WebSVN - NaviCtrl - Diff - Rev 355 and 360


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
 
 
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
 
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
 
// + features that can be used to identify the program may not be altered or defaced by the customer.
 
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c.h"
#include "compass.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
#include "debug.h"
#include "eeprom.h"
#include "ssc.h"
 
#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 if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
        {
         LED_RED_ON;
         sprintf(ErrorMSG,"ERR:Max Altitude ");
         newErrorCode = 29;
         DebugOut.StatusRed |= AMPEL_NC;
        }
        else // no error occured
        {
                StopNavigation = 0;
                LED_RED_OFF;
                if(no_error_delay) { no_error_delay--;  }
                else
                 {
                  sprintf(ErrorMSG,"No Error               ");
                  ErrorCode = 0;
                 }
        }
 
    if(newErrorCode)
         {
          if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
          ErrorCode = newErrorCode;
         }
 FC.Error[0] = 0;
 FC.Error[1] = 0;
 FC.Error[2] = 0;
 FC.Error[3] = 0;
 FC.Error[4] = 0;
 ErrorGpsFixLost = 0;
}
 
// 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 355	Rev 360
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	-
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	-
7	// + FOR NON COMMERCIAL USE ONLY	-
8	// + www.MikroKopter.com	5	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-		7	// + Software Nutzungsbedingungen (english version: see below)
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
15	// + Verkauf von Luftbildaufnahmen, usw.	-
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
22	// + eindeutig als Ursprung verlinkt werden	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
25	// + Benutzung auf eigene Gefahr	22	// + des Mitverschuldens offen.
-		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.
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	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
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + mit unserer Zustimmung zulässig	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	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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	// + Software LICENSING TERMS
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
35	// + this list of conditions and the following disclaimer.	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	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
37	// + from this software without specific prior written permission.	37	// + The Software may only be used with the Licensor's products.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
39	// + for non-commercial use (directly or indirectly)	-
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
41	// + with our written permission	40	// + agreement shall be the property of the Licensor.
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
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	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
45	//	-
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	43	// + The customer shall be responsible for taking reasonable precautions
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
56	// + POSSIBILITY OF SUCH DAMAGE.	53	// + #### END OF LICENSING TERMS ####
-		54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	56	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	57	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	58	#include <stdio.h>
61	#include "91x_lib.h"	59	#include "91x_lib.h"
62	#include "led.h"	60	#include "led.h"
63	#include "uart0.h"	61	#include "uart0.h"
64	#include "uart1.h"	62	#include "uart1.h"
65	#include "uart2.h"	63	#include "uart2.h"
66	#include "gps.h"	64	#include "gps.h"
