WebSVN - NaviCtrl - Diff - Rev 350 and 351


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     clearly linked as origin
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//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#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"
 
#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;
Param_t Parameter;
volatile FC_t FC;
 
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 communication ");
                //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 && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:SD Logging aborted");
         newErrorCode = 27;
         DebugOut.StatusRed |= AMPEL_NC;
         SD_LoggingError = 0;
        }
        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;
}
 
// 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
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        Compass_Update();               // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
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();
 
        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");
 
        for (;;) // the endless main loop
        {
                UART0_ProcessRxData();  // process request
                UART1_ProcessRxData();  // process request
                USB_ProcessRxData();    // process request
                UART0_TransmitTxData(); // send answer
                UART1_TransmitTxData(); // send answer
                UART2_TransmitTxData(); // send answer
                USB_TransmitTxData();   // send answer
                SPI0_UpdateBuffer();    // handle new SPI Data
 
                // ---------------- 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;
                }
 
                // ---------------- Logging  ---------------------------------------
                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
 
                /*
                // test
                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 350	Rev 351
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:	31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz	32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
35	// + this list of conditions and the following disclaimer.	35	// + this list of conditions and the following disclaimer.
36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
37	// + from this software without specific prior written permission.	37	// + from this software without specific prior written permission.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
39	// + for non-commercial use (directly or indirectly)	39	// + for non-commercial use (directly or indirectly)
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
41	// + with our written permission	41	// + with our written permission
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
43	// + clearly linked as origin	43	// + clearly linked as origin
44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
45	//	45	//
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
56	// + POSSIBILITY OF SUCH DAMAGE.	56	// + POSSIBILITY OF SUCH DAMAGE.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	58	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	59	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	60	#include <stdio.h>
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "led.h"	62	#include "led.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "uart2.h"	65	#include "uart2.h"
66	#include "gps.h"	66	#include "gps.h"
67	#include "i2c.h"	67	#include "i2c.h"
68	#include "compass.h"	68	#include "compass.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 "usb.h"	74	#include "usb.h"
75	#include "sdc.h"	75	#include "sdc.h"
76	#include "logging.h"	76	#include "logging.h"
77	#include "params.h"	77	#include "params.h"
78	#include "settings.h"	78	#include "settings.h"
79	#include "config.h"	79	#include "config.h"
80	#include "main.h"	80	#include "main.h"
81	#include "debug.h"	81	#include "debug.h"
82	#include "eeprom.h"	82	#include "eeprom.h"
83	#include "ssc.h"	83	#include "ssc.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	Param_t Parameter;	97	Param_t Parameter;
98	volatile FC_t FC;	98	volatile FC_t FC;
99		99
100	s8 ErrorMSG[25];	100	s8 ErrorMSG[25];
101		101
102	//----------------------------------------------------------------------------------------------------	102	//----------------------------------------------------------------------------------------------------
103	void SCU_Config(void)	103	void SCU_Config(void)
104	{	104	{
