WebSVN - NaviCtrl - Diff - Rev 380 and 383


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c.h"
#include "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
#include "eeprom.h"
#include "ssc.h"
#include "sdc.h"
#include "uart1.h"
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
u8 ErrorGpsFixLost = 0;
 
u8 ClearFCStatusFlags = 0;
u8 StopNavigation = 0;
volatile u32 PollingTimeout = 10000;
Param_t Parameter;
volatile FC_t FC;
volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
volatile u32 SD_WatchDog  = 15000; // stop Logging if this goes to zero
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
 
void CheckErrors(void)
{
    static s32 no_error_delay = 0;
        s32 newErrorCode = 0;
        UART_VersionInfo.HardwareError[0] = 0;
 
        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;
        else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
 
        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL;
        else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
 
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
        else DebugOut.StatusRed &= ~AMPEL_NC;
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;              
                sprintf(ErrorMSG,"no FC communication ");
                newErrorCode = 3;
                StopNavigation = 1;
                DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
                DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;              
                sprintf(ErrorMSG,"no compass communica");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                newErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                DebugOut.StatusRed |= AMPEL_COMPASS;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
#ifndef FOLLOW_ME
                sprintf(ErrorMSG,"FC not compatible ");
#else
                sprintf(ErrorMSG,"! FollowMe only ! ");
#endif
                newErrorCode = 1;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
                DebugOut.StatusRed |= AMPEL_NC;
        }
 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                newErrorCode = 10;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                newErrorCode = 11;
        }
        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                newErrorCode = 12;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                newErrorCode = 13;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                newErrorCode = 14;
        }
        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:FC Z-ACC");
                newErrorCode = 15;
        }
        else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:Flying range!");
                newErrorCode = 28;
        }
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;              
                sprintf(ErrorMSG,"ERR:Pressure sensor");
                newErrorCode = 16;
        }
        else if(FC.Error[1] &  FC_ERROR1_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:I2C FC to BL");
                newErrorCode = 17;
        }
        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                newErrorCode = 18;
        }
        else if(FC.Error[1] &  FC_ERROR1_MIXER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                newErrorCode = 19;
        }
        else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
        {
                LED_RED_ON;
//      if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
//              else 
                 {                                     
                  sprintf(ErrorMSG,"no GPS communication");
                  UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
              newErrorCode = 5;
                 }
                StopNavigation = 1;
//              UBX_Timeout = SetDelay(500);
        }
        else if(Compass_Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                newErrorCode = 6;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if((FC.Error[1] &  FC_ERROR1_SPI_RX))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                newErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                newErrorCode = 20;
        }
        else if(FC.Error[1] &  FC_ERROR1_PPM)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                newErrorCode = 7;
        }
        else if(ErrorGpsFixLost)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"GPS Fix lost    ");
         newErrorCode = 21;
        }
        else if(ErrorDisturbedEarthMagnetField)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"Magnet error    ");
         newErrorCode = 22;
         DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;
         UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
        }
        else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Motor restart  ");
         newErrorCode = 23;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:BL Limitation   ");
         newErrorCode = 24;
         DebugOut.StatusRed |= AMPEL_BL;
        }
        else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:GPS range  ");
         newErrorCode = 25;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:No SD-Card  ");
         newErrorCode = 26;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
        {
         LED_RED_ON;       
         sprintf(ErrorMSG,"ERR:SD Logging abort");
         newErrorCode = 27;
         DebugOut.StatusRed |= AMPEL_NC;
         SD_LoggingError = 0;
        }
        else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Max Altitude ");
         newErrorCode = 29;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else // no error occured
        {
                StopNavigation = 0;
                LED_RED_OFF;
                if(no_error_delay) { no_error_delay--;  }
                else
                 {                                     
                  sprintf(ErrorMSG,"No Error            ");
                  ErrorCode = 0;
                 }
        }
 
    if(newErrorCode)
         {
          if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
          ErrorCode = newErrorCode;
         }
 FC.Error[0] = 0;
 FC.Error[1] = 0;
 FC.Error[2] = 0;
 FC.Error[3] = 0;
 FC.Error[4] = 0;
 ErrorGpsFixLost = 0;
}
 