67	#include "i2c.h"	65	#include "i2c.h"
68	#include "compass.h"	66	#include "compass.h"
69	#include "timer1.h"	67	#include "timer1.h"
70	#include "timer2.h"	68	#include "timer2.h"
71	#include "analog.h"	69	#include "analog.h"
72	#include "spi_slave.h"	70	#include "spi_slave.h"
73	#include "fat16.h"	71	#include "fat16.h"
74	#include "usb.h"	72	#include "usb.h"
75	#include "sdc.h"	73	#include "sdc.h"
76	#include "logging.h"	74	#include "logging.h"
77	#include "params.h"	75	#include "params.h"
78	#include "settings.h"	76	#include "settings.h"
79	#include "config.h"	77	#include "config.h"
80	#include "main.h"	78	#include "main.h"
81	#include "debug.h"	79	#include "debug.h"
82	#include "eeprom.h"	80	#include "eeprom.h"
83	#include "ssc.h"	81	#include "ssc.h"
84		82
85	#ifdef FOLLOW_ME	83	#ifdef FOLLOW_ME
86	u8 TransmitAlsoToFC = 0;	84	u8 TransmitAlsoToFC = 0;
87	#endif	85	#endif
88	u32 TimerCheckError;	86	u32 TimerCheckError;
89	u8 ErrorCode = 0;	87	u8 ErrorCode = 0;
90	u16 BeepTime;	88	u16 BeepTime;
91	u8 NCFlags = 0;	89	u8 NCFlags = 0;
92	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	90	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
93	u8 ErrorGpsFixLost = 0;	91	u8 ErrorGpsFixLost = 0;
94		92
95	u8 ClearFCStatusFlags = 0;	93	u8 ClearFCStatusFlags = 0;
96	u8 StopNavigation = 0;	94	u8 StopNavigation = 0;
97	Param_t Parameter;	95	Param_t Parameter;
98	volatile FC_t FC;	96	volatile FC_t FC;
99		97
100	s8 ErrorMSG[25];	98	s8 ErrorMSG[25];
101		99
102	//----------------------------------------------------------------------------------------------------	100	//----------------------------------------------------------------------------------------------------
103	void SCU_Config(void)	101	void SCU_Config(void)
104	{	102	{
105	/* configure PLL and set it as master clock source */	103	/* 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	104	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	105	SCU_PLLCmd(DISABLE); // now disable the PLL
108	#ifdef MCLK96MHZ	106	#ifdef MCLK96MHZ
109	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	107	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)	108	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)	109	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)	110	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	111	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
114	#else	112	#else
115	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	113	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)	114	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)	115	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)	116	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	117	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
120	#endif	118	#endif
121	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	119	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
122	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	120	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
123	}	121	}
124		122
125	//----------------------------------------------------------------------------------------------------	123	//----------------------------------------------------------------------------------------------------
126	void GetNaviCtrlVersion(void)	124	void GetNaviCtrlVersion(void)
127	{	125	{
128	u8 msg[25];	126	u8 msg[25];
129		127
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);	128	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);	129	UART1_PutString(msg);
132	}	130	}
133		131
134	//----------------------------------------------------------------------------------------------------	132	//----------------------------------------------------------------------------------------------------
135		133
136	void CheckErrors(void)	134	void CheckErrors(void)
137	{	135	{
138	static s32 no_error_delay = 0;	136	static s32 no_error_delay = 0;
139	s32 newErrorCode = 0;	137	s32 newErrorCode = 0;
140	UART_VersionInfo.HardwareError[0] = 0;	138	UART_VersionInfo.HardwareError[0] = 0;
141		139
