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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | //#define MCLK96MHZ |
56 | //#define MCLK96MHZ |
57 | const unsigned long _Main_Crystal = 25000; |
57 | const unsigned long _Main_Crystal = 25000; |
58 | //#include <stdio.h> |
58 | //#include <stdio.h> |
59 | #include <string.h> |
59 | #include <string.h> |
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "led.h" |
61 | #include "led.h" |
62 | #include "uart0.h" |
62 | #include "uart0.h" |
63 | #include "uart1.h" |
63 | #include "uart1.h" |
64 | #include "uart2.h" |
64 | #include "uart2.h" |
65 | #include "gps.h" |
65 | #include "gps.h" |
66 | #include "i2c.h" |
66 | #include "i2c.h" |
67 | #include "compass.h" |
67 | #include "compass.h" |
68 | #include "ncmag.h" |
68 | #include "ncmag.h" |
69 | #include "timer1.h" |
69 | #include "timer1.h" |
70 | #include "timer2.h" |
70 | #include "timer2.h" |
71 | #include "analog.h" |
71 | #include "analog.h" |
72 | #include "spi_slave.h" |
72 | #include "spi_slave.h" |
73 | #include "fat16.h" |
73 | #include "fat16.h" |
74 | #include "sdc.h" |
74 | #include "sdc.h" |
75 | #include "logging.h" |
75 | #include "logging.h" |
76 | #include "params.h" |
76 | #include "params.h" |
77 | #include "settings.h" |
77 | #include "settings.h" |
78 | #include "config.h" |
78 | #include "config.h" |
79 | #include "main.h" |
79 | #include "main.h" |
80 | #include "debug.h" |
80 | #include "debug.h" |
81 | #include "eeprom.h" |
81 | #include "eeprom.h" |
82 | #include "ssc.h" |
82 | #include "ssc.h" |
83 | #include "sdc.h" |
83 | #include "sdc.h" |
84 | #include "uart1.h" |
84 | #include "uart1.h" |
85 | #include "canbus.h" |
85 | #include "canbus.h" |
86 | #include "triggerlog.h" |
86 | #include "triggerlog.h" |
87 | #include "CamCtrl.h" |
87 | #include "CamCtrl.h" |
88 | 88 | ||
89 | 89 | ||
90 | #ifdef FOLLOW_ME |
90 | #ifdef FOLLOW_ME |
91 | u8 TransmitAlsoToFC = 0; |
91 | u8 TransmitAlsoToFC = 0; |
92 | #endif |
92 | #endif |
93 | u32 TimerCheckError; |
93 | u32 TimerCheckError; |
94 | u8 ErrorCode = 0; |
94 | u8 ErrorCode = 0; |
95 | u16 BeepTime; |
95 | u16 BeepTime; |
96 | u8 NCFlags = 0; |
96 | u8 NCFlags = 0; |
97 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
97 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
98 | u8 ErrorGpsFixLost = 0; |
98 | u8 ErrorGpsFixLost = 0; |
99 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
99 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
100 | u8 ToFC_MaxWpListIndex = 4; |
100 | u8 ToFC_MaxWpListIndex = 4; |
101 | u8 ClearFCStatusFlags = 0; |
101 | u8 ClearFCStatusFlags = 0; |
102 | u8 StopNavigation = 0; |
102 | u8 StopNavigation = 0; |
103 | volatile u32 PollingTimeout = 10000; |
103 | volatile u32 PollingTimeout = 10000; |
104 | Param_t Parameter; |
104 | Param_t Parameter; |
105 | Partner_t Partner; |
105 | Partner_t Partner; |
106 | volatile FC_t FC; |
106 | volatile FC_t FC; |
107 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
107 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
108 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
108 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
109 | u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0; |
109 | u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0; |
110 | u8 NewWPL_Name = 0; |
110 | u8 NewWPL_Name = 0; |
111 | u32 MaxWP_Radius_in_m = 0; |
111 | u32 MaxWP_Radius_in_m = 0; |
112 | s8 ErrorMSG[25]; |
112 | s8 ErrorMSG[25]; |
113 | s8 PartnerErrorMSG[25] = " --- \0"; |
113 | s8 PartnerErrorMSG[25] = " --- \0"; |
114 | u32 TimeSinceMotorStart = 0; |
114 | u32 TimeSinceMotorStart = 0; |
115 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
115 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
116 | 116 | ||
117 | //---------------------------------------------------------------------------------------------------- |
117 | //---------------------------------------------------------------------------------------------------- |
118 | void SCU_Config(void) |
118 | void SCU_Config(void) |
119 | { |
119 | { |
120 | /* configure PLL and set it as master clock source */ |
120 | /* configure PLL and set it as master clock source */ |
121 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
121 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
122 | SCU_PLLCmd(DISABLE); // now disable the PLL |
122 | SCU_PLLCmd(DISABLE); // now disable the PLL |
123 | #ifdef MCLK96MHZ |
123 | #ifdef MCLK96MHZ |
124 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
124 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
125 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
125 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
126 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
126 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
127 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
127 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
128 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
128 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
129 | #else |
129 | #else |
130 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
130 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
131 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
131 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
132 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
132 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
133 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
133 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
134 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
134 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
135 | #endif |
135 | #endif |
136 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
136 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
137 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
137 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
138 | } |
138 | } |
139 | 139 | ||
140 | //---------------------------------------------------------------------------------------------------- |
140 | //---------------------------------------------------------------------------------------------------- |
141 | void GetNaviCtrlVersion(void) |
141 | void GetNaviCtrlVersion(void) |
142 | { |
142 | { |
143 | u8 msg[25]; |
143 | u8 msg[25]; |
144 | 144 | ||
145 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
145 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
146 | UART1_PutString(msg); |
146 | UART1_PutString(msg); |