105	/* configure PLL and set it as master clock source */	105	/* configure PLL and set it as master clock source */
106	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	106	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
107	SCU_PLLCmd(DISABLE); // now disable the PLL	107	SCU_PLLCmd(DISABLE); // now disable the PLL
108	#ifdef MCLK96MHZ	108	#ifdef MCLK96MHZ
109	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	109	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
110	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	110	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
111	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	111	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
112	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	112	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
113	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	113	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
114	#else	114	#else
115	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	115	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
116	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	116	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
117	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	117	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
118	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	118	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
119	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	119	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
120	#endif	120	#endif
121	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	121	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
122	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	122	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
123	}	123	}
124		124
125	//----------------------------------------------------------------------------------------------------	125	//----------------------------------------------------------------------------------------------------
126	void GetNaviCtrlVersion(void)	126	void GetNaviCtrlVersion(void)
127	{	127	{
128	u8 msg[25];	128	u8 msg[25];
129		129
130	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);	130	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);
131	UART1_PutString(msg);	131	UART1_PutString(msg);
132	}	132	}
133		133
134	//----------------------------------------------------------------------------------------------------	134	//----------------------------------------------------------------------------------------------------
135		135
136	void CheckErrors(void)	136	void CheckErrors(void)
137	{	137	{
138	static s32 no_error_delay = 0;	138	static s32 no_error_delay = 0;
139	s32 newErrorCode = 0;	139	s32 newErrorCode = 0;
140	UART_VersionInfo.HardwareError[0] = 0;	140	UART_VersionInfo.HardwareError[0] = 0;
141		141
142	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	142	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
143	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	143	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
144		144
145	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	145	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;
146	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status	146	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
147		147
148	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	148	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
149	else DebugOut.StatusRed &= ~AMPEL_NC;	149	else DebugOut.StatusRed &= ~AMPEL_NC;
150		150
151	if(CheckDelay(SPI0_Timeout))	151	if(CheckDelay(SPI0_Timeout))
152	{	152	{
153	LED_RED_ON;	153	LED_RED_ON;
154	sprintf(ErrorMSG,"no FC communication ");	154	sprintf(ErrorMSG,"no FC communication ");
155	newErrorCode = 3;	155	newErrorCode = 3;
156	StopNavigation = 1;	156	StopNavigation = 1;
157	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	157	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
158	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	158	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
159	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	159	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
160	}	160	}
161	else if(CheckDelay(I2C1_Timeout))	161	else if(CheckDelay(I2C1_Timeout))
162	{	162	{
163	LED_RED_ON;	163	LED_RED_ON;
164	sprintf(ErrorMSG,"no compass communication ");	164	sprintf(ErrorMSG,"no compass communication ");
165	//Reset I2CBus	165	//Reset I2CBus
166	I2C1_Deinit();	166	I2C1_Deinit();
167	I2C1_Init();	167	I2C1_Init();