142	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;	140	if(CheckDelay(I2C1_Timeout) \|\| (Compass_Heading < 0)) DebugOut.StatusRed \|= AMPEL_COMPASS;
143	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status	141	else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
144		142
145	if((FC.Error[1] & FC_ERROR1_I2C) \|\| (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed \|= AMPEL_BL;	143	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	144	else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
147		145
148	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;	146	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed \|= AMPEL_NC;
149	else DebugOut.StatusRed &= ~AMPEL_NC;	147	else DebugOut.StatusRed &= ~AMPEL_NC;
150		148
151	if(CheckDelay(SPI0_Timeout))	149	if(CheckDelay(SPI0_Timeout))
152	{	150	{
153	LED_RED_ON;	151	LED_RED_ON;
154	sprintf(ErrorMSG,"no FC communication ");	152	sprintf(ErrorMSG,"no FC communication ");
155	newErrorCode = 3;	153	newErrorCode = 3;
156	StopNavigation = 1;	154	StopNavigation = 1;
157	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present	155	DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
158	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present	156	DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
159	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;	157	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_SPI_RX;
160	}	158	}
161	else if(CheckDelay(I2C1_Timeout))	159	else if(CheckDelay(I2C1_Timeout))
162	{	160	{
163	LED_RED_ON;	161	LED_RED_ON;
164	sprintf(ErrorMSG,"no compass communication ");	162	sprintf(ErrorMSG,"no compass communication ");
165	//Reset I2CBus	163	//Reset I2CBus
166	I2C1_Deinit();	164	I2C1_Deinit();
167	I2C1_Init();	165	I2C1_Init();
168	newErrorCode = 4;	166	newErrorCode = 4;
169	StopNavigation = 1;	167	StopNavigation = 1;
170	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;	168	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_RX;
171	DebugOut.StatusRed \|= AMPEL_COMPASS;	169	DebugOut.StatusRed \|= AMPEL_COMPASS;
172	}	170	}
173	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	171	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
174	{	172	{
175	LED_RED_ON;	173	LED_RED_ON;
176	#ifndef FOLLOW_ME	174	#ifndef FOLLOW_ME
177	sprintf(ErrorMSG,"FC not compatible ");	175	sprintf(ErrorMSG,"FC not compatible ");
178	#else	176	#else
179	sprintf(ErrorMSG,"! FollowMe only ! ");	177	sprintf(ErrorMSG,"! FollowMe only ! ");
180	#endif	178	#endif
181	newErrorCode = 1;	179	newErrorCode = 1;
182	StopNavigation = 1;	180	StopNavigation = 1;
183	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;	181	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_FC_INCOMPATIBLE;
184	DebugOut.StatusRed \|= AMPEL_NC;	182	DebugOut.StatusRed \|= AMPEL_NC;
185	}	183	}
186		184
187	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)	185	else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
188	{	186	{
189	LED_RED_ON;	187	LED_RED_ON;
190	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	188	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
191	newErrorCode = 10;	189	newErrorCode = 10;
192	}	190	}
193	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)	191	else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)
194	{	192	{
195	LED_RED_ON;	193	LED_RED_ON;
196	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	194	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
197	newErrorCode = 11;	195	newErrorCode = 11;
198	}	196	}
199	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)	197	else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)
200	{	198	{
201	LED_RED_ON;	199	LED_RED_ON;
202	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	200	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
203	newErrorCode = 12;	201	newErrorCode = 12;
204	}	202	}
205	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)	203	else if(FC.Error[0] & FC_ERROR0_ACC_NICK)
206	{	204	{
207	LED_RED_ON;	205	LED_RED_ON;