147 | } |
147 | } |
148 | 148 | ||
149 | //---------------------------------------------------------------------------------------------------- |
149 | //---------------------------------------------------------------------------------------------------- |
150 | 150 | ||
151 | void CheckErrors(void) |
151 | void CheckErrors(void) |
152 | { |
152 | { |
153 | static s32 no_error_delay = 0; |
153 | static s32 no_error_delay = 0; |
154 | s32 newErrorCode = 0; |
154 | s32 newErrorCode = 0; |
155 | UART_VersionInfo.HardwareError[0] = 0; |
155 | UART_VersionInfo.HardwareError[0] = 0; |
156 | 156 | ||
157 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
157 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
158 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
158 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
159 | 159 | ||
160 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
160 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
161 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
161 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
162 | 162 | ||
163 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
163 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
164 | else DebugOut.StatusRed &= ~AMPEL_NC; |
164 | else DebugOut.StatusRed &= ~AMPEL_NC; |
165 | 165 | ||
166 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
166 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
167 | { |
167 | { |
168 | LED_RED_ON; |
168 | LED_RED_ON; |
169 | sprintf(ErrorMSG,"no compass communica"); |
169 | sprintf(ErrorMSG,"no compass communica"); |
170 | //Reset Compass communication |
170 | //Reset Compass communication |
171 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
171 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
172 | Compass_Init(); |
172 | Compass_Init(); |
173 | newErrorCode = 4; |
173 | newErrorCode = 4; |
174 | StopNavigation = 1; |
174 | StopNavigation = 1; |
175 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
175 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
176 | DebugOut.StatusRed |= AMPEL_COMPASS; |
176 | DebugOut.StatusRed |= AMPEL_COMPASS; |
177 | } |
177 | } |
178 | else if(CompassValueErrorCount > 30) |
178 | else if(CompassValueErrorCount > 30) |
179 | { |
179 | { |
180 | LED_RED_ON; |
180 | LED_RED_ON; |
181 | sprintf(ErrorMSG,"compass sensor error"); |
181 | sprintf(ErrorMSG,"compass sensor error"); |
182 | newErrorCode = 34; |
182 | newErrorCode = 34; |
183 | StopNavigation = 1; |
183 | StopNavigation = 1; |
184 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
184 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
185 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
185 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
186 | Compass_Init(); |
186 | Compass_Init(); |
187 | } |
187 | } |
188 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
188 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
189 | { |
189 | { |
190 | sprintf(ErrorMSG,"Calibrate... "); |
190 | sprintf(ErrorMSG,"Calibrate... "); |
191 | newErrorCode = 0; |
191 | newErrorCode = 0; |
192 | ErrorCode = 0; |
192 | ErrorCode = 0; |
193 | no_error_delay = 1; |
193 | no_error_delay = 1; |
194 | } |
194 | } |
195 | else if(CheckDelay(SPI0_Timeout)) |
195 | else if(CheckDelay(SPI0_Timeout)) |
196 | { |
196 | { |
197 | LED_RED_ON; |
197 | LED_RED_ON; |
198 | sprintf(ErrorMSG,"no FC communication "); |
198 | sprintf(ErrorMSG,"no FC communication "); |
199 | newErrorCode = 3; |
199 | newErrorCode = 3; |
200 | StopNavigation = 1; |
200 | StopNavigation = 1; |
201 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
201 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
202 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
202 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
203 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
203 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
204 | } |
204 | } |
205 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
205 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
206 | { |
206 | { |
207 | LED_RED_ON; |
207 | LED_RED_ON; |
208 | #ifndef FOLLOW_ME |
208 | #ifndef FOLLOW_ME |
209 | sprintf(ErrorMSG,"FC not compatible "); |
209 | sprintf(ErrorMSG,"FC not compatible "); |
210 | #else |
210 | #else |
211 | sprintf(ErrorMSG,"! FollowMe only ! "); |
211 | sprintf(ErrorMSG,"! FollowMe only ! "); |
212 | #endif |
212 | #endif |
213 | newErrorCode = 1; |
213 | newErrorCode = 1; |
214 | StopNavigation = 1; |
214 | StopNavigation = 1; |
215 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
215 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
216 | DebugOut.StatusRed |= AMPEL_NC; |
216 | DebugOut.StatusRed |= AMPEL_NC; |
217 | } |
217 | } |
218 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
218 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
219 | { |
219 | { |
220 | LED_RED_ON; |
220 | LED_RED_ON; |
221 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
221 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
222 | newErrorCode = 10; |
222 | newErrorCode = 10; |
223 | } |
223 | } |
224 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
224 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
225 | { |
225 | { |
226 | LED_RED_ON; |
226 | LED_RED_ON; |
227 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
227 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
228 | newErrorCode = 11; |
228 | newErrorCode = 11; |
229 | } |
229 | } |
230 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
230 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | { |
231 | { |
232 | LED_RED_ON; |
232 | LED_RED_ON; |
233 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
233 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
234 | newErrorCode = 12; |
234 | newErrorCode = 12; |
235 | } |
235 | } |
236 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
236 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
237 | { |
237 | { |
238 | LED_RED_ON; |
238 | LED_RED_ON; |
239 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
239 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
240 | newErrorCode = 13; |
240 | newErrorCode = 13; |
241 | } |
241 | } |
242 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
242 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
243 | { |
243 | { |
244 | LED_RED_ON; |
244 | LED_RED_ON; |
245 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
245 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