168	newErrorCode = 4;	168	newErrorCode = 4;
169	StopNavigation = 1;	169	StopNavigation = 1;
170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
171	DebugOut.StatusRed \|= AMPEL_COMPASS;	171	DebugOut.StatusRed \|= AMPEL_COMPASS;
172	}	172	}
173	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	173	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
174	{	174	{
175	LED_RED_ON;	175	LED_RED_ON;
176	#ifndef FOLLOW_ME	176	#ifndef FOLLOW_ME
177	sprintf(ErrorMSG,"FC not compatible ");	177	sprintf(ErrorMSG,"FC not compatible ");
178	#else	178	#else
179	sprintf(ErrorMSG,"! FollowMe only ! ");	179	sprintf(ErrorMSG,"! FollowMe only ! ");
180	#endif	180	#endif
181	newErrorCode = 1;	181	newErrorCode = 1;
182	StopNavigation = 1;	182	StopNavigation = 1;
183	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	183	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
184	DebugOut.StatusRed \|= AMPEL_NC;	184	DebugOut.StatusRed \|= AMPEL_NC;
185	}	185	}
186		186
187	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	187	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
188	{	188	{
189	LED_RED_ON;	189	LED_RED_ON;
190	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	190	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
191	newErrorCode = 10;	191	newErrorCode = 10;
192	}	192	}
193	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	193	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
194	{	194	{
195	LED_RED_ON;	195	LED_RED_ON;
196	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	196	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
197	newErrorCode = 11;	197	newErrorCode = 11;
198	}	198	}
199	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	199	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
200	{	200	{
201	LED_RED_ON;	201	LED_RED_ON;
202	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	202	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
203	newErrorCode = 12;	203	newErrorCode = 12;
204	}	204	}
205	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	205	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
206	{	206	{
207	LED_RED_ON;	207	LED_RED_ON;
208	sprintf(ErrorMSG,"ERR: FC Nick ACC");	208	sprintf(ErrorMSG,"ERR: FC Nick ACC");
209	newErrorCode = 13;	209	newErrorCode = 13;
210	}	210	}
211	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	211	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
212	{	212	{
213	LED_RED_ON;	213	LED_RED_ON;
214	sprintf(ErrorMSG,"ERR: FC Roll ACC");	214	sprintf(ErrorMSG,"ERR: FC Roll ACC");
215	newErrorCode = 14;	215	newErrorCode = 14;
216	}	216	}
217	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	217	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
218	{	218	{
219	LED_RED_ON;	219	LED_RED_ON;
220	sprintf(ErrorMSG,"ERR:FC Z-ACC");	220	sprintf(ErrorMSG,"ERR:FC Z-ACC");
221	newErrorCode = 15;	221	newErrorCode = 15;
222	}	222	}
-		223	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
-		224	{
-		225	LED_RED_ON;
-		226	sprintf(ErrorMSG,"ERR:Flying range!");
-		227	newErrorCode = 28;
-		228	}
223	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	229	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
224	{	230	{
225	LED_RED_ON;	231	LED_RED_ON;
226	sprintf(ErrorMSG,"ERR:Pressure sensor");	232	sprintf(ErrorMSG,"ERR:Pressure sensor");
227	newErrorCode = 16;	233	newErrorCode = 16;
228	}	234	}
229	else if(FC.Error[1] & FC_ERROR1_I2C)	235	else if(FC.Error[1] & FC_ERROR1_I2C)
230	{	236	{
231	LED_RED_ON;	237	LED_RED_ON;
232	sprintf(ErrorMSG,"ERR:I2C FC to BL");	238	sprintf(ErrorMSG,"ERR:I2C FC to BL");
233	newErrorCode = 17;	239	newErrorCode = 17;
234	}	240	}
235	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	241	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
236	{	242	{
237	LED_RED_ON;	243	LED_RED_ON;
238	sprintf(ErrorMSG,"ERR: Bl Missing");	244	sprintf(ErrorMSG,"ERR: Bl Missing");
239	newErrorCode = 18;	245	newErrorCode = 18;
240	}	246	}
241	else if(FC.Error[1] & FC_ERROR1_MIXER)	247	else if(FC.Error[1] & FC_ERROR1_MIXER)
242	{	248	{
243	LED_RED_ON;	249	LED_RED_ON;
244	sprintf(ErrorMSG,"Mixer Error");	250	sprintf(ErrorMSG,"Mixer Error");
245	newErrorCode = 19;	251	newErrorCode = 19;
246	}	252	}
247	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)	253	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
248	{	254	{
249	LED_RED_ON;	255	LED_RED_ON;
250	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	256	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
251	// else	257	// else
252	{	258	{
253	sprintf(ErrorMSG,"no GPS communication ");	259	sprintf(ErrorMSG,"no GPS communication ");