208	sprintf(ErrorMSG,"ERR: FC Nick ACC");	206	sprintf(ErrorMSG,"ERR: FC Nick ACC");
209	newErrorCode = 13;	207	newErrorCode = 13;
210	}	208	}
211	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)	209	else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)
212	{	210	{
213	LED_RED_ON;	211	LED_RED_ON;
214	sprintf(ErrorMSG,"ERR: FC Roll ACC");	212	sprintf(ErrorMSG,"ERR: FC Roll ACC");
215	newErrorCode = 14;	213	newErrorCode = 14;
216	}	214	}
217	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)	215	else if(FC.Error[0] & FC_ERROR0_ACC_TOP)
218	{	216	{
219	LED_RED_ON;	217	LED_RED_ON;
220	sprintf(ErrorMSG,"ERR:FC Z-ACC");	218	sprintf(ErrorMSG,"ERR:FC Z-ACC");
221	newErrorCode = 15;	219	newErrorCode = 15;
222	}	220	}
223	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)	221	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
224	{	222	{
225	LED_RED_ON;	223	LED_RED_ON;
226	sprintf(ErrorMSG,"ERR:Flying range!");	224	sprintf(ErrorMSG,"ERR:Flying range!");
227	newErrorCode = 28;	225	newErrorCode = 28;
228	}	226	}
229	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	227	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
230	{	228	{
231	LED_RED_ON;	229	LED_RED_ON;
232	sprintf(ErrorMSG,"ERR:Pressure sensor");	230	sprintf(ErrorMSG,"ERR:Pressure sensor");
233	newErrorCode = 16;	231	newErrorCode = 16;
234	}	232	}
235	else if(FC.Error[1] & FC_ERROR1_I2C)	233	else if(FC.Error[1] & FC_ERROR1_I2C)
236	{	234	{
237	LED_RED_ON;	235	LED_RED_ON;
238	sprintf(ErrorMSG,"ERR:I2C FC to BL");	236	sprintf(ErrorMSG,"ERR:I2C FC to BL");
239	newErrorCode = 17;	237	newErrorCode = 17;
240	}	238	}
241	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)	239	else if(FC.Error[1] & FC_ERROR1_BL_MISSING)
242	{	240	{
243	LED_RED_ON;	241	LED_RED_ON;
244	sprintf(ErrorMSG,"ERR: Bl Missing");	242	sprintf(ErrorMSG,"ERR: Bl Missing");
245	newErrorCode = 18;	243	newErrorCode = 18;
246	}	244	}
247	else if(FC.Error[1] & FC_ERROR1_MIXER)	245	else if(FC.Error[1] & FC_ERROR1_MIXER)
248	{	246	{
249	LED_RED_ON;	247	LED_RED_ON;
250	sprintf(ErrorMSG,"Mixer Error");	248	sprintf(ErrorMSG,"Mixer Error");
251	newErrorCode = 19;	249	newErrorCode = 19;
252	}	250	}
253	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)	251	else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
254	{	252	{
255	LED_RED_ON;	253	LED_RED_ON;
256	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");	254	// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
257	// else	255	// else
258	{	256	{
259	sprintf(ErrorMSG,"no GPS communication ");	257	sprintf(ErrorMSG,"no GPS communication ");
260	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;	258	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_GPS_RX;
261	newErrorCode = 5;	259	newErrorCode = 5;
262	}	260	}
263	StopNavigation = 1;	261	StopNavigation = 1;
264	// UBX_Timeout = SetDelay(500);	262	// UBX_Timeout = SetDelay(500);
265	}	263	}
266	else if(Compass_Heading < 0)	264	else if(Compass_Heading < 0)
267	{	265	{
268	LED_RED_ON;	266	LED_RED_ON;
269	sprintf(ErrorMSG,"bad compass value ");	267	sprintf(ErrorMSG,"bad compass value ");
270	newErrorCode = 6;	268	newErrorCode = 6;
271	StopNavigation = 1;	269	StopNavigation = 1;
272	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	270	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
273	}	271	}
274	else if((FC.Error[1] & FC_ERROR1_SPI_RX))	272	else if((FC.Error[1] & FC_ERROR1_SPI_RX))
275	{	273	{
276	LED_RED_ON;	274	LED_RED_ON;
277	sprintf(ErrorMSG,"FC spi rx error ");	275	sprintf(ErrorMSG,"FC spi rx error ");
278	newErrorCode = 8;	276	newErrorCode = 8;
279	StopNavigation = 1;	277	StopNavigation = 1;
280	}	278	}
281	else if(FC.Error[0] & FC_ERROR0_CAREFREE)	279	else if(FC.Error[0] & FC_ERROR0_CAREFREE)
282	{	280	{
283	LED_RED_ON;	281	LED_RED_ON;
284	sprintf(ErrorMSG,"FC: Carefree Error");	282	sprintf(ErrorMSG,"FC: Carefree Error");
285	newErrorCode = 20;	283	newErrorCode = 20;
286	}	284	}
287	else if(FC.Error[1] & FC_ERROR1_PPM)	285	else if(FC.Error[1] & FC_ERROR1_PPM)
288	{	286	{
289	LED_RED_ON;	287	LED_RED_ON;