246 | newErrorCode = 14; |
246 | newErrorCode = 14; |
247 | } |
247 | } |
248 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
248 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
249 | { |
249 | { |
250 | LED_RED_ON; |
250 | LED_RED_ON; |
251 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
251 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
252 | newErrorCode = 15; |
252 | newErrorCode = 15; |
253 | } |
253 | } |
254 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
254 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
255 | { |
255 | { |
256 | LED_RED_ON; |
256 | LED_RED_ON; |
257 | sprintf(ErrorMSG,"ERR:Flying range!"); |
257 | sprintf(ErrorMSG,"ERR:Flying range!"); |
258 | newErrorCode = 28; |
258 | newErrorCode = 28; |
259 | } |
259 | } |
260 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
260 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
261 | { |
261 | { |
262 | LED_RED_ON; |
262 | LED_RED_ON; |
263 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
263 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
264 | newErrorCode = 16; |
264 | newErrorCode = 16; |
265 | } |
265 | } |
266 | else if(FC.Error[1] & FC_ERROR1_I2C) |
266 | else if(FC.Error[1] & FC_ERROR1_I2C) |
267 | { |
267 | { |
268 | LED_RED_ON; |
268 | LED_RED_ON; |
269 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
269 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
270 | newErrorCode = 17; |
270 | newErrorCode = 17; |
271 | } |
271 | } |
272 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
272 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
273 | { |
273 | { |
274 | LED_RED_ON; |
274 | LED_RED_ON; |
275 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
275 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
276 | newErrorCode = 18; |
276 | newErrorCode = 18; |
277 | } |
277 | } |
278 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
278 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
279 | { |
279 | { |
280 | LED_RED_ON; |
280 | LED_RED_ON; |
281 | sprintf(ErrorMSG,"Mixer Error"); |
281 | sprintf(ErrorMSG,"Mixer Error"); |
282 | newErrorCode = 19; |
282 | newErrorCode = 19; |
283 | } |
283 | } |
284 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
284 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
285 | { |
285 | { |
286 | LED_RED_ON; |
286 | LED_RED_ON; |
287 | sprintf(ErrorMSG,"no GPS communication"); |
287 | sprintf(ErrorMSG,"no GPS communication"); |
288 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
288 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
289 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
289 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
290 | newErrorCode = 5; |
290 | newErrorCode = 5; |
291 | StopNavigation = 1; |
291 | StopNavigation = 1; |
292 | } |
292 | } |
293 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
293 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
294 | { |
294 | { |
295 | LED_RED_ON; |
295 | LED_RED_ON; |
296 | sprintf(ErrorMSG,"compass not calibr."); |
296 | sprintf(ErrorMSG,"compass not calibr."); |
297 | newErrorCode = 31; |
297 | newErrorCode = 31; |
298 | StopNavigation = 1; |
298 | StopNavigation = 1; |
299 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
299 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
300 | } |
300 | } |
301 | else if(Compass_Heading < 0) |
301 | else if(Compass_Heading < 0) |
302 | { |
302 | { |
303 | LED_RED_ON; |
303 | LED_RED_ON; |
304 | sprintf(ErrorMSG,"bad compass value "); |
304 | sprintf(ErrorMSG,"bad compass value "); |
305 | newErrorCode = 6; |
305 | newErrorCode = 6; |
306 | StopNavigation = 1; |
306 | StopNavigation = 1; |
307 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
307 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
308 | } |
308 | } |
309 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
309 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
310 | { |
310 | { |
311 | LED_RED_ON; |
311 | LED_RED_ON; |
312 | sprintf(ErrorMSG,"FC spi rx error "); |
312 | sprintf(ErrorMSG,"FC spi rx error "); |
313 | newErrorCode = 8; |
313 | newErrorCode = 8; |
314 | StopNavigation = 1; |
314 | StopNavigation = 1; |
315 | } |
315 | } |
316 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
316 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
317 | { |
317 | { |
318 | LED_RED_ON; |
318 | LED_RED_ON; |
319 | sprintf(ErrorMSG,"FC: Carefree Error"); |
319 | sprintf(ErrorMSG,"FC: Carefree Error"); |
320 | newErrorCode = 20; |
320 | newErrorCode = 20; |
321 | } |
321 | } |
322 | else if(FC.BAT_Voltage < 45) |
322 | else if(FC.BAT_Voltage < 45) |
323 | { |
323 | { |
324 | LED_RED_ON; |
324 | LED_RED_ON; |
325 | sprintf(ErrorMSG,"ERR:Power Supply"); |
325 | sprintf(ErrorMSG,"ERR:Power Supply"); |
326 | newErrorCode = 41; |
326 | newErrorCode = 41; |
327 | } |
327 | } |
328 | else |
328 | else |
329 | if(FC.Error[1] & FC_ERROR1_RC_VOLTAGE) |
329 | if(FC.Error[1] & FC_ERROR1_RC_VOLTAGE) |
330 | { |
330 | { |
331 | LED_RED_ON; |
331 | LED_RED_ON; |
332 | sprintf(ErrorMSG,"ERR: 5V RC-Supply"); |
332 | sprintf(ErrorMSG,"ERR: 5V RC-Supply"); |
333 | newErrorCode = 40; |
333 | newErrorCode = 40; |
334 | } |
334 | } |
335 | else if(FC.Error[1] & FC_ERROR1_PPM) |
335 | else if(FC.Error[1] & FC_ERROR1_PPM) |
336 | { |
336 | { |
337 | LED_RED_ON; |
337 | LED_RED_ON; |
338 | sprintf(ErrorMSG,"RC Signal lost "); |
338 | sprintf(ErrorMSG,"RC Signal lost "); |
339 | newErrorCode = 7; |
339 | newErrorCode = 7; |
340 | } |
340 | } |
341 | else if(ErrorGpsFixLost) |
341 | else if(ErrorGpsFixLost) |
342 | { |
342 | { |
343 | LED_RED_ON; |
343 | LED_RED_ON; |
344 | sprintf(ErrorMSG,"GPS Fix lost "); |
344 | sprintf(ErrorMSG,"GPS Fix lost "); |
345 | newErrorCode = 21; |
345 | newErrorCode = 21; |
346 | } |
346 | } |
347 | else if(ErrorDisturbedEarthMagnetField) |
347 | else if(ErrorDisturbedEarthMagnetField) |
348 | { |
348 | { |
349 | LED_RED_ON; |
349 | LED_RED_ON; |
350 | sprintf(ErrorMSG,"Magnet error "); |
350 | sprintf(ErrorMSG,"Magnet error "); |
351 | newErrorCode = 22; |
351 | newErrorCode = 22; |
352 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
352 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
353 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
353 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
354 | } |
354 | } |
355 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
355 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
356 | { |
356 | { |