 
 
void Polling(void)
{
 static u8 running = 0;
 if(running) return;
 running = 1;
                SPI0_UpdateBuffer();    // also calls the GPS-functions
                UART0_ProcessRxData();  // GPS process request
                UART0_TransmitTxData(); // GPS send answer
                UART1_ProcessRxData();  // PC process request
                UART1_TransmitTxData(); // PC send answer
                UART2_TransmitTxData(); // FC send answer
                CalcHeadFree();
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
       
                        if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors();
               
                        if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0; // not the time per flight
                        if(SerialLinkOkay) SerialLinkOkay--;
                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
                }
 running = 0;
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
 
        if(!PollingTimeout)
        {
                PollingTimeout = 5;
                Polling();
        }
 
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
        IDISABLE;
        VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /*
        static u32 ftimer =0;
        static u8 fstate = 0;
        static File_t* f = NULL;
        */
       
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize usb
        USB_ConfigInit();
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus (needs Timer 1)
        I2C1_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        LED_GRN_ON;
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
        DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag
        DebugOut.StatusRed = 0x00;
 
        Compass_Init();
 
#ifdef FOLLOW_ME
        TransmitAlsoToFC = 1;
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
        TransmitAlsoToFC = 0;
#else
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
#endif
        GPS_Init();
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        Debug_OK("START");
        UART1_PutString("\r\n");
        fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
        LED_GRN_ON;
        LED_RED_OFF;
        for (;;) // the endless main loop
        {
            Polling();
                PollingTimeout = 15;
                // ---------------- Logging  ---------------------------------------
                if(SD_WatchDog)
                 {
                  SD_WatchDog = 30000;
                  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
                  else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
                  if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
                 }
                /*
               
                if(CheckDelay(ftimer))
                {
 
                        s8* filename = "test.txt";
 
                        ftimer = SetDelay(100);
                        if(FC.Poti[3]>100 && fstate == 0)
                        {
                                fstate = 1;
                        }
                        else if(FC.Poti[3]<100 && fstate == 2)
                        {
                                fstate = 3;
                        }
 
                        switch(fstate)
                        {
                                case 1:
                                        sprintf(text,"\r\nStart writing file: %s", filename);
                                        UART1_PutString(text);
                                        f = fopen_(filename, 'a');
                                        if(f== NULL) Fat16_Init();
                                        fstate = 2;
                                        break;
 
                                case 2:
                                        fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);
                                        break;
                                       
                                case 3:
                                        sprintf(text,"\r\nClosing file: %s", filename);
                                        UART1_PutString(text);
                                        fclose_(f);
                                        fstate = 0;
                                        break;
 
                                default:
                                        break;
                        }
                }
                */
        }
}
 
// DebugOut.Analog[]
 