290	sprintf(ErrorMSG,"RC Signal lost ");	288	sprintf(ErrorMSG,"RC Signal lost ");
291	newErrorCode = 7;	289	newErrorCode = 7;
292	}	290	}
293	else if(ErrorGpsFixLost)	291	else if(ErrorGpsFixLost)
294	{	292	{
295	LED_RED_ON;	293	LED_RED_ON;
296	sprintf(ErrorMSG,"GPS Fix lost ");	294	sprintf(ErrorMSG,"GPS Fix lost ");
297	newErrorCode = 21;	295	newErrorCode = 21;
298	}	296	}
299	else if(ErrorDisturbedEarthMagnetField)	297	else if(ErrorDisturbedEarthMagnetField)
300	{	298	{
301	LED_RED_ON;	299	LED_RED_ON;
302	sprintf(ErrorMSG,"Magnet error ");	300	sprintf(ErrorMSG,"Magnet error ");
303	newErrorCode = 22;	301	newErrorCode = 22;
304	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;	302	DebugOut.StatusRed \|= AMPEL_COMPASS \| AMPEL_NC;
305	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;	303	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_VALUE;
306	}	304	}
307	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	305	else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
308	{	306	{
309	LED_RED_ON;	307	LED_RED_ON;
310	sprintf(ErrorMSG,"ERR:Motor restart ");	308	sprintf(ErrorMSG,"ERR:Motor restart ");
311	newErrorCode = 23;	309	newErrorCode = 23;
312	DebugOut.StatusRed \|= AMPEL_BL;	310	DebugOut.StatusRed \|= AMPEL_BL;
313	}	311	}
314	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	312	else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
315	{	313	{
316	LED_RED_ON;	314	LED_RED_ON;
317	sprintf(ErrorMSG,"ERR:BL Limitation ");	315	sprintf(ErrorMSG,"ERR:BL Limitation ");
318	newErrorCode = 24;	316	newErrorCode = 24;
319	DebugOut.StatusRed \|= AMPEL_BL;	317	DebugOut.StatusRed \|= AMPEL_BL;
320	}	318	}
321	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)	319	else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
322	{	320	{
323	LED_RED_ON;	321	LED_RED_ON;
324	sprintf(ErrorMSG,"ERR:GPS range ");	322	sprintf(ErrorMSG,"ERR:GPS range ");
325	newErrorCode = 25;	323	newErrorCode = 25;
326	DebugOut.StatusRed \|= AMPEL_NC;	324	DebugOut.StatusRed \|= AMPEL_NC;
327	}	325	}
328	else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)	326	else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
329	{	327	{
330	LED_RED_ON;	328	LED_RED_ON;
331	sprintf(ErrorMSG,"ERR:No SD-Card ");	329	sprintf(ErrorMSG,"ERR:No SD-Card ");
332	newErrorCode = 26;	330	newErrorCode = 26;
333	DebugOut.StatusRed \|= AMPEL_NC;	331	DebugOut.StatusRed \|= AMPEL_NC;
334	}	332	}
335	else if(SD_LoggingError && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)	333	else if(SD_LoggingError && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
336	{	334	{
337	LED_RED_ON;	335	LED_RED_ON;
338	sprintf(ErrorMSG,"ERR:SD Logging aborted");	336	sprintf(ErrorMSG,"ERR:SD Logging aborted");
339	newErrorCode = 27;	337	newErrorCode = 27;
340	DebugOut.StatusRed \|= AMPEL_NC;	338	DebugOut.StatusRed \|= AMPEL_NC;
341	SD_LoggingError = 0;	339	SD_LoggingError = 0;
342	}	340	}
343	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))	341	else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
344	{	342	{
345	LED_RED_ON;	343	LED_RED_ON;
346	sprintf(ErrorMSG,"ERR:Max Altitude ");	344	sprintf(ErrorMSG,"ERR:Max Altitude ");
347	newErrorCode = 29;	345	newErrorCode = 29;
348	DebugOut.StatusRed \|= AMPEL_NC;	346	DebugOut.StatusRed \|= AMPEL_NC;
349	}	347	}
350	else // no error occured	348	else // no error occured
351	{	349	{
352	StopNavigation = 0;	350	StopNavigation = 0;
353	LED_RED_OFF;	351	LED_RED_OFF;
354	if(no_error_delay) { no_error_delay--; }	352	if(no_error_delay) { no_error_delay--; }
355	else	353	else
356	{	354	{
357	sprintf(ErrorMSG,"No Error ");	355	sprintf(ErrorMSG,"No Error ");
358	ErrorCode = 0;	356	ErrorCode = 0;
359	}	357	}
360	}	358	}
361		359
362	if(newErrorCode)	360	if(newErrorCode)
363	{	361	{
364	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running	362	if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running
365	ErrorCode = newErrorCode;	363	ErrorCode = newErrorCode;
366	}	364	}
367	FC.Error[0] = 0;	365	FC.Error[0] = 0;
368	FC.Error[1] = 0;	366	FC.Error[1] = 0;