357 | LED_RED_ON; |
357 | LED_RED_ON; |
358 | sprintf(ErrorMSG,"ERR:Motor restart "); |
358 | sprintf(ErrorMSG,"ERR:Motor restart "); |
359 | newErrorCode = 23; |
359 | newErrorCode = 23; |
360 | DebugOut.StatusRed |= AMPEL_BL; |
360 | DebugOut.StatusRed |= AMPEL_BL; |
361 | } |
361 | } |
362 | else if(BL_MinOfMaxPWM && BL_MinOfMaxPWM < 30 && !ErrorCode) |
362 | else if(BL_MinOfMaxPWM && BL_MinOfMaxPWM < 30 && !ErrorCode) |
363 | { |
363 | { |
364 | u16 i; |
364 | u16 i; |
365 | for(i = 0; i < 16; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; // find the motor number |
365 | for(i = 0; i < 16; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; // find the motor number |
366 | LED_RED_ON; |
366 | LED_RED_ON; |
367 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
367 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
368 | newErrorCode = 32; |
368 | newErrorCode = 32; |
369 | DebugOut.StatusRed |= AMPEL_BL; |
369 | DebugOut.StatusRed |= AMPEL_BL; |
370 | } |
370 | } |
371 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
371 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
372 | { |
372 | { |
373 | LED_RED_ON; |
373 | LED_RED_ON; |
374 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
374 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
375 | newErrorCode = 24; |
375 | newErrorCode = 24; |
376 | DebugOut.StatusRed |= AMPEL_BL; |
376 | DebugOut.StatusRed |= AMPEL_BL; |
377 | } |
377 | } |
378 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
378 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
379 | { |
379 | { |
380 | LED_RED_ON; |
380 | LED_RED_ON; |
381 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
381 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
382 | newErrorCode = 25; |
382 | newErrorCode = 25; |
383 | DebugOut.StatusRed |= AMPEL_NC; |
383 | DebugOut.StatusRed |= AMPEL_NC; |
384 | } |
384 | } |
385 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
385 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
386 | { |
386 | { |
387 | LED_RED_ON; |
387 | LED_RED_ON; |
388 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
388 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
389 | newErrorCode = 26; |
389 | newErrorCode = 26; |
390 | DebugOut.StatusRed |= AMPEL_NC; |
390 | DebugOut.StatusRed |= AMPEL_NC; |
391 | } |
391 | } |
392 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
392 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
393 | { |
393 | { |
394 | LED_RED_ON; |
394 | LED_RED_ON; |
395 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
395 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
396 | newErrorCode = 27; |
396 | newErrorCode = 27; |
397 | DebugOut.StatusRed |= AMPEL_NC; |
397 | DebugOut.StatusRed |= AMPEL_NC; |
398 | SD_LoggingError = 0; |
398 | SD_LoggingError = 0; |
399 | } |
399 | } |
400 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter_5cm / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
400 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter_5cm / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
401 | { |
401 | { |
402 | LED_RED_ON; |
402 | LED_RED_ON; |
403 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
403 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
404 | newErrorCode = 29; |
404 | newErrorCode = 29; |
405 | DebugOut.StatusRed |= AMPEL_NC; |
405 | DebugOut.StatusRed |= AMPEL_NC; |
406 | } |
406 | } |
407 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
407 | else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50))) |
408 | { |
408 | { |
409 | LED_RED_ON; |
409 | LED_RED_ON; |
410 | sprintf(ErrorMSG,"No GPS Fix "); |
410 | sprintf(ErrorMSG,"No GPS Fix "); |
411 | newErrorCode = 30; |
411 | newErrorCode = 30; |
412 | } |
412 | } |
413 | else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15) |
413 | else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15) |
414 | { |
414 | { |
415 | LED_RED_ON; |
415 | LED_RED_ON; |
416 | sprintf(ErrorMSG,"GPS Update rate "); |
416 | sprintf(ErrorMSG,"GPS Update rate "); |
417 | newErrorCode = 38; |
417 | newErrorCode = 38; |
418 | } |
418 | } |
419 | else if(NC_GPS_ModeCharacter == 'F') |
419 | else if(NC_GPS_ModeCharacter == 'F') |
420 | { |
420 | { |
421 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
421 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
422 | newErrorCode = 35; |
422 | newErrorCode = 35; |
423 | } |
423 | } |
424 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
424 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
425 | { |
425 | { |
426 | sprintf(ErrorMSG,"ERR:Redundancy "); |
426 | sprintf(ErrorMSG,"ERR:Redundancy "); |
427 | newErrorCode = 36; |
427 | newErrorCode = 36; |
428 | } |
428 | } |
429 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
429 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
430 | { |
430 | { |
431 | sprintf(ErrorMSG,"Redundancy test "); |
431 | sprintf(ErrorMSG,"Redundancy test "); |
432 | newErrorCode = 37; |
432 | newErrorCode = 37; |
433 | } |
433 | } |
434 | else if(CanbusTimeOut == 1) |
434 | else if(CanbusTimeOut == 1) |
435 | { |
435 | { |
436 | sprintf(ErrorMSG,"ERR: Canbus"); |
436 | sprintf(ErrorMSG,"ERR: Canbus"); |
437 | CanbusInit(); |
437 | CanbusInit(); |
438 | newErrorCode = 39; |
438 | newErrorCode = 39; |
439 | } |
439 | } |
440 | else |
440 | else |
441 | if(FC.Error[1] & FC_ERROR1_ACC_NOT_CAL) |
441 | if(FC.Error[1] & FC_ERROR1_ACC_NOT_CAL) |
442 | { |
442 | { |
443 | LED_RED_ON; |
443 | LED_RED_ON; |
444 | sprintf(ErrorMSG,"ACC not calib."); |
444 | sprintf(ErrorMSG,"ACC not calib."); |
445 | newErrorCode = 42; |
445 | newErrorCode = 42; |
446 | } |
446 | } |
447 | else // no error occured |
447 | else // no error occured |
448 | { |
448 | { |
449 | StopNavigation = 0; |
449 | StopNavigation = 0; |
450 | LED_RED_OFF; |
450 | LED_RED_OFF; |
451 | if(no_error_delay) { no_error_delay--; } |
451 | if(no_error_delay) { no_error_delay--; } |
452 | else |
452 | else |
453 | { |
453 | { |
454 | sprintf(ErrorMSG,"No Error "); |
454 | sprintf(ErrorMSG,"No Error "); |
455 | ErrorCode = 0; |
455 | ErrorCode = 0; |
456 | } |
456 | } |
457 | } |
457 | } |
458 | 458 | ||
459 | if(newErrorCode) |
459 | if(newErrorCode) |
460 | { |
460 | { |
461 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
461 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
462 | ErrorCode = newErrorCode; |
462 | ErrorCode = newErrorCode; |
463 | } |
463 | } |
464 | FC.Error[0] = 0; |
464 | FC.Error[0] = 0; |