254	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	260	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
255	newErrorCode = 5;	261	newErrorCode = 5;
256	}	262	}
257	StopNavigation = 1;	263	StopNavigation = 1;
258	// UBX_Timeout = SetDelay(500);	264	// UBX_Timeout = SetDelay(500);
259	}	265	}
260	else if(Compass_Heading < 0)	266	else if(Compass_Heading < 0)
261	{	267	{
262	LED_RED_ON;	268	LED_RED_ON;
263	sprintf(ErrorMSG,"bad compass value ");	269	sprintf(ErrorMSG,"bad compass value ");
264	newErrorCode = 6;	270	newErrorCode = 6;
265	StopNavigation = 1;	271	StopNavigation = 1;
266	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	272	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
267	}	273	}
268	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	274	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
269	{	275	{
270	LED_RED_ON;	276	LED_RED_ON;
271	sprintf(ErrorMSG,"FC spi rx error ");	277	sprintf(ErrorMSG,"FC spi rx error ");
272	newErrorCode = 8;	278	newErrorCode = 8;
273	StopNavigation = 1;	279	StopNavigation = 1;
274	}	280	}
275	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	281	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
276	{	282	{
277	LED_RED_ON;	283	LED_RED_ON;
278	sprintf(ErrorMSG,"FC: Carefree Error");	284	sprintf(ErrorMSG,"FC: Carefree Error");
279	newErrorCode = 20;	285	newErrorCode = 20;
280	}	286	}
281	else if(FC.Error[1] & FC_ERROR1_PPM)	287	else if(FC.Error[1] & FC_ERROR1_PPM)
282	{	288	{
283	LED_RED_ON;	289	LED_RED_ON;
284	sprintf(ErrorMSG,"RC Signal lost ");	290	sprintf(ErrorMSG,"RC Signal lost ");
285	newErrorCode = 7;	291	newErrorCode = 7;
286	}	292	}
287	else if(ErrorGpsFixLost)	293	else if(ErrorGpsFixLost)
288	{	294	{
289	LED_RED_ON;	295	LED_RED_ON;
290	sprintf(ErrorMSG,"GPS Fix lost ");	296	sprintf(ErrorMSG,"GPS Fix lost ");
291	newErrorCode = 21;	297	newErrorCode = 21;
292	}	298	}
293	else if(ErrorDisturbedEarthMagnetField)	299	else if(ErrorDisturbedEarthMagnetField)
294	{	300	{
295	LED_RED_ON;	301	LED_RED_ON;
296	sprintf(ErrorMSG,"Magnet error ");	302	sprintf(ErrorMSG,"Magnet error ");
297	newErrorCode = 22;	303	newErrorCode = 22;
298	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	304	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
299	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	305	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
300	}	306	}
301	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	307	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
302	{	308	{
303	LED_RED_ON;	309	LED_RED_ON;
304	sprintf(ErrorMSG,"ERR:Motor restart ");	310	sprintf(ErrorMSG,"ERR:Motor restart ");
305	newErrorCode = 23;	311	newErrorCode = 23;
306	DebugOut.StatusRed \|= AMPEL_BL;	312	DebugOut.StatusRed \|= AMPEL_BL;
307	}	313	}
308	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	314	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
309	{	315	{
310	LED_RED_ON;	316	LED_RED_ON;
311	sprintf(ErrorMSG,"ERR:BL Limitation ");	317	sprintf(ErrorMSG,"ERR:BL Limitation ");
312	newErrorCode = 24;	318	newErrorCode = 24;
313	DebugOut.StatusRed \|= AMPEL_BL;	319	DebugOut.StatusRed \|= AMPEL_BL;
314	}	320	}
315	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	321	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
316	{	322	{
317	LED_RED_ON;	323	LED_RED_ON;
318	sprintf(ErrorMSG,"ERR:Waypoint range ");	324	sprintf(ErrorMSG,"ERR:GPS range ");
319	newErrorCode = 25;	325	newErrorCode = 25;
320	DebugOut.StatusRed \|= AMPEL_NC;	326	DebugOut.StatusRed \|= AMPEL_NC;
321	}	327	}
322	else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)	328	else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
323	{	329	{
324	LED_RED_ON;	330	LED_RED_ON;
325	sprintf(ErrorMSG,"ERR:No SD-Card ");	331	sprintf(ErrorMSG,"ERR:No SD-Card ");
326	newErrorCode = 26;	332	newErrorCode = 26;
327	DebugOut.StatusRed \|= AMPEL_NC;	333	DebugOut.StatusRed \|= AMPEL_NC;
328	}	334	}
-		335	else if(SD_LoggingError && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
-		336	{
-		337	LED_RED_ON;
-		338	sprintf(ErrorMSG,"ERR:SD Logging aborted");
-		339	newErrorCode = 27;
-		340	DebugOut.StatusRed \|= AMPEL_NC;
-		341	SD_LoggingError = 0;
-		342	}
329	else // no error occured	343	else // no error occured
330	{	344	{
331	StopNavigation = 0;	345	StopNavigation = 0;
332	LED_RED_OFF;	346	LED_RED_OFF;
333	if(no_error_delay) { no_error_delay--; }	347	if(no_error_delay) { no_error_delay--; }
334	else	348	else
335	{	349	{
336	sprintf(ErrorMSG,"No Error ");	350	sprintf(ErrorMSG,"No Error ");
337	ErrorCode = 0;	351	ErrorCode = 0;