Rev 380	Rev 383
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 "timer1.h"	67	#include "timer1.h"
68	#include "timer2.h"	68	#include "timer2.h"
69	#include "analog.h"	69	#include "analog.h"
70	#include "spi_slave.h"	70	#include "spi_slave.h"
71	#include "fat16.h"	71	#include "fat16.h"
72	#include "usb.h"	72	#include "usb.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	#ifdef FOLLOW_ME	85	#ifdef FOLLOW_ME
86	u8 TransmitAlsoToFC = 0;	86	u8 TransmitAlsoToFC = 0;
87	#endif	87	#endif
88	u32 TimerCheckError;	88	u32 TimerCheckError;
89	u8 ErrorCode = 0;	89	u8 ErrorCode = 0;
90	u16 BeepTime;	90	u16 BeepTime;
91	u8 NCFlags = 0;	91	u8 NCFlags = 0;
92	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	92	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
93	u8 ErrorGpsFixLost = 0;	93	u8 ErrorGpsFixLost = 0;
94		94
95	u8 ClearFCStatusFlags = 0;	95	u8 ClearFCStatusFlags = 0;
96	u8 StopNavigation = 0;	96	u8 StopNavigation = 0;
97	volatile u32 PollingTimeout = 10000;	97	volatile u32 PollingTimeout = 10000;
98	Param_t Parameter;	98	Param_t Parameter;
99	volatile FC_t FC;	99	volatile FC_t FC;
100	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero	100	volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
101	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero	101	volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero
102		102
103	s8 ErrorMSG[25];	103	s8 ErrorMSG[25];
104		104
105	//----------------------------------------------------------------------------------------------------	105	//----------------------------------------------------------------------------------------------------
106	void SCU_Config(void)	106	void SCU_Config(void)
107	{	107	{
108	/* configure PLL and set it as master clock source */	108	/* configure PLL and set it as master clock source */
109	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	109	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
110	SCU_PLLCmd(DISABLE); // now disable the PLL	110	SCU_PLLCmd(DISABLE); // now disable the PLL
111	#ifdef MCLK96MHZ	111	#ifdef MCLK96MHZ
112	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	112	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
113	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	113	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
114	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	114	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
115	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	115	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
116	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	116	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
117	#else	117	#else
118	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	118	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
119	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	119	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
120	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	120	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
121	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	121	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
122	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	122	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
123	#endif	123	#endif
124	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	124	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
125	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	125	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
126	}	126	}
127		127
128	//----------------------------------------------------------------------------------------------------	128	//----------------------------------------------------------------------------------------------------
129	void GetNaviCtrlVersion(void)	129	void GetNaviCtrlVersion(void)
130	{	130	{
131	u8 msg[25];	131	u8 msg[25];
132		132
133	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	133	sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
134	UART1_PutString(msg);	134	UART1_PutString(msg);
135	}	135	}
136		136
137	//----------------------------------------------------------------------------------------------------	137	//----------------------------------------------------------------------------------------------------
138		138
139	void CheckErrors(void)	139	void CheckErrors(void)
140	{	140	{
141	static s32 no_error_delay = 0;	141	static s32 no_error_delay = 0;
142	s32 newErrorCode = 0;	142	s32 newErrorCode = 0;
143	UART_VersionInfo.HardwareError[0] = 0;	143	UART_VersionInfo.HardwareError[0] = 0;
144		144
145	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	145	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
146	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	146	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
147		147
148	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	148	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;