465 | FC.Error[1] = 0; |
465 | FC.Error[1] = 0; |
466 | FC.Error[2] = 0; |
466 | FC.Error[2] = 0; |
467 | FC.Error[3] = 0; |
467 | FC.Error[3] = 0; |
468 | FC.Error[4] = 0; |
468 | FC.Error[4] = 0; |
469 | ErrorGpsFixLost = 0; |
469 | ErrorGpsFixLost = 0; |
470 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
470 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
471 | } |
471 | } |
472 | 472 | ||
473 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
473 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
474 | { |
474 | { |
475 | u8 crc = 0xAA; |
475 | u8 crc = 0xAA; |
476 | u16 i; |
476 | u16 i; |
477 | for(i=0; i<len; i++) crc += pBuffer[i]; |
477 | for(i=0; i<len; i++) crc += pBuffer[i]; |
478 | return crc; |
478 | return crc; |
479 | } |
479 | } |
480 | 480 | ||
481 | 481 | ||
482 | u8 Polling(void) |
482 | u8 Polling(void) |
483 | { |
483 | { |
484 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
484 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
485 | static u32 old_ms = 0; |
485 | static u32 old_ms = 0; |
486 | 486 | ||
487 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
487 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
488 | running = 1; |
488 | running = 1; |
489 | 489 | ||
490 | if(CountMilliseconds != old_ms) // 1 ms |
490 | if(CountMilliseconds != old_ms) // 1 ms |
491 | { |
491 | { |
492 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
492 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
493 | if(CamCtrlTimeout) |
493 | if(CamCtrlTimeout) |
494 | { |
494 | { |
495 | if(--CamCtrlTimeout == 1) CamCtrlCharacter = '?'; |
495 | if(--CamCtrlTimeout == 1) CamCtrlCharacter = '?'; |
496 | else if(CamCtrlTimeout == 10000) CamCtrlTimeout = 0; // this is used during NC startup-Time phase |
496 | else if(CamCtrlTimeout == 10000) CamCtrlTimeout = 0; // this is used during NC startup-Time phase |
497 | } |
497 | } |
498 | else |
498 | else |
499 | { |
499 | { |
500 | if(TrigLogging.CountExternal) CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0'; |
500 | if(TrigLogging.CountExternal) CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0'; |
501 | FromCamCtrl.CamStatus = 0; |
501 | FromCamCtrl.CamStatus = 0; |
502 | }; |
502 | }; |
503 | old_ms = CountMilliseconds; |
503 | old_ms = CountMilliseconds; |
504 | Compass_Update(); // update compass communication |
504 | Compass_Update(); // update compass communication |
505 | Analog_Update(); // get new ADC values |
505 | Analog_Update(); // get new ADC values |
506 | CalcHeadFree(); |
506 | CalcHeadFree(); |
507 | if(CamCtrlTimeout > 1) CamCtrl_GetData(3); |
507 | if(CamCtrlTimeout > 1) CamCtrl_GetData(3); |
508 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
508 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
509 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
509 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
510 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
510 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
511 | if(++TimeoutGPS_Process >= 25) |
511 | if(++TimeoutGPS_Process >= 25) |
512 | { |
512 | { |
513 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
513 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
514 | TimeoutGPS_Process = 0; |
514 | TimeoutGPS_Process = 0; |
515 | } |
515 | } |
516 | } |
516 | } |
517 | 517 | ||
518 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
518 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
519 | UART0_ProcessRxData(); // GPS process request |
519 | UART0_ProcessRxData(); // GPS process request |
520 | UART0_TransmitTxData(); // GPS send answer |
520 | UART0_TransmitTxData(); // GPS send answer |
521 | UART1_ProcessRxData(); // PC process request |
521 | UART1_ProcessRxData(); // PC process request |
522 | UART1_TransmitTxData(); // PC send answer |
522 | UART1_TransmitTxData(); // PC send answer |
523 | UART2_TransmitTxData(); // FC send answer |
523 | UART2_TransmitTxData(); // FC send answer |
524 | 524 | ||
525 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
525 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
526 | 526 | ||
527 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
527 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
528 | { |
528 | { |
529 | u8 crc1, crc2; |
529 | u8 crc1, crc2; |
530 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
530 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
531 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
531 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
532 | if(crc1 == crc2) |
532 | if(crc1 == crc2) |
533 | { |
533 | { |
534 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
534 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
535 | RequestConfigFromFC = 0; |
535 | RequestConfigFromFC = 0; |
536 | } |
536 | } |
537 | HugeBlockFromFC.WhoAmI = 0; |
537 | HugeBlockFromFC.WhoAmI = 0; |
538 | } |
538 | } |
539 | 539 | ||
540 | if(FCCalibActive) |
540 | if(FCCalibActive) |
541 | { |
541 | { |
542 | count5sec = 0; |
542 | count5sec = 0; |
543 | FreqNewGpsData = 50; |
543 | FreqNewGpsData = 50; |
544 | CountNewGpsDataIn5Sec = 25; |
544 | CountNewGpsDataIn5Sec = 25; |
545 | CountGpsProcessedIn5Sec = 0; |
545 | CountGpsProcessedIn5Sec = 0; |
546 | TimerCheckError = SetDelay(1000); |
546 | TimerCheckError = SetDelay(1000); |
547 | } |
547 | } |
548 | 548 | ||
549 | // ---------------- Error Check Timing ---------------------------- |
549 | // ---------------- Error Check Timing ---------------------------- |
550 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
550 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
551 | { |
551 | { |
552 | if(CheckDelay(TimerCheckError)) |
552 | if(CheckDelay(TimerCheckError)) |
553 | { |
553 | { |
554 | if(!(FC.StatusFlags & FC_STATUS_FLY)) // do not change the Bit during flight |
554 | if(!(FC.StatusFlags & FC_STATUS_FLY)) // do not change the Bit during flight |
555 | { |
555 | { |
556 | if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; |
556 | if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; |
557 | else BlitzSchuhConnected = 0; |
557 | else BlitzSchuhConnected = 0; |
558 | } |
558 | } |
559 | TimerCheckError = SetDelay(1000); |
559 | TimerCheckError = SetDelay(1000); |
560 | if(CompassValueErrorCount) CompassValueErrorCount--; |
560 | if(CompassValueErrorCount) CompassValueErrorCount--; |
561 | if(++count5sec == 5) |
561 | if(++count5sec == 5) |
562 | { |
562 | { |
563 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