369	FC.Error[2] = 0;	367	FC.Error[2] = 0;
370	FC.Error[3] = 0;	368	FC.Error[3] = 0;
371	FC.Error[4] = 0;	369	FC.Error[4] = 0;
372	ErrorGpsFixLost = 0;	370	ErrorGpsFixLost = 0;
373	}	371	}
374		372
375	// the handler will be cyclic called by the timer 1 ISR	373	// the handler will be cyclic called by the timer 1 ISR
376	// used is for critical timing parts that normaly would handled	374	// used is for critical timing parts that normaly would handled
377	// within the main loop that could block longer at logging activities	375	// within the main loop that could block longer at logging activities
378	void EXTIT3_IRQHandler(void)	376	void EXTIT3_IRQHandler(void)
379	{	377	{
380	IENABLE;	378	IENABLE;
381		379
382	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	380	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
383	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	381	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
384	Compass_Update(); // update compass communication	382	Compass_Update(); // update compass communication
385	Analog_Update(); // get new ADC values	383	Analog_Update(); // get new ADC values
386	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	384	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
387		385
388	IDISABLE;	386	IDISABLE;
389	}	387	}
390		388
391	//----------------------------------------------------------------------------------------------------	389	//----------------------------------------------------------------------------------------------------
392	int main(void)	390	int main(void)
393	{	391	{
394	/*	392	/*
395	static u32 ftimer =0;	393	static u32 ftimer =0;
396	static u8 fstate = 0;	394	static u8 fstate = 0;
397	static File_t* f = NULL;	395	static File_t* f = NULL;
398	*/	396	*/
399		397
400	/* Configure the system clocks */	398	/* Configure the system clocks */
401	SCU_Config();	399	SCU_Config();
402	/* init VIC (Vectored Interrupt Controller) */	400	/* init VIC (Vectored Interrupt Controller) */
403	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	401	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
404	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	402	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
405	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	403	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
406	VIC_InitDefaultVectors();	404	VIC_InitDefaultVectors();
407		405
408	// initialize timer 1 for System Clock and delay rountines	406	// initialize timer 1 for System Clock and delay rountines
409	TIMER1_Init();	407	TIMER1_Init();
410	// initialize the LEDs (needs Timer 1)	408	// initialize the LEDs (needs Timer 1)
411	Led_Init();	409	Led_Init();
412	// initialize the debug UART1	410	// initialize the debug UART1
413	UART1_Init();	411	UART1_Init();
414	UART1_PutString("\r\n---------------------------------------------");	412	UART1_PutString("\r\n---------------------------------------------");
415	// initialize usb	413	// initialize usb
416	USB_ConfigInit();	414	USB_ConfigInit();
417	// initialize timer 2 for servo outputs	415	// initialize timer 2 for servo outputs
418	//TIMER2_Init();	416	//TIMER2_Init();
419	// initialize UART2 to FLIGHTCTRL	417	// initialize UART2 to FLIGHTCTRL
420	UART2_Init();	418	UART2_Init();
421	// initialize UART0 (to MKGPS or MK3MAG)	419	// initialize UART0 (to MKGPS or MK3MAG)
422	UART0_Init();	420	UART0_Init();
423	// initialize adc	421	// initialize adc
424	Analog_Init();	422	Analog_Init();
425	// initialize SPI0 to FC	423	// initialize SPI0 to FC
426	SPI0_Init();	424	SPI0_Init();
427	// initialize i2c bus (needs Timer 1)	425	// initialize i2c bus (needs Timer 1)
428	I2C1_Init();	426	I2C1_Init();
429	// initialize fat16 partition on sd card (needs Timer 1)	427	// initialize fat16 partition on sd card (needs Timer 1)
430	Fat16_Init();	428	Fat16_Init();
431	// initialize NC params	429	// initialize NC params
432	NCParams_Init();	430	NCParams_Init();
433	// initialize the settings	431	// initialize the settings