149	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status	149	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
150		150
151	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	151	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
152	else DebugOut.StatusRed &= ~AMPEL_NC;	152	else DebugOut.StatusRed &= ~AMPEL_NC;
153		153
154	if(CheckDelay(SPI0_Timeout))	154	if(CheckDelay(SPI0_Timeout))
155	{	155	{
156	LED_RED_ON;	156	LED_RED_ON;
157	sprintf(ErrorMSG,"no FC communication ");	157	sprintf(ErrorMSG,"no FC communication ");
158	newErrorCode = 3;	158	newErrorCode = 3;
159	StopNavigation = 1;	159	StopNavigation = 1;
160	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	160	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
161	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	161	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
162	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	162	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
163	}	163	}
164	else if(CheckDelay(I2C1_Timeout))	164	else if(CheckDelay(I2C1_Timeout))
165	{	165	{
166	LED_RED_ON;	166	LED_RED_ON;
167	sprintf(ErrorMSG,"no compass communica");	167	sprintf(ErrorMSG,"no compass communica");
168	//Reset I2CBus	168	//Reset I2CBus
169	I2C1_Deinit();	169	I2C1_Deinit();
170	I2C1_Init();	170	I2C1_Init();
171	newErrorCode = 4;	171	newErrorCode = 4;
172	StopNavigation = 1;	172	StopNavigation = 1;
173	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	173	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
174	DebugOut.StatusRed \|= AMPEL_COMPASS;	174	DebugOut.StatusRed \|= AMPEL_COMPASS;
175	}	175	}
176	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	176	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
177	{	177	{
178	LED_RED_ON;	178	LED_RED_ON;
179	#ifndef FOLLOW_ME	179	#ifndef FOLLOW_ME
180	sprintf(ErrorMSG,"FC not compatible ");	180	sprintf(ErrorMSG,"FC not compatible ");
181	#else	181	#else
182	sprintf(ErrorMSG,"! FollowMe only ! ");	182	sprintf(ErrorMSG,"! FollowMe only ! ");
183	#endif	183	#endif
184	newErrorCode = 1;	184	newErrorCode = 1;
185	StopNavigation = 1;	185	StopNavigation = 1;
186	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	186	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
187	DebugOut.StatusRed \|= AMPEL_NC;	187	DebugOut.StatusRed \|= AMPEL_NC;
188	}	188	}
189		189
190	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	190	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
191	{	191	{
192	LED_RED_ON;	192	LED_RED_ON;
193	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	193	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
194	newErrorCode = 10;	194	newErrorCode = 10;
195	}	195	}
196	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	196	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
197	{	197	{
198	LED_RED_ON;	198	LED_RED_ON;
199	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	199	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
200	newErrorCode = 11;	200	newErrorCode = 11;
201	}	201	}
202	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	202	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
203	{	203	{
204	LED_RED_ON;	204	LED_RED_ON;
205	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	205	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
206	newErrorCode = 12;	206	newErrorCode = 12;
207	}	207	}
208	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	208	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
209	{	209	{
210	LED_RED_ON;	210	LED_RED_ON;
211	sprintf(ErrorMSG,"ERR: FC Nick ACC");	211	sprintf(ErrorMSG,"ERR: FC Nick ACC");
212	newErrorCode = 13;	212	newErrorCode = 13;
213	}	213	}
214	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	214	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
215	{	215	{
216	LED_RED_ON;	216	LED_RED_ON;
217	sprintf(ErrorMSG,"ERR: FC Roll ACC");	217	sprintf(ErrorMSG,"ERR: FC Roll ACC");
218	newErrorCode = 14;	218	newErrorCode = 14;
219	}	219	}
220	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	220	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
221	{	221	{
222	LED_RED_ON;	222	LED_RED_ON;
223	sprintf(ErrorMSG,"ERR:FC Z-ACC");	223	sprintf(ErrorMSG,"ERR:FC Z-ACC");
224	newErrorCode = 15;	224	newErrorCode = 15;
225	}	225	}
226	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)	226	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
227	{	227	{
228	LED_RED_ON;	228	LED_RED_ON;
229	sprintf(ErrorMSG,"ERR:Flying range!");	229	sprintf(ErrorMSG,"ERR:Flying range!");
230	newErrorCode = 28;	230	newErrorCode = 28;
231	}	231	}
232	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	232	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
233	{	233	{
234	LED_RED_ON;	234	LED_RED_ON;
235	sprintf(ErrorMSG,"ERR:Pressure sensor");	235	sprintf(ErrorMSG,"ERR:Pressure sensor");
236	newErrorCode = 16;	236	newErrorCode = 16;
237	}	237	}
238	else if(FC.Error[1] & FC_ERROR1_I2C)	238	else if(FC.Error[1] & FC_ERROR1_I2C)
239	{	239	{