563 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
564 | FreqNewGpsData = CountNewGpsDataIn5Sec; // 50 = 5,0Hz |
564 | FreqNewGpsData = CountNewGpsDataIn5Sec; // 50 = 5,0Hz |
565 | 565 | ||
566 | count5sec = 0; |
566 | count5sec = 0; |
567 | CountGpsProcessedIn5Sec = 0; |
567 | CountGpsProcessedIn5Sec = 0; |
568 | CountNewGpsDataIn5Sec = FreqNewGpsData / 2; |
568 | CountNewGpsDataIn5Sec = FreqNewGpsData / 2; |
569 | ConfirmGpsUpdateRate(FreqNewGpsData); |
569 | ConfirmGpsUpdateRate(FreqNewGpsData); |
570 | } |
570 | } |
571 | } |
571 | } |
572 | oldFcFlags = FC.StatusFlags; |
572 | oldFcFlags = FC.StatusFlags; |
573 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
573 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
574 | 574 | ||
575 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
575 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
576 | 576 | ||
577 | if(FC.StatusFlags & FC_STATUS_FLY) |
577 | if(FC.StatusFlags & FC_STATUS_FLY) |
578 | { |
578 | { |
579 | NaviData.FlyingTime++; // we want to count the battery-time |
579 | NaviData.FlyingTime++; // we want to count the battery-time |
580 | TimeSinceMotorStart++; |
580 | TimeSinceMotorStart++; |
581 | } |
581 | } |
582 | 582 | ||
583 | if(EE_Parameter.Revision == 0) RequestConfigFromFC = 1; |
583 | if(EE_Parameter.Revision == 0) RequestConfigFromFC = 1; |
584 | if(SerialLinkOkay) SerialLinkOkay--; |
584 | if(SerialLinkOkay) SerialLinkOkay--; |
585 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
585 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
586 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
586 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
587 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
587 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
588 | } |
588 | } |
589 | running = 0; |
589 | running = 0; |
590 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
590 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
591 | return(0); |
591 | return(0); |
592 | } |
592 | } |
593 | 593 | ||
594 | // the handler will be cyclic called by the timer 1 ISR |
594 | // the handler will be cyclic called by the timer 1 ISR |
595 | // used is for critical timing parts that normaly would handled |
595 | // used is for critical timing parts that normaly would handled |
596 | // within the main loop that could block longer at logging activities |
596 | // within the main loop that could block longer at logging activities |
597 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
597 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
598 | { |
598 | { |
599 | IENABLE; |
599 | IENABLE; |
600 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
600 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
601 | 601 | ||
602 | if(PollingTimeout == 0) |
602 | if(PollingTimeout == 0) |
603 | { |
603 | { |
604 | PollingTimeout = 5; |
604 | PollingTimeout = 5; |
605 | //if(Polling() == 0) DebugOut.Analog[]++; |
605 | //if(Polling() == 0) DebugOut.Analog[]++; |
606 | Polling(); |
606 | Polling(); |
607 | } |
607 | } |
608 | 608 | ||
609 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
609 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
610 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
610 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
611 | IDISABLE; |
611 | IDISABLE; |
612 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
612 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
613 | } |
613 | } |
614 | 614 | ||
615 | //---------------------------------------------------------------------------------------------------- |
615 | //---------------------------------------------------------------------------------------------------- |
616 | int main(void) |
616 | int main(void) |
617 | { |
617 | { |
618 | 618 | ||
619 | // static u32 ftimer =0; |
619 | // static u32 ftimer =0; |
620 | // static u8 fstate = 0; |
620 | // static u8 fstate = 0; |
621 | // static File_t* f = NULL; |
621 | // static File_t* f = NULL; |
622 | 622 | ||
623 | 623 | ||
624 | /* Configure the system clocks */ |
624 | /* Configure the system clocks */ |
625 | SCU_Config(); |
625 | SCU_Config(); |
626 | /* init VIC (Vectored Interrupt Controller) */ |
626 | /* init VIC (Vectored Interrupt Controller) */ |
627 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
627 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
628 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
628 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
629 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
629 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
630 | VIC_InitDefaultVectors(); |
630 | VIC_InitDefaultVectors(); |
631 | 631 | ||
632 | // initialize timer 1 for System Clock and delay rountines |
632 | // initialize timer 1 for System Clock and delay rountines |
633 | TIMER1_Init(); |
633 | TIMER1_Init(); |
634 | // initialize the LEDs (needs Timer 1) |
634 | // initialize the LEDs (needs Timer 1) |
635 | Led_Init(); |
635 | Led_Init(); |
636 | // initialize the debug UART1 |
636 | // initialize the debug UART1 |
637 | UART1_Init(); |
637 | UART1_Init(); |
638 | UART1_PutString("\r\n---------------------------------------------"); |
638 | UART1_PutString("\r\n---------------------------------------------"); |
639 | // initialize timer 2 for servo outputs |
639 | // initialize timer 2 for servo outputs |
640 | //TIMER2_Init(); |
640 | //TIMER2_Init(); |
641 | // initialize UART2 to FLIGHTCTRL |
641 | // initialize UART2 to FLIGHTCTRL |
642 | UART2_Init(); |
642 | UART2_Init(); |
643 | // initialize UART0 (to MKGPS or MK3MAG) |
643 | // initialize UART0 (to MKGPS or MK3MAG) |
644 | UART0_Init(); |
644 | UART0_Init(); |
645 | // initialize adc |
645 | // initialize adc |
646 | Analog_Init(); |
646 | Analog_Init(); |
647 | // initialize SPI0 to FC |
647 | // initialize SPI0 to FC |
648 | SPI0_Init(); |
648 | SPI0_Init(); |
649 | // initialize i2c busses (needs Timer 1) |
649 | // initialize i2c busses (needs Timer 1) |
650 | InitCamCtrl(); |
650 | InitCamCtrl(); |
651 | I2CBus_Init(I2C0); |
651 | I2CBus_Init(I2C0); |
652 | I2CBus_Init(I2C1); |
652 | I2CBus_Init(I2C1); |
653 | // initialize fat16 partition on sd card (needs Timer 1) |
653 | // initialize fat16 partition on sd card (needs Timer 1) |
654 | Fat16_Init(); |
654 | Fat16_Init(); |
655 | // initialize NC params |
655 | // initialize NC params |
656 | NCParams_Init(); |
656 | NCParams_Init(); |
657 | // initialize the settings |
