WebSVN - NaviCtrl - Diff - Rev 488 and 489

 #include "led.h"
 #include "uart0.h"
 #include "uart1.h"
 #include "uart2.h"
 #include "gps.h"
-#include "i2c0.h"
-#include "i2c1.h"
+#include "i2c.h"
 #include "compass.h"
 #include "ncmag.h"
 #include "timer1.h"
 #include "timer2.h"
 #include "analog.h"
 #include "debug.h"
 #include "eeprom.h"
 #include "ssc.h"
 #include "sdc.h"
 #include "uart1.h"
-#include "ncmag.h"
 #ifdef FOLLOW_ME
+{
     static s32 no_error_delay = 0;
         s32 newErrorCode = 0;
         UART_VersionInfo.HardwareError[0] = 0;
-        if((I2C_CompassPort == I2C_INTERN_1 && CheckDelay(I2C1_Timeout)) || (I2C_CompassPort == I2C_EXTERN_0 && CheckDelay(I2C0_Timeout)) || (Compass_Heading < 0))
-         DebugOut.StatusRed |= AMPEL_COMPASS;
+        if(CheckDelay(I2CBus(Compass_I2CPort)->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(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
         else DebugOut.StatusRed &= ~AMPEL_NC;
 //if(I2C_CompassPort == I2C_EXTERN_0) LED_RED_OFF_T;
-        if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1))
-        {
+        if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout))
                 LED_RED_ON;
-                sprintf(ErrorMSG,"no compass communica");
+                LED_RED_ON;
-                //Reset I2CBus
+                sprintf(ErrorMSG,"no compass communica");
-                I2C1_Deinit();
+                //Reset Compass communication
-                I2C1_Init();
+                Compass_Init();
-                newErrorCode = 4;
-                StopNavigation = 1;
-                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
-                DebugOut.StatusRed |= AMPEL_COMPASS;
-        }
-        else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0))
-        {
-                LED_RED_ON;
-//LED_RED_ON_T;
-                sprintf(ErrorMSG,"no ext. compass ");
-                //Reset I2CBus
-                I2C0_Deinit();
-                I2C0_Init();
-                NCMAG_Update(1);
-                newErrorCode = 33;
+                newErrorCode = 4;
                 StopNavigation = 1;
                 UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                 DebugOut.StatusRed |= AMPEL_COMPASS;
+        }
         else if(CompassValueErrorCount > 30)
+        {
-                LED_RED_ON;
-                sprintf(ErrorMSG,"compass sensor error");
-                newErrorCode = 34;
-                StopNavigation = 1;
+                LED_RED_ON;
-                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
-                if(I2C_CompassPort == I2C_INTERN_1)
-                {
-                 I2C1_Deinit();
-                 I2C1_Init();
-                }
-                else
+                sprintf(ErrorMSG,"compass sensor error");
-                {
-                 I2C0_Deinit();
+                newErrorCode = 34;
-                 I2C0_Init();
+                StopNavigation = 1;
                 UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
                 Compass_Init();
         else
-    if((FCCalibActive || CompassCalState) && FC_Version.Hardware)
+        else if((FCCalibActive || CompassCalState) && FC_Version.Hardware)
+        {
-                sprintf(ErrorMSG,"Calibrate... ");
-                newErrorCode = 0;
+                sprintf(ErrorMSG,"Calibrate... ");
-                ErrorCode = 0;
+                newErrorCode = 0;
-                no_error_delay = 1;
+                ErrorCode = 0;
                 no_error_delay = 1;
         else
-        if(CheckDelay(SPI0_Timeout))
+        else if(CheckDelay(SPI0_Timeout))
                 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;
-         newErrorCode = 23;
+                newErrorCode = 23;
-         DebugOut.StatusRed |= AMPEL_BL;
+                DebugOut.StatusRed |= AMPEL_BL;
+        }
         else if(BL_MinOfMaxPWM < 30 && !ErrorCode)
+        {
-     unsigned int i;
+                u16 i;
-         for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break;
+                for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break;
-         LED_RED_ON;
+                LED_RED_ON;
-         sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM);