338	}	352	}
339	}	353	}
340		354
341	if(newErrorCode)	355	if(newErrorCode)
342	{	356	{
343	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running	357	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
344	ErrorCode = newErrorCode;	358	ErrorCode = newErrorCode;
345	}	359	}
346	FC.Error[0] = 0;	360	FC.Error[0] = 0;
347	FC.Error[1] = 0;	361	FC.Error[1] = 0;
348	FC.Error[2] = 0;	362	FC.Error[2] = 0;
349	FC.Error[3] = 0;	363	FC.Error[3] = 0;
350	FC.Error[4] = 0;	364	FC.Error[4] = 0;
351	ErrorGpsFixLost = 0;	365	ErrorGpsFixLost = 0;
352	}	366	}
353		367
354	// the handler will be cyclic called by the timer 1 ISR	368	// the handler will be cyclic called by the timer 1 ISR
355	// used is for critical timing parts that normaly would handled	369	// used is for critical timing parts that normaly would handled
356	// within the main loop that could block longer at logging activities	370	// within the main loop that could block longer at logging activities
357	void EXTIT3_IRQHandler(void)	371	void EXTIT3_IRQHandler(void)
358	{	372	{
359	IENABLE;	373	IENABLE;
360		374
361	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	375	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
362	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	376	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
363	Compass_Update(); // update compass communication	377	Compass_Update(); // update compass communication
364	Analog_Update(); // get new ADC values	378	Analog_Update(); // get new ADC values
365	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	379	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
366		380
367	IDISABLE;	381	IDISABLE;
368	}	382	}
369		383
370	//----------------------------------------------------------------------------------------------------	384	//----------------------------------------------------------------------------------------------------
371	int main(void)	385	int main(void)
372	{	386	{
373	/*	387	/*
374	static u32 ftimer =0;	388	static u32 ftimer =0;
375	static u8 fstate = 0;	389	static u8 fstate = 0;
376	static File_t* f = NULL;	390	static File_t* f = NULL;
377	*/	391	*/
378		392
379	/* Configure the system clocks */	393	/* Configure the system clocks */
380	SCU_Config();	394	SCU_Config();
381	/* init VIC (Vectored Interrupt Controller) */	395	/* init VIC (Vectored Interrupt Controller) */
382	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	396	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
383	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	397	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
384	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	398	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
385	VIC_InitDefaultVectors();	399	VIC_InitDefaultVectors();
386		400
387	// initialize timer 1 for System Clock and delay rountines	401	// initialize timer 1 for System Clock and delay rountines
388	TIMER1_Init();	402	TIMER1_Init();
389	// initialize the LEDs (needs Timer 1)	403	// initialize the LEDs (needs Timer 1)
390	Led_Init();	404	Led_Init();
391	// initialize the debug UART1	405	// initialize the debug UART1
392	UART1_Init();	406	UART1_Init();
393	UART1_PutString("\r\n---------------------------------------------");	407	UART1_PutString("\r\n---------------------------------------------");
394	// initialize usb	408	// initialize usb
395	USB_ConfigInit();	409	USB_ConfigInit();
396	// initialize timer 2 for servo outputs	410	// initialize timer 2 for servo outputs
397	//TIMER2_Init();	411	//TIMER2_Init();
398	// initialize UART2 to FLIGHTCTRL	412	// initialize UART2 to FLIGHTCTRL
399	UART2_Init();	413	UART2_Init();
400	// initialize UART0 (to MKGPS or MK3MAG)	414	// initialize UART0 (to MKGPS or MK3MAG)
401	UART0_Init();	415	UART0_Init();
402	// initialize adc	416	// initialize adc
403	Analog_Init();	417	Analog_Init();
404	// initialize SPI0 to FC	418	// initialize SPI0 to FC
405	SPI0_Init();	419	SPI0_Init();
406	// initialize i2c bus (needs Timer 1)	420	// initialize i2c bus (needs Timer 1)
407	I2C1_Init();	421	I2C1_Init();
408	// initialize fat16 partition on sd card (needs Timer 1)	422	// initialize fat16 partition on sd card (needs Timer 1)
409	Fat16_Init();	423	Fat16_Init();
410	// initialize NC params	424	// initialize NC params
411	NCParams_Init();	425	NCParams_Init();
412	// initialize the settings	426	// initialize the settings
413	Settings_Init();	427	Settings_Init();
414	// initialize logging (needs settings)	428	// initialize logging (needs settings)
415	Logging_Init();	429	Logging_Init();
416		430