657 | // initialize the settings |
658 | Settings_Init(); |
658 | Settings_Init(); |
659 | // initialize logging (needs settings) |
659 | // initialize logging (needs settings) |
660 | Logging_Init(); |
660 | Logging_Init(); |
661 | 661 | ||
662 | //UART_VersionInfo.HWMajor = 30; |
662 | //UART_VersionInfo.HWMajor = 30; |
663 | LED_GRN_ON; |
663 | LED_GRN_ON; |
664 | TimerCheckError = SetDelay(3000); |
664 | TimerCheckError = SetDelay(3000); |
665 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
665 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
666 | UART1_PutString("\n\r Version information:"); |
666 | UART1_PutString("\n\r Version information:"); |
667 | 667 | ||
668 | GetNaviCtrlVersion(); |
668 | GetNaviCtrlVersion(); |
669 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
669 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
670 | DebugOut.StatusRed = 0x00; |
670 | DebugOut.StatusRed = 0x00; |
671 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
671 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
672 | Compass_Init(); |
672 | Compass_Init(); |
673 | #ifdef FOLLOW_ME |
673 | #ifdef FOLLOW_ME |
674 | TransmitAlsoToFC = 1; |
674 | TransmitAlsoToFC = 1; |
675 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
675 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
676 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
676 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
677 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
677 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
678 | TransmitAlsoToFC = 0; |
678 | TransmitAlsoToFC = 0; |
679 | #else |
679 | #else |
680 | if(UBX_Setup() == 0) UBX_Setup(); // inits the GPS-Module via ubx -> try twice |
680 | // if(UBX_Setup() == 0) UBX_Setup(); // inits the GPS-Module via ubx -> try twice |
681 | - | ||
682 | SPI0_GetFlightCtrlVersion(); |
681 | SPI0_GetFlightCtrlVersion(); |
- | 682 | if(IamMaster == SLAVE) UART1_PutString(" SLAVE\r\n"); |
|
- | 683 | if(IamMaster == MASTER) UART1_PutString(" MASTER\r\n"); |
|
683 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
684 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
684 | { |
685 | { |
685 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
686 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
686 | LED_RED_ON; |
687 | LED_RED_ON; |
687 | } |
688 | } |
688 | #endif |
689 | #endif |
689 | if(IamMaster == SLAVE) UART1_PutString(" SLAVE\r\n"); |
690 | if(UBX_Setup() == 0) UBX_Setup(); // inits the GPS-Module via ubx -> try twice |
690 | if(IamMaster == MASTER) UART1_PutString(" MASTER\r\n"); |
- | |
691 | - | ||
692 | // +++++++++++++++++++++++++++++++++++++++ |
691 | // +++++++++++++++++++++++++++++++++++++++ |
693 | // ++ check CamCtrl version (if connected) |
692 | // ++ check CamCtrl version (if connected) |
694 | if(Compass_I2CPort == NCMAG_PORT_INTERN) |
693 | if(Compass_I2CPort == NCMAG_PORT_INTERN) |
695 | { |
694 | { |
696 | if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, 4, &CamCtrl_UpdateData, sizeof(FromCamCtrl)); |
695 | if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, 4, &CamCtrl_UpdateData, sizeof(FromCamCtrl)); |
697 | } |
696 | } |
698 | else CamCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
697 | else CamCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected |
699 | // +++++++++++++++++++++++++++++++++++++++ |
698 | // +++++++++++++++++++++++++++++++++++++++ |
700 | GPS_Init(); |
699 | GPS_Init(); |
701 | // ---------- Prepare the isr driven |
700 | // ---------- Prepare the isr driven |
702 | // set to absolute lowest priority |
701 | // set to absolute lowest priority |
703 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
702 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
704 | // enable interrupts |
703 | // enable interrupts |
705 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
704 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
706 | 705 | ||
707 | Debug_OK("START"); |
706 | Debug_OK("START"); |
708 | UART1_PutString("\r\n"); |
707 | UART1_PutString("\r\n"); |
709 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
708 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
710 | LED_GRN_ON; |
709 | LED_GRN_ON; |
711 | LED_RED_OFF; |
710 | LED_RED_OFF; |
712 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
711 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
713 | UART1_PutString("\r\n"); |
712 | UART1_PutString("\r\n"); |
714 | 713 | ||
715 | CompassValueErrorCount = 0; |
714 | CompassValueErrorCount = 0; |
716 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
715 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
717 | 716 | ||
718 | // Intilizes the Canbus |
717 | // Intilizes the Canbus |
719 | if(UART_VersionInfo.HWMajor >= 30) |
718 | if(UART_VersionInfo.HWMajor >= 30) |
720 | { |
719 | { |
721 | EXT2_Init(); // External Output EXT2 |
720 | EXT2_Init(); // External Output EXT2 |
722 | CanbusInit(); |
721 | CanbusInit(); |
723 | } |
722 | } |
724 | if(FromCamCtrl.CamStatus) |
723 | if(FromCamCtrl.CamStatus) |
725 | { |
724 | { |
726 | u8 msg[30]; |
725 | u8 msg[30]; |
727 | sprintf(msg, " CamCtrl found V%i.%02i \r\n",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
726 | sprintf(msg, " CamCtrl found V%i.%02i \r\n",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
728 | UART1_PutString(msg); |
727 | UART1_PutString(msg); |
729 | } |
728 | } |
730 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No CamCtrl connected \r\n"); |
729 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No CamCtrl connected \r\n"); |
731 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
730 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
732 | for (;;) // the endless main loop |
731 | for (;;) // the endless main loop |
733 | { |
732 | { |
734 | PollingTimeout = 5; |
733 | PollingTimeout = 5; |
735 | Polling(); |
734 | Polling(); |
736 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
735 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
737 | if(FromFC_LoadWP_List) |
736 | if(FromFC_LoadWP_List) |
738 | { |
737 | { |
739 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
738 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
740 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
739 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
741 | { |
740 | { |
742 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
741 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
743 | { |
742 | { |
