { |
| 158 | LED_RED_ON; |
157 | LED_RED_ON; |
| 159 | sprintf(ErrorMSG,"no GPS communication "); |
158 | sprintf(ErrorMSG,"no GPS communication "); |
| 160 | ErrorCode = 5; |
159 | ErrorCode = 5; |
| 161 | StopNavigation = 1; |
160 | StopNavigation = 1; |
| 162 | } |
161 | } |
| 163 | else if(I2C_Heading.Heading < 0) |
162 | else if(I2C_Heading.Heading < 0) |
| 164 | { |
163 | { |
| 165 | LED_RED_ON; |
164 | LED_RED_ON; |
| 166 | sprintf(ErrorMSG,"bad compass value "); |
165 | sprintf(ErrorMSG,"bad compass value "); |
| 167 | ErrorCode = 6; |
166 | ErrorCode = 6; |
| 168 | StopNavigation = 1; |
167 | StopNavigation = 1; |
| 169 | } |
168 | } |
| 170 | else if(FC.RC_Quality < 100) |
169 | else if(FC.RC_Quality < 100) |
| 171 | { |
170 | { |
| 172 | LED_RED_ON; |
171 | LED_RED_ON; |
| 173 | sprintf(ErrorMSG,"RC Signal lost "); |
172 | sprintf(ErrorMSG,"RC Signal lost "); |
| 174 | ErrorCode = 7; |
173 | ErrorCode = 7; |
| 175 | } |
174 | } |
| 176 | else // no error occured |
175 | else // no error occured |
| 177 | { |
176 | { |
| 178 | sprintf(ErrorMSG,"No Error "); |
177 | sprintf(ErrorMSG,"No Error "); |
| 179 | ErrorCode = 0; |
178 | ErrorCode = 0; |
| 180 | StopNavigation = 0; |
179 | StopNavigation = 0; |
| 181 | LED_RED_OFF; |
180 | LED_RED_OFF; |
| 182 | } |
181 | } |
| 183 | CheckSPIOkay = 0; |
- | |
| 184 | CheckGPSOkay = 0; |
- | |
| 185 | CheckI2COkay = 0; |
- | |
| 186 | } |
182 | } |
| 187 | 183 | ||
| 188 | 184 | ||
| 189 | 185 | ||
| 190 | //---------------------------------------------------------------------------------------------------- |
186 | //---------------------------------------------------------------------------------------------------- |
| 191 | int main(void) |
187 | int main(void) |
| 192 | { |
188 | { |
| 193 | /* Configure the system clocks */ |
189 | /* Configure the system clocks */ |
| 194 | SCU_Config(); |
190 | SCU_Config(); |
| 195 | /* init VIC (Vectored Interrupt Controller) */ |
191 | /* init VIC (Vectored Interrupt Controller) */ |
| 196 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
192 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
| 197 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
193 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
| 198 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
194 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
| 199 | // initialize the interrupt handler |
195 | // initialize the interrupt handler |
| 200 | Interrupt_Init(); |
196 | Interrupt_Init(); |
| 201 | // initialize timer 1 for System Clock and delay rountines |
197 | // initialize timer 1 for System Clock and delay rountines |
| 202 | TIMER1_Init(); |
198 | TIMER1_Init(); |
| 203 | // initialize the LEDs (needs Timer 1) |
199 | // initialize the LEDs (needs Timer 1) |
| 204 | Led_Init(); |
200 | Led_Init(); |
| 205 | // initialize the debug UART1 |
201 | // initialize the debug UART1 |
| 206 | UART1_Init(); |
202 | UART1_Init(); |
| 207 | UART1_PutString("\r\n---------------------------------------------"); |
203 | UART1_PutString("\r\n---------------------------------------------"); |
| 208 | // initialize timer 2 for servo outputs |
204 | // initialize timer 2 for servo outputs |
| 209 | TIMER2_Init(); |
205 | TIMER2_Init(); |
| 210 | // initialize UART2 to FLIGHTCTRL |
206 | // initialize UART2 to FLIGHTCTRL |
| 211 | UART2_Init(); |
207 | UART2_Init(); |
| 212 | // initialize UART0 (to MKGPS or MK3MAG) |
208 | // initialize UART0 (to MKGPS or MK3MAG) |
| 213 | UART0_Init(); |
209 | UART0_Init(); |
| 214 | // initialize adc |
210 | // initialize adc |
| 215 | Analog_Init(); |
211 | Analog_Init(); |
| 216 | // initialize usb |
212 | // initialize usb |
| 217 | //USB_ConfigInit(); |
213 | //USB_ConfigInit(); |
| 218 | // initialize SPI0 to FC |
214 | // initialize SPI0 to FC |
| 219 | SPI0_Init(); |
215 | SPI0_Init(); |
| 220 | // initialize i2c bus to MK3MAG (needs Timer 1) |
216 | // initialize i2c bus to MK3MAG (needs Timer 1) |
| 221 | I2C1_Init(); |
217 | I2C1_Init(); |
| 222 | // initialize the gps position controller (needs Timer 1) |
218 | // initialize the gps position controller (needs Timer 1) |
| 223 | GPS_Init(); |
219 | GPS_Init(); |
| 224 | // initialize fat16 partition on sd card (needs Timer 1) |
220 | // initialize fat16 partition on sd card (needs Timer 1) |
| 225 | Fat16_Init(); |
221 | Fat16_Init(); |
| 226 | // initialize the settings |
222 | // initialize the settings |
| 227 | Settings_Init(); |
223 | Settings_Init(); |
| 228 | // initialize logging (needs settings) |
224 | // initialize logging (needs settings) |
| 229 | Logging_Init(); |
225 | Logging_Init(); |
| 230 | - | ||
| 231 | TimerCompassUpdate = SetDelay(5); |
226 | |
| 232 | TimerCheckError = SetDelay(3000); |
227 | TimerCheckError = SetDelay(3000); |
| 233 | UART1_PutString("\r\n---------------------------------------------"); |
228 | UART1_PutString("\r\n---------------------------------------------"); |
| 234 | UART1_PutString("\n\r Version information:"); |
229 | UART1_PutString("\n\r Version information:"); |