240	LED_RED_ON;	240	LED_RED_ON;
241	sprintf(ErrorMSG,"ERR:I2C FC to BL");	241	sprintf(ErrorMSG,"ERR:I2C FC to BL");
242	newErrorCode = 17;	242	newErrorCode = 17;
243	}	243	}
244	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	244	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
245	{	245	{
246	LED_RED_ON;	246	LED_RED_ON;
247	sprintf(ErrorMSG,"ERR: Bl Missing");	247	sprintf(ErrorMSG,"ERR: Bl Missing");
248	newErrorCode = 18;	248	newErrorCode = 18;
249	}	249	}
250	else if(FC.Error[1] & FC_ERROR1_MIXER)	250	else if(FC.Error[1] & FC_ERROR1_MIXER)
251	{	251	{
252	LED_RED_ON;	252	LED_RED_ON;
253	sprintf(ErrorMSG,"Mixer Error");	253	sprintf(ErrorMSG,"Mixer Error");
254	newErrorCode = 19;	254	newErrorCode = 19;
255	}	255	}
256	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)	256	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
257	{	257	{
258	LED_RED_ON;	258	LED_RED_ON;
259	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	259	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
260	// else	260	// else
261	{	261	{
262	sprintf(ErrorMSG,"no GPS communication");	262	sprintf(ErrorMSG,"no GPS communication");
263	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	263	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
264	newErrorCode = 5;	264	newErrorCode = 5;
265	}	265	}
266	StopNavigation = 1;	266	StopNavigation = 1;
267	// UBX_Timeout = SetDelay(500);	267	// UBX_Timeout = SetDelay(500);
268	}	268	}
269	else if(Compass_Heading < 0)	269	else if(Compass_Heading < 0)
270	{	270	{
271	LED_RED_ON;	271	LED_RED_ON;
272	sprintf(ErrorMSG,"bad compass value ");	272	sprintf(ErrorMSG,"bad compass value ");
273	newErrorCode = 6;	273	newErrorCode = 6;
274	StopNavigation = 1;	274	StopNavigation = 1;
275	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	275	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
276	}	276	}
277	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	277	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
278	{	278	{
279	LED_RED_ON;	279	LED_RED_ON;
280	sprintf(ErrorMSG,"FC spi rx error ");	280	sprintf(ErrorMSG,"FC spi rx error ");
281	newErrorCode = 8;	281	newErrorCode = 8;
282	StopNavigation = 1;	282	StopNavigation = 1;
283	}	283	}
284	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	284	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
285	{	285	{
286	LED_RED_ON;	286	LED_RED_ON;
287	sprintf(ErrorMSG,"FC: Carefree Error");	287	sprintf(ErrorMSG,"FC: Carefree Error");
288	newErrorCode = 20;	288	newErrorCode = 20;
289	}	289	}
290	else if(FC.Error[1] & FC_ERROR1_PPM)	290	else if(FC.Error[1] & FC_ERROR1_PPM)
291	{	291	{
292	LED_RED_ON;	292	LED_RED_ON;
293	sprintf(ErrorMSG,"RC Signal lost ");	293	sprintf(ErrorMSG,"RC Signal lost ");
294	newErrorCode = 7;	294	newErrorCode = 7;
295	}	295	}
296	else if(ErrorGpsFixLost)	296	else if(ErrorGpsFixLost)
297	{	297	{
298	LED_RED_ON;	298	LED_RED_ON;
299	sprintf(ErrorMSG,"GPS Fix lost ");	299	sprintf(ErrorMSG,"GPS Fix lost ");
300	newErrorCode = 21;	300	newErrorCode = 21;
301	}	301	}
302	else if(ErrorDisturbedEarthMagnetField)	302	else if(ErrorDisturbedEarthMagnetField)
303	{	303	{
304	LED_RED_ON;	304	LED_RED_ON;
305	sprintf(ErrorMSG,"Magnet error ");	305	sprintf(ErrorMSG,"Magnet error ");
306	newErrorCode = 22;	306	newErrorCode = 22;
307	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	307	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
308	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	308	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
309	}	309	}
310	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	310	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
311	{	311	{
312	LED_RED_ON;	312	LED_RED_ON;
313	sprintf(ErrorMSG,"ERR:Motor restart ");	313	sprintf(ErrorMSG,"ERR:Motor restart ");
314	newErrorCode = 23;	314	newErrorCode = 23;
315	DebugOut.StatusRed \|= AMPEL_BL;	315	DebugOut.StatusRed \|= AMPEL_BL;
316	}	316	}
317	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	317	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
318	{	318	{
319	LED_RED_ON;	319	LED_RED_ON;
320	sprintf(ErrorMSG,"ERR:BL Limitation ");	320	sprintf(ErrorMSG,"ERR:BL Limitation ");
321	newErrorCode = 24;	321	newErrorCode = 24;
322	DebugOut.StatusRed \|= AMPEL_BL;	322	DebugOut.StatusRed \|= AMPEL_BL;
323	}	323	}
324	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	324	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
325	{	325	{
326	LED_RED_ON;	326	LED_RED_ON;
327	sprintf(ErrorMSG,"ERR:GPS range ");	327	sprintf(ErrorMSG,"ERR:GPS range ");
328	newErrorCode = 25;	328	newErrorCode = 25;
329	DebugOut.StatusRed \|= AMPEL_NC;	329	DebugOut.StatusRed \|= AMPEL_NC;
330	}	330	}
331	else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)	331	else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
332	{	332	{
333	LED_RED_ON;	333	LED_RED_ON;
334	sprintf(ErrorMSG,"ERR:No SD-Card ");	334	sprintf(ErrorMSG,"ERR:No SD-Card ");
335	newErrorCode = 26;	335	newErrorCode = 26;
