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#include "config.h"
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#include "config.h"
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#include "main.h"
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#include "main.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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#ifdef FOLLOW_ME
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#ifdef FOLLOW_ME
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u8 TransmitAlsoToFC = 0;
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u8 TransmitAlsoToFC = 0;
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#endif
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#endif
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u8 ClearFCStatusFlags = 0;
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u8 ClearFCStatusFlags = 0;
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u8 StopNavigation = 0;
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u8 StopNavigation = 0;
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Param_t Parameter;
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Param_t Parameter;
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volatile FC_t FC;
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volatile u32 MainWatchDog = 15000; // stop Navigation if this goes to zero
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volatile FC_t FC;
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volatile u32 SD_WatchDog  = 15000; // stop Logging if this goes to zero
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s8 ErrorMSG[25];
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s8 ErrorMSG[25];
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         LED_RED_ON;
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         LED_RED_ON;
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         sprintf(ErrorMSG,"ERR:No SD-Card  ");
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         sprintf(ErrorMSG,"ERR:No SD-Card  ");
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         newErrorCode = 26;
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         newErrorCode = 26;
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         DebugOut.StatusRed |= AMPEL_NC;
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         DebugOut.StatusRed |= AMPEL_NC;
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        }
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        }
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        else if(SD_LoggingError && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
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        else if((SD_LoggingError || (SD_WatchDog == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START )
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        {
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        {
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         LED_RED_ON;
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         LED_RED_ON;
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         sprintf(ErrorMSG,"ERR:SD Logging aborted");
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         sprintf(ErrorMSG,"ERR:SD Logging aborted");
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         newErrorCode = 27;
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         newErrorCode = 27;
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         DebugOut.StatusRed |= AMPEL_NC;
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         DebugOut.StatusRed |= AMPEL_NC;
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        // initialize the settings
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        // initialize the settings
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        Settings_Init();
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        Settings_Init();
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        // initialize logging (needs settings)
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        // initialize logging (needs settings)
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        Logging_Init();
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        Logging_Init();
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        LED_GRN_ON;
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        TimerCheckError = SetDelay(3000);
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        TimerCheckError = SetDelay(3000);
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        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
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        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
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        UART1_PutString("\n\r Version information:");
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        UART1_PutString("\n\r Version information:");
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        {
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        {
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                UART1_PutString("\n\r Flight-Ctrl not compatible");
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                UART1_PutString("\n\r Flight-Ctrl not compatible");
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                LED_RED_ON;
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                LED_RED_ON;
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        }
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        }
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#endif
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#endif
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        GPS_Init();
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        GPS_Init();
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        // ---------- Prepare the isr driven
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        // ---------- Prepare the isr driven
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        // set to absolute lowest priority
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        // set to absolute lowest priority
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    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
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    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
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        // enable interrupts
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        // enable interrupts
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    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
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    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
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        Debug_OK("START");
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        Debug_OK("START");
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        UART1_PutString("\r\n");
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        for (;;) // the endless main loop
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        for (;;) // the endless main loop
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        {
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        {
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            MainWatchDog = 3500;    // stop communication to FC after this timeout
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                UART0_ProcessRxData();  // process request
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                UART0_ProcessRxData();  // process request
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                UART1_ProcessRxData();  // process request
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                UART1_ProcessRxData();  // process request
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                USB_ProcessRxData();    // process request
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                USB_ProcessRxData();    // process request
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                        if(SerialLinkOkay) SerialLinkOkay--;
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                        if(SerialLinkOkay) SerialLinkOkay--;
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                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
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                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
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                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
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                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
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                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
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                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
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                }
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                }
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                // ---------------- Logging  ---------------------------------------
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                // ---------------- Logging  ---------------------------------------
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                if(SD_WatchDog)
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                 {
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                  SD_WatchDog = 3000;
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                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
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                  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
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                  else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
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                  if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
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                 }
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                /*
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                /*
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                // test
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                // test
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                if(CheckDelay(ftimer))
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                if(CheckDelay(ftimer))
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                {
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                {