417	TimerCheckError = SetDelay(3000);	431	TimerCheckError = SetDelay(3000);
418	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	432	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
419	UART1_PutString("\n\r Version information:");	433	UART1_PutString("\n\r Version information:");
420		434
421	GetNaviCtrlVersion();	435	GetNaviCtrlVersion();
422	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag	436	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag
423	DebugOut.StatusRed = 0x00;	437	DebugOut.StatusRed = 0x00;
424		438
425	Compass_Init();	439	Compass_Init();
426		440
427	#ifdef FOLLOW_ME	441	#ifdef FOLLOW_ME
428	TransmitAlsoToFC = 1;	442	TransmitAlsoToFC = 1;
429	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	443	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
430	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");	444	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
431	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");	445	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
432	TransmitAlsoToFC = 0;	446	TransmitAlsoToFC = 0;
433	#else	447	#else
434	SPI0_GetFlightCtrlVersion();	448	SPI0_GetFlightCtrlVersion();
435	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	449	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
436	{	450	{
437	UART1_PutString("\n\r Flight-Ctrl not compatible");	451	UART1_PutString("\n\r Flight-Ctrl not compatible");
438	LED_RED_ON;	452	LED_RED_ON;
439	}	453	}
440	#endif	454	#endif
441		455
442	GPS_Init();	456	GPS_Init();
443		457
444	// ---------- Prepare the isr driven	458	// ---------- Prepare the isr driven
445	// set to absolute lowest priority	459	// set to absolute lowest priority
446	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	460	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
447	// enable interrupts	461	// enable interrupts
448	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	462	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
449		463
450	Debug_OK("START");	464	Debug_OK("START");
451		465
452	for (;;) // the endless main loop	466	for (;;) // the endless main loop
453	{	467	{
454	UART0_ProcessRxData(); // process request	468	UART0_ProcessRxData(); // process request
455	UART1_ProcessRxData(); // process request	469	UART1_ProcessRxData(); // process request
456	USB_ProcessRxData(); // process request	470	USB_ProcessRxData(); // process request
457	UART0_TransmitTxData(); // send answer	471	UART0_TransmitTxData(); // send answer
458	UART1_TransmitTxData(); // send answer	472	UART1_TransmitTxData(); // send answer
459	UART2_TransmitTxData(); // send answer	473	UART2_TransmitTxData(); // send answer
460	USB_TransmitTxData(); // send answer	474	USB_TransmitTxData(); // send answer
461	SPI0_UpdateBuffer(); // handle new SPI Data	475	SPI0_UpdateBuffer(); // handle new SPI Data
462		476
463	// ---------------- Error Check Timing ----------------------------	477	// ---------------- Error Check Timing ----------------------------
464	if(CheckDelay(TimerCheckError))	478	if(CheckDelay(TimerCheckError))
465	{	479	{
466	TimerCheckError = SetDelay(1000);	480	TimerCheckError = SetDelay(1000);
467	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	481	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
468		482
469	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	483	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
470		484
471	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	485	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
472	// else NaviData.FlyingTime = 0; // not the time per flight	486	// else NaviData.FlyingTime = 0; // not the time per flight
473	if(SerialLinkOkay) SerialLinkOkay--;	487	if(SerialLinkOkay) SerialLinkOkay--;
474	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	488	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
475	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	489	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
476	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;	490	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
477	}	491	}
478		492
479	// ---------------- Logging ---------------------------------------	493	// ---------------- Logging ---------------------------------------
480	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	494	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
481		495
482	/*	496	/*
483	// test	497	// test
484	if(CheckDelay(ftimer))	498	if(CheckDelay(ftimer))
485	{	499	{
486		500

Subversion Repositories NaviCtrl

(root)/tags/V2.18a/main.c @ 812 - Rev 350 → 351