336	DebugOut.StatusRed \|= AMPEL_NC;	336	DebugOut.StatusRed \|= AMPEL_NC;
337	}	337	}
338	else if((SD_LoggingError \|\| (SD_WatchDog == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START )	338	else if((SD_LoggingError \|\| (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
339	{	339	{
340	LED_RED_ON;	340	LED_RED_ON;
341	sprintf(ErrorMSG,"ERR:SD Logging abort");	341	sprintf(ErrorMSG,"ERR:SD Logging abort");
342	newErrorCode = 27;	342	newErrorCode = 27;
343	DebugOut.StatusRed \|= AMPEL_NC;	343	DebugOut.StatusRed \|= AMPEL_NC;
344	SD_LoggingError = 0;	344	SD_LoggingError = 0;
345	}	345	}
346	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))	346	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
347	{	347	{
348	LED_RED_ON;	348	LED_RED_ON;
349	sprintf(ErrorMSG,"ERR:Max Altitude ");	349	sprintf(ErrorMSG,"ERR:Max Altitude ");
350	newErrorCode = 29;	350	newErrorCode = 29;
351	DebugOut.StatusRed \|= AMPEL_NC;	351	DebugOut.StatusRed \|= AMPEL_NC;
352	}	352	}
353	else // no error occured	353	else // no error occured
354	{	354	{
355	StopNavigation = 0;	355	StopNavigation = 0;
356	LED_RED_OFF;	356	LED_RED_OFF;
357	if(no_error_delay) { no_error_delay--; }	357	if(no_error_delay) { no_error_delay--; }
358	else	358	else
359	{	359	{
360	sprintf(ErrorMSG,"No Error ");	360	sprintf(ErrorMSG,"No Error ");
361	ErrorCode = 0;	361	ErrorCode = 0;
362	}	362	}
363	}	363	}
364		364
365	if(newErrorCode)	365	if(newErrorCode)
366	{	366	{
367	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running	367	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
368	ErrorCode = newErrorCode;	368	ErrorCode = newErrorCode;
369	}	369	}
370	FC.Error[0] = 0;	370	FC.Error[0] = 0;
371	FC.Error[1] = 0;	371	FC.Error[1] = 0;
372	FC.Error[2] = 0;	372	FC.Error[2] = 0;
373	FC.Error[3] = 0;	373	FC.Error[3] = 0;
374	FC.Error[4] = 0;	374	FC.Error[4] = 0;
375	ErrorGpsFixLost = 0;	375	ErrorGpsFixLost = 0;
376	}	376	}
377		377
378		378
379		379
380	void Polling(void)	380	void Polling(void)
381	{	381	{
382	static u8 running = 0;	382	static u8 running = 0;
383	if(running) return;	383	if(running) return;
384	running = 1;	384	running = 1;
385	SPI0_UpdateBuffer(); // also calls the GPS-functions	385	SPI0_UpdateBuffer(); // also calls the GPS-functions
386	UART0_ProcessRxData(); // GPS process request	386	UART0_ProcessRxData(); // GPS process request
387	UART0_TransmitTxData(); // GPS send answer	387	UART0_TransmitTxData(); // GPS send answer
388	UART1_ProcessRxData(); // PC process request	388	UART1_ProcessRxData(); // PC process request
389	UART1_TransmitTxData(); // PC send answer	389	UART1_TransmitTxData(); // PC send answer
390	UART2_TransmitTxData(); // FC send answer	390	UART2_TransmitTxData(); // FC send answer
391	CalcHeadFree();	391	CalcHeadFree();
392	// ---------------- Error Check Timing ----------------------------	392	// ---------------- Error Check Timing ----------------------------
393	if(CheckDelay(TimerCheckError))	393	if(CheckDelay(TimerCheckError))
394	{	394	{
395	TimerCheckError = SetDelay(1000);	395	TimerCheckError = SetDelay(1000);
396	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	396	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
397		397
398	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	398	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
399		399
400	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	400	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
401	// else NaviData.FlyingTime = 0; // not the time per flight	401	// else NaviData.FlyingTime = 0; // not the time per flight
402	if(SerialLinkOkay) SerialLinkOkay--;	402	if(SerialLinkOkay) SerialLinkOkay--;
403	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	403	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
404	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	404	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
405	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	405	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
406	}	406	}
407	running = 0;	407	running = 0;
408	}	408	}
409		409
410	// the handler will be cyclic called by the timer 1 ISR	410	// the handler will be cyclic called by the timer 1 ISR
411	// used is for critical timing parts that normaly would handled	411	// used is for critical timing parts that normaly would handled
412	// within the main loop that could block longer at logging activities	412	// within the main loop that could block longer at logging activities
413	void EXTIT3_IRQHandler(void)	413	void EXTIT3_IRQHandler(void)
414	{	414	{
415	IENABLE;	415	IENABLE;
416	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	416	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
417	Compass_Update(); // update compass communication	417	Compass_Update(); // update compass communication
418	Analog_Update(); // get new ADC values	418	Analog_Update(); // get new ADC values
419		419
420	if(!PollingTimeout)	420	if(!PollingTimeout)