434	Settings_Init();	432	Settings_Init();
435	// initialize logging (needs settings)	433	// initialize logging (needs settings)
436	Logging_Init();	434	Logging_Init();
437		435
438	TimerCheckError = SetDelay(3000);	436	TimerCheckError = SetDelay(3000);
439	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	437	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
440	UART1_PutString("\n\r Version information:");	438	UART1_PutString("\n\r Version information:");
441		439
442	GetNaviCtrlVersion();	440	GetNaviCtrlVersion();
443	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag	441	DebugOut.StatusGreen = AMPEL_NC \| AMPEL_COMPASS; // NC and MK3Mag
444	DebugOut.StatusRed = 0x00;	442	DebugOut.StatusRed = 0x00;
445		443
446	Compass_Init();	444	Compass_Init();
447		445
448	#ifdef FOLLOW_ME	446	#ifdef FOLLOW_ME
449	TransmitAlsoToFC = 1;	447	TransmitAlsoToFC = 1;
450	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	448	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
451	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");	449	UART1_PutString("\n\r FOLLOW-ME Transmitter only!");
452	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");	450	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n");
453	TransmitAlsoToFC = 0;	451	TransmitAlsoToFC = 0;
454	#else	452	#else
455	SPI0_GetFlightCtrlVersion();	453	SPI0_GetFlightCtrlVersion();
456	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	454	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
457	{	455	{
458	UART1_PutString("\n\r Flight-Ctrl not compatible");	456	UART1_PutString("\n\r Flight-Ctrl not compatible");
459	LED_RED_ON;	457	LED_RED_ON;
460	}	458	}
461	#endif	459	#endif
462		460
463	GPS_Init();	461	GPS_Init();
464		462
465	// ---------- Prepare the isr driven	463	// ---------- Prepare the isr driven
466	// set to absolute lowest priority	464	// set to absolute lowest priority
467	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	465	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
468	// enable interrupts	466	// enable interrupts
469	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	467	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
470		468
471	Debug_OK("START");	469	Debug_OK("START");
472		470
473	for (;;) // the endless main loop	471	for (;;) // the endless main loop
474	{	472	{
475	UART0_ProcessRxData(); // process request	473	UART0_ProcessRxData(); // process request
476	UART1_ProcessRxData(); // process request	474	UART1_ProcessRxData(); // process request
477	USB_ProcessRxData(); // process request	475	USB_ProcessRxData(); // process request
478	UART0_TransmitTxData(); // send answer	476	UART0_TransmitTxData(); // send answer
479	UART1_TransmitTxData(); // send answer	477	UART1_TransmitTxData(); // send answer
480	UART2_TransmitTxData(); // send answer	478	UART2_TransmitTxData(); // send answer
481	USB_TransmitTxData(); // send answer	479	USB_TransmitTxData(); // send answer
482	SPI0_UpdateBuffer(); // handle new SPI Data	480	SPI0_UpdateBuffer(); // handle new SPI Data
483		481
484	// ---------------- Error Check Timing ----------------------------	482	// ---------------- Error Check Timing ----------------------------
485	if(CheckDelay(TimerCheckError))	483	if(CheckDelay(TimerCheckError))
486	{	484	{
487	TimerCheckError = SetDelay(1000);	485	TimerCheckError = SetDelay(1000);
488	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	486	if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
489		487
490	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();	488	if(!CheckDelay(SPI0_Timeout) \|\| (DebugUART == UART1)) CheckErrors();
491		489
492	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time	490	if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
493	// else NaviData.FlyingTime = 0; // not the time per flight	491	// else NaviData.FlyingTime = 0; // not the time per flight
494	if(SerialLinkOkay) SerialLinkOkay--;	492	if(SerialLinkOkay) SerialLinkOkay--;

Subversion Repositories NaviCtrl

(root)/tags/V2.18a/main.c @ 812 - Rev 355 → 360