744 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
743 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
745 | { |
744 | { |
746 | u32 angle; |
745 | u32 angle; |
747 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
746 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
748 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
747 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance_dm > 7*10) |
749 | { // take actual position |
748 | { // take actual position |
750 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
749 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
751 | } |
750 | } |
752 | else |
751 | else |
753 | { // take last target position |
752 | { // take last target position |
754 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
753 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
755 | } |
754 | } |
756 | } |
755 | } |
757 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
756 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
758 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
757 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
759 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
758 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
760 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
759 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
761 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
760 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
762 | BeepTime = 150; |
761 | BeepTime = 150; |
763 | } |
762 | } |
764 | } |
763 | } |
765 | FromFC_LoadWP_List = 0; |
764 | FromFC_LoadWP_List = 0; |
766 | } |
765 | } |
767 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
766 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
768 | if(FromFC_Save_SinglePoint) |
767 | if(FromFC_Save_SinglePoint) |
769 | { |
768 | { |
770 | WPL_Store.Index = FromFC_Save_SinglePoint; |
769 | WPL_Store.Index = FromFC_Save_SinglePoint; |
771 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
770 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
772 | FromFC_Save_SinglePoint = 0; |
771 | FromFC_Save_SinglePoint = 0; |
773 | } |
772 | } |
774 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
773 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
775 | if(FromFC_Load_SinglePoint) |
774 | if(FromFC_Load_SinglePoint) |
776 | { |
775 | { |
777 | WPL_Store.Index = FromFC_Load_SinglePoint; |
776 | WPL_Store.Index = FromFC_Load_SinglePoint; |
778 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
777 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
779 | { |
778 | { |
780 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
779 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
781 | { |
780 | { |
782 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
781 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
783 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
782 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
784 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
783 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
785 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
784 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
786 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
785 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
787 | BeepTime = 150; |
786 | BeepTime = 150; |
788 | } |
787 | } |
789 | } |
788 | } |
790 | FromFC_Load_SinglePoint = 0; |
789 | FromFC_Load_SinglePoint = 0; |
791 | } |
790 | } |
792 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
791 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
793 | // ---------------- Logging --------------------------------------- |
792 | // ---------------- Logging --------------------------------------- |
794 | if(SD_WatchDog) |
793 | if(SD_WatchDog) |
795 | { |
794 | { |
796 | SD_WatchDog = 30000; |
795 | SD_WatchDog = 30000; |
797 | 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 |
796 | 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 |
798 | else |
797 | else |
799 | { |
798 | { |
800 | ToFC_MaxWpListIndex = 0; |
799 | ToFC_MaxWpListIndex = 0; |
801 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
800 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
802 | } |
801 | } |
803 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
802 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
804 | } |
803 | } |
805 | 804 | ||
806 | /* |
805 | /* |
807 | if(CheckDelay(ftimer)) |
806 | if(CheckDelay(ftimer)) |
808 | { |
807 | { |
809 | 808 | ||
810 | static s8 filename[35]; |
809 | static s8 filename[35]; |
811 | static u8 i = 0; |
810 | static u8 i = 0; |
812 | s8 dbgmsg[40]; |
811 | s8 dbgmsg[40]; |
813 | 812 | ||
814 | 813 | ||
815 | 814 | ||
816 | ftimer = SetDelay(100); |
815 | ftimer = SetDelay(100); |
817 | if(FC.Poti[3]>100 && fstate == 0) |
816 | if(FC.Poti[3]>100 && fstate == 0) |
818 | { |
817 | { |
819 | fstate = 1; |
818 | fstate = 1; |
820 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
819 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
821 | } |
820 | } |
822 | else if(FC.Poti[3]<100 && fstate == 2) |
821 | else if(FC.Poti[3]<100 && fstate == 2) |
823 | { |
822 | { |
824 | fstate = 3; |
823 | fstate = 3; |
825 | } |
824 | } |
826 | 825 | ||
827 | switch(fstate) |
826 | switch(fstate) |
828 | { |
827 | { |
829 | case 1: |
828 | case 1: |
830 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
829 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
831 | Debug(dbgmsg); |
830 | Debug(dbgmsg); |
832 | f = fopen_(filename, 'a'); |
831 | f = fopen_(filename, 'a'); |
833 | if(f== NULL) Fat16_Init(); |
832 | if(f== NULL) Fat16_Init(); |
834 | fstate = 2; |
833 | fstate = 2; |
835 | break; |
834 | break; |
836 | 835 | ||
837 | case 2: |
836 | case 2: |
838 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
837 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
839 | break; |
838 | break; |
840 | 839 | ||
841 | case 3: |
840 | case 3: |
842 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
841 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
843 | Debug(dbgmsg); |
842 | Debug(dbgmsg); |
844 | fclose_(f); |
843 | fclose_(f); |
845 | fstate = 0; |
844 | fstate = 0; |
846 | break; |
845 | break; |
847 | 846 | ||
848 | default: |
847 | default: |
849 | break; |
848 | break; |
850 | } |
849 | } |
851 | } |
850 | } |
852 | */ |
851 | */ |
853 | } |
852 | } |
854 | } |
853 | } |
855 | //DebugOut.Analog[] |
854 | //DebugOut.Analog[] |
856 | 855 |