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Line 60... Line 60...
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#include "led.h"
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#include "led.h"
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#include "uart0.h"
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#include "uart0.h"
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#include "uart1.h"
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#include "uart1.h"
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#include "uart2.h"
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#include "uart2.h"
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#include "gps.h"
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#include "gps.h"
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#include "i2c0.h"
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#include "i2c1.h"      
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#include "i2c.h"       
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#include "compass.h"
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#include "compass.h"
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#include "ncmag.h"
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#include "ncmag.h"
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#include "timer1.h"
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#include "timer1.h"
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#include "timer2.h"
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#include "timer2.h"
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#include "analog.h"
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#include "analog.h"
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#include "debug.h"
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#include "debug.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "ssc.h"
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#include "ssc.h"
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#include "sdc.h"
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#include "sdc.h"
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#include "uart1.h"
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#include "uart1.h"
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#include "ncmag.h"
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#ifdef FOLLOW_ME
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#ifdef FOLLOW_ME
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{
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{
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    static s32 no_error_delay = 0;
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    static s32 no_error_delay = 0;
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        s32 newErrorCode = 0;
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        s32 newErrorCode = 0;
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        UART_VersionInfo.HardwareError[0] = 0;
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        UART_VersionInfo.HardwareError[0] = 0;
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 147 
 
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        if((I2C_CompassPort == I2C_INTERN_1 && CheckDelay(I2C1_Timeout)) || (I2C_CompassPort == I2C_EXTERN_0 && CheckDelay(I2C0_Timeout)) || (Compass_Heading < 0))
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150 
         
 - 
 
151 
         DebugOut.StatusRed |= AMPEL_COMPASS;
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        if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;
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        else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
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        else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
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        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL;
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        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL;
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        else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
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        else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status
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 - 
 
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        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
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        else DebugOut.StatusRed &= ~AMPEL_NC;
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159 
 
 154 
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
160 
if(I2C_CompassPort == I2C_EXTERN_0) LED_RED_OFF_T;
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        else DebugOut.StatusRed &= ~AMPEL_NC;
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 156 
 
162 
    if((FCCalibActive || CompassCalState) && FC_Version.Hardware)
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    if((FCCalibActive || CompassCalState) && FC_Version.Hardware)
163 
     {
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    {
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                sprintf(ErrorMSG,"Calibrate... ");
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                sprintf(ErrorMSG,"Calibrate... ");
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                newErrorCode = 0;
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                newErrorCode = 0;
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                ErrorCode = 0;
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                ErrorCode = 0;
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                no_error_delay = 1;
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                no_error_delay = 1;
168 
         }
 163 
        }
169 
        else if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1))
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        else if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout))
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        {
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                LED_RED_ON;              
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        {
172 
                sprintf(ErrorMSG,"no compass communica");
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                LED_RED_ON;              
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                //Reset I2CBus
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                sprintf(ErrorMSG,"no compass communica");
174 
                I2C1_Deinit();
 168 
                //Reset Compass communication
175 
                I2C1_Init();
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                Compass_Init();
176 
                newErrorCode = 4;
 170 
                newErrorCode = 4;
177 
                StopNavigation = 1;
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                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
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179 
                DebugOut.StatusRed |= AMPEL_COMPASS;
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180 
        }
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181 
        else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0))
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182 
        {
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183 
                LED_RED_ON;              
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LED_RED_ON_T;
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185 
                sprintf(ErrorMSG,"no ext. compass ");
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                //Reset I2CBus
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                I2C0_Deinit();
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                I2C0_Init();
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189 
                NCMAG_Update(1);
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190 
                newErrorCode = 33;
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191 
                StopNavigation = 1;
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                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
 171 
                StopNavigation = 1;
193 
                DebugOut.StatusRed |= AMPEL_COMPASS;
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                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
194 
        }
 173 
                DebugOut.StatusRed |= AMPEL_COMPASS;
195 
        else
 174 
        }
196 
        if(CheckDelay(SPI0_Timeout))
 175 
        else if(CheckDelay(SPI0_Timeout))
197 
        {
 176 
        {
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                newErrorCode = 1;
 193 
                newErrorCode = 1;
215 
                StopNavigation = 1;
 194 
                StopNavigation = 1;
216 
                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
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                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
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                DebugOut.StatusRed |= AMPEL_NC;
 196 
                DebugOut.StatusRed |= AMPEL_NC;
218 
        }
 197 
        }
219 
 
 - 
 
220 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
 198 
        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
221 
        {
 199 
        {
222 
                LED_RED_ON;
 200 
                LED_RED_ON;
223 
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
 201 
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
224 
                newErrorCode = 10;
 202 
                newErrorCode = 10;
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         newErrorCode = 23;
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                newErrorCode = 23;
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         DebugOut.StatusRed |= AMPEL_BL;
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                DebugOut.StatusRed |= AMPEL_BL;
355 
        }
 333 
        }
356 
        else if(BL_MinOfMaxPWM < 30 && !ErrorCode)
 334 
        else if(BL_MinOfMaxPWM < 30 && !ErrorCode)
357 
        {
 335 
        {
358 
     unsigned int i;
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                u16 i;
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         for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break;
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                for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break;
360 
 
 - 
 
361 
         LED_RED_ON;
 338 
                LED_RED_ON;
362 
         sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM);
 339 
                sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM);
363 
         newErrorCode = 32;
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                newErrorCode = 32;
364 
         DebugOut.StatusRed |= AMPEL_BL;
 341 
                DebugOut.StatusRed |= AMPEL_BL;
365 
        }
 342 
        }
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 474 
 
498 
//----------------------------------------------------------------------------------------------------
 475 
//----------------------------------------------------------------------------------------------------
499 
int main(void)
 476 
int main(void)
Line 500... Line 477...
500 
{
 477 
{
501 
       
 478 
       
502 
        static u32 ftimer =0;
 479 
//      static u32 ftimer =0;
Line 503... Line 480...
503 
        static u8 fstate = 0;
 480 
//      static u8 fstate = 0;
504 
//      static File_t* f = NULL;
 481 
//      static File_t* f = NULL;
Line 528... Line 505...
528 
        // initialize adc
 505 
        // initialize adc
529 
        Analog_Init();
 506 
        Analog_Init();
530 
        // initialize SPI0 to FC
 507 
        // initialize SPI0 to FC
531 
        SPI0_Init();
 508 
        SPI0_Init();
532 
        // initialize i2c busses (needs Timer 1)
 509 
        // initialize i2c busses (needs Timer 1)
533 
        I2C0_Init();
 510 
        I2CBus_Init(I2C0);
534 
        I2C1_Init();
 511 
        I2CBus_Init(I2C1);
Line 535... Line 512...
535 
 
 512 
 
536 
        // initialize fat16 partition on sd card (needs Timer 1)
 513 
        // initialize fat16 partition on sd card (needs Timer 1)
537 
        Fat16_Init();
 514 
        Fat16_Init();
538 
        // initialize NC params
 515 
        // initialize NC params