| 235 | 230 | ||
| 236 | GetNaviCtrlVersion(); |
231 | GetNaviCtrlVersion(); |
| 237 | 232 | ||
| 238 | SPI0_GetFlightCtrlVersion(); |
233 | SPI0_GetFlightCtrlVersion(); |
| 239 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
234 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 240 | { |
235 | { |
| 241 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
- | |
| 242 | //UART1_PutString(ErrorMSG); |
- | |
| 243 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
236 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
| 244 | LED_RED_ON; |
237 | LED_RED_ON; |
| 245 | } |
238 | } |
| 246 | 239 | ||
| 247 | I2C1_GetMK3MagVersion(); |
240 | I2C1_GetMK3MagVersion(); |
| 248 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
241 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| 249 | { |
242 | { |
| 250 | UART1_PutString("\n\r MK3Mag not compatible"); |
243 | UART1_PutString("\n\r MK3Mag not compatible"); |
| 251 | LED_RED_ON; |
244 | LED_RED_ON; |
| 252 | } |
245 | } |
| 253 | 246 | ||
| 254 | UART0_GetMKOSDVersion(); |
247 | UART0_GetMKOSDVersion(); |
| 255 | 248 | ||
| 256 | UART1_PutString("\r\n---------------------------------------------\r\n\r\n"); |
249 | UART1_PutString("\r\n---------------------------------------------\r\n\r\n"); |
| 257 | 250 | ||
| 258 | for (;;) |
251 | for (;;) |
| 259 | { |
252 | { |
| 260 | UART1_ProcessRxData(); // process request |
253 | UART1_ProcessRxData(); // process request |
| 261 | UART1_TransmitTxData(); // send answer |
254 | UART1_TransmitTxData(); // send answer |
| 262 | 255 | ||
| 263 | UART0_ProcessRxData(); // process request |
256 | UART0_ProcessRxData(); // process request |
| 264 | UART0_TransmitTxData(); // send answer |
257 | UART0_TransmitTxData(); // send answer |
| 265 | 258 | ||
| 266 | USB_ProcessRxData(); // process request |
259 | USB_ProcessRxData(); // process request |
| 267 | USB_TransmitTxData(); // send answer |
260 | USB_TransmitTxData(); // send answer |
| 268 | 261 | ||
| 269 | SPI0_UpdateBuffer(); |
- | |
| 270 | // ------------------------- I2C Timing -------------------------------- |
- | |
| 271 | if(I2C_State != I2C_OFF) |
262 | SPI0_UpdateBuffer(); // handle new SPI Data |
| 272 | { |
- | |
| 273 | if (CheckDelay(TimerCompassUpdate)) |
- | |
| 274 | { |
- | |
| 275 | // check for hanging I2C bus |
- | |
| 276 | if(CheckDelay(I2C1_Timeout)) |
- | |
| 277 | { // reset I2C |
- | |
| 278 | UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r"); |
- | |
| 279 | I2C1_Deinit(); |
- | |
| 280 | I2C1_Init(); |
- | |
| 281 | } |
- | |
| 282 | else |
- | |
| 283 | { // check for incomming compass calibration request |
- | |
| 284 | // update CalByte from spi input queue |
- | |
| 285 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
- | |
| 286 | // send new calstate |
- | |
| 287 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
- | |
| 288 | { |
- | |
| 289 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
- | |
| 290 | } |
- | |
| 291 | else // request current heading |
- | |
| 292 | { |
263 | |
| 293 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
- | |
| 294 | } |
- | |
| 295 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
- | |
| 296 | } |
- | |
| 297 | // update ADC readings |
- | |
| 298 | ADC_ConversionCmd(ADC_Conversion_Start); |
- | |
| 299 | } |
- | |
| 300 | } |
264 | //I2C1_UpdateCompass(); moved to Timer1 ISR |
| 301 | 265 | ||
| 302 | // ---------------- Error Check Timing ---------------------------- |
266 | // ---------------- Error Check Timing ---------------------------- |
| 303 | if(CheckDelay(TimerCheckError)) |
267 | if(CheckDelay(TimerCheckError)) |
| 304 | { |
268 | { |
| 305 | TimerCheckError = SetDelay(1000); |
269 | TimerCheckError = SetDelay(1000); |
| 306 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
270 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
| 307 | CheckErrors(); |
271 | CheckErrors(); |
| 308 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
272 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| 309 | // else NaviData.FlyingTime = 0; |
273 | // else NaviData.FlyingTime = 0; // not the time per flight |
| 310 | UART1_Request_SendFollowMe = TRUE; |
274 | UART1_Request_SendFollowMe = TRUE; |
| 311 | if(SerialLinkOkay) SerialLinkOkay--; |
275 | if(SerialLinkOkay) SerialLinkOkay--; |
| 312 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
276 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| 313 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
277 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| 314 | } |
278 | } |
| 315 | // ---------------- Logging --------------------------------------- |
279 | // ---------------- Logging --------------------------------------- |
| - | 280 | 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 |
|
| - | 281 | // ---------------- ADC readings ----------------------------------- |
|
| 316 | Logging_Update(); |
282 | Analog_Update(); |
| 317 | } |
283 | } |
| 318 | } |
284 | } |
| 319 | 285 | ||
| 320 | 286 | ||
| 321 | 287 | ||