+                sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM);
-         newErrorCode = 32;
+                newErrorCode = 32;
-         DebugOut.StatusRed |= AMPEL_BL;
+                DebugOut.StatusRed |= AMPEL_BL;
+        }
 u8 Polling(void)
+{
- static u8 running = 0, oldFcFlags = 0, count5sec;
+        static u8 running = 0, oldFcFlags = 0, count5sec;
+        static u32 old_ms = 0;
  static u32 old_ms = 0;
- if(running) {/*DebugOut.Analog[18]++;*/ return(1);};
+        if(running) {/*DebugOut.Analog[18]++;*/ return(1);};
+        running = 1;
  running = 1;
-   if(CountMilliseconds != old_ms)  // 1 ms
+        if(CountMilliseconds != old_ms)  // 1 ms
+        {
                 old_ms = CountMilliseconds;
                 Compass_Update();               // update compass communication
                 Analog_Update();                // get new ADC values
                 CalcHeadFree();
+        }
-                SPI0_UpdateBuffer();    // also calls the GPS-functions
+        SPI0_UpdateBuffer();    // also calls the GPS-functions
-                UART0_ProcessRxData();  // GPS process request
+        UART0_ProcessRxData();  // GPS process request
-                UART0_TransmitTxData(); // GPS send answer
+        UART0_TransmitTxData(); // GPS send answer
-                UART1_ProcessRxData();  // PC process request
+        UART1_ProcessRxData();  // PC process request
-                UART1_TransmitTxData(); // PC send answer
+        UART1_TransmitTxData(); // PC send answer
-                UART2_TransmitTxData(); // FC send answer
-                // ---------------- Error Check Timing ----------------------------
+        UART2_TransmitTxData(); // FC send answer
-//DebugOut.Analog[16] = CompassValueErrorCount;
+        // ---------------- Error Check Timing ----------------------------
-                if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
+        if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
+        {
-                        if(CheckDelay(TimerCheckError))
+                if(CheckDelay(TimerCheckError))
+{
         IENABLE;
         VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
-//      Compass_Update();               // update compass communication
+        //Compass_Update();             // update compass communication
-//      Analog_Update();                // get new ADC values
+        //Analog_Update();              // get new ADC values
         if(PollingTimeout == 0)
+        {
-        PollingTimeout = 5;
+                PollingTimeout = 5;
-//              if(Polling() == 0) DebugOut.Analog[16]++;
+                //if(Polling() == 0) DebugOut.Analog[16]++;
-        Polling();
+                Polling();
 //----------------------------------------------------------------------------------------------------
 int main(void)
 {
-        static u32 ftimer =0;
+//      static u32 ftimer =0;
-        static u8 fstate = 0;
+//      static u8 fstate = 0;
 //      static File_t* f = NULL;
         // initialize adc
         Analog_Init();
         // initialize SPI0 to FC
         SPI0_Init();
         // initialize i2c busses (needs Timer 1)
-        I2C0_Init();
+        I2CBus_Init(I2C0);
-        I2C1_Init();
+        I2CBus_Init(I2C1);
         // initialize fat16 partition on sd card (needs Timer 1)
         Fat16_Init();
         // initialize NC params
         CompassValueErrorCount = 0;
         for (;;) // the endless main loop
+        {
                 PollingTimeout = 5;
                 Polling();
-                // ---------------- Logging  ---------------------------------------
                 // ---------------- Logging  ---------------------------------------
                 if(SD_WatchDog)
+                {
                         SD_WatchDog = 30000;
                         if(SDCardInfo.Valid == 1) Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
                         else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
                         if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
+                }
 /*
                 if(CheckDelay(ftimer))
+                {

Subversion Repositories NaviCtrl

(root)/tags/V2.06f/main.c @ 632 - Rev 488 → 489