421	{	421	{
422	PollingTimeout = 5;	422	PollingTimeout = 5;
423	Polling();	423	Polling();
424	}	424	}
425		425
426	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	426	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
427	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	427	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
428	IDISABLE;	428	IDISABLE;
429	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register	429	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
430	}	430	}
431		431
432	//----------------------------------------------------------------------------------------------------	432	//----------------------------------------------------------------------------------------------------
433	int main(void)	433	int main(void)
434	{	434	{
435	/*	435	/*
436	static u32 ftimer =0;	436	static u32 ftimer =0;
437	static u8 fstate = 0;	437	static u8 fstate = 0;
438	static File_t* f = NULL;	438	static File_t* f = NULL;
439	*/	439	*/
440		440
441	/* Configure the system clocks */	441	/* Configure the system clocks */
442	SCU_Config();	442	SCU_Config();
443	/* init VIC (Vectored Interrupt Controller) */	443	/* init VIC (Vectored Interrupt Controller) */
444	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	444	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
445	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	445	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
446	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	446	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
447	VIC_InitDefaultVectors();	447	VIC_InitDefaultVectors();
448		448
449	// initialize timer 1 for System Clock and delay rountines	449	// initialize timer 1 for System Clock and delay rountines
450	TIMER1_Init();	450	TIMER1_Init();
451	// initialize the LEDs (needs Timer 1)	451	// initialize the LEDs (needs Timer 1)
452	Led_Init();	452	Led_Init();
453	// initialize the debug UART1	453	// initialize the debug UART1
454	UART1_Init();	454	UART1_Init();
455	UART1_PutString("\r\n---------------------------------------------");	455	UART1_PutString("\r\n---------------------------------------------");
456	// initialize usb	456	// initialize usb
457	USB_ConfigInit();	457	USB_ConfigInit();
458	// initialize timer 2 for servo outputs	458	// initialize timer 2 for servo outputs
459	//TIMER2_Init();	459	//TIMER2_Init();
460	// initialize UART2 to FLIGHTCTRL	460	// initialize UART2 to FLIGHTCTRL
461	UART2_Init();	461	UART2_Init();
462	// initialize UART0 (to MKGPS or MK3MAG)	462	// initialize UART0 (to MKGPS or MK3MAG)
463	UART0_Init();	463	UART0_Init();
464	// initialize adc	464	// initialize adc
465	Analog_Init();	465	Analog_Init();
466	// initialize SPI0 to FC	466	// initialize SPI0 to FC
467	SPI0_Init();	467	SPI0_Init();
468	// initialize i2c bus (needs Timer 1)	468	// initialize i2c bus (needs Timer 1)
469	I2C1_Init();	469	I2C1_Init();
470	// initialize fat16 partition on sd card (needs Timer 1)	470	// initialize fat16 partition on sd card (needs Timer 1)
471	Fat16_Init();	471	Fat16_Init();
472	// initialize NC params	472	// initialize NC params
473	NCParams_Init();	473	NCParams_Init();
474	// initialize the settings	474	// initialize the settings
475	Settings_Init();	475	Settings_Init();
476	// initialize logging (needs settings)	476	// initialize logging (needs settings)
477	Logging_Init();	477	Logging_Init();
478		478
479	LED_GRN_ON;	479	LED_GRN_ON;
480	TimerCheckError = SetDelay(3000);	480	TimerCheckError = SetDelay(3000);
481	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	481	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
482	UART1_PutString("\n\r Version information:");	482	UART1_PutString("\n\r Version information:");
483		483
484	GetNaviCtrlVersion();	484	GetNaviCtrlVersion();
485	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag	485	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag
486	DebugOut.StatusRed = 0x00;	486	DebugOut.StatusRed = 0x00;
487		487
488	Compass_Init();	488	Compass_Init();
489		489
490	#ifdef FOLLOW_ME	490	#ifdef FOLLOW_ME
491	TransmitAlsoToFC = 1;	491	TransmitAlsoToFC = 1;
492	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	492	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
493	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");	493	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
494	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");	494	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
495	TransmitAlsoToFC = 0;	495	TransmitAlsoToFC = 0;
496	#else	496	#else
497	SPI0_GetFlightCtrlVersion();	497	SPI0_GetFlightCtrlVersion();
498	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	498	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
499	{	499	{
500	UART1_PutString("\n\r Flight-Ctrl not compatible");	500	UART1_PutString("\n\r Flight-Ctrl not compatible");

Subversion Repositories NaviCtrl

(root)/tags/V2.14c/main.c @ 913 - Rev 380 → 383