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| Rev 77 | Rev 78 | ||
|---|---|---|---|
| Line 75... | Line 75... | ||
| 75 | 75 | ||
| 76 | 76 | ||
| 77 | typedef enum |
77 | typedef enum |
| - | 78 | { |
|
| 78 | { |
79 | LOGFILE_IDLE, |
| 79 | LOGFILE_IDLE, |
80 | LOGFILE_START, |
| 80 | LOGFILE_CLOSED, |
81 | LOGFILE_CLOSED, |
| 81 | LOGFILE_OPENED, |
82 | LOGFILE_OPENED, |
| Line 89... | Line 90... | ||
| 89 | u16 BeepTime; |
90 | u16 BeepTime; |
| Line 90... | Line 91... | ||
| 90 | 91 | ||
| 91 | u8 ClearMKFlags = 0; |
92 | u8 ClearMKFlags = 0; |
| 92 | u8 StopNavigation = 0; |
93 | u8 StopNavigation = 0; |
| 93 | Param_t Parameter; |
94 | Param_t Parameter; |
| Line 94... | Line 95... | ||
| 94 | FC_t FC; |
95 | volatile FC_t FC; |
| Line 95... | Line 96... | ||
| 95 | 96 | ||
| 96 | s8 ErrorMSG[25]; |
97 | s8 ErrorMSG[25]; |
| Line 220... | Line 221... | ||
| 220 | 221 | ||
| 221 | 222 | ||
| 222 | //---------------------------------------------------------------------------------------------------- |
223 | //---------------------------------------------------------------------------------------------------- |
| 223 | int main(void) |
- | |
| 224 | { |
224 | int main(void) |
| - | 225 | { |
|
| 225 | volatile logfilestate_t logfilestate = LOGFILE_IDLE; |
226 | KML_Document_t gpslogfile; |
| 226 | KML_Document_t gpslogfile; |
- | |
| 227 | s8* gpslogfilename = NULL; |
227 | logfilestate_t logfilestate = LOGFILE_IDLE; |
| 228 | 228 | s8* gpslogfilename = NULL; |
|
| 229 | /* Configure the system clocks */ |
- | |
| 230 | SCU_Config(); |
229 | /* Configure the system clocks */ |
| 231 | - | ||
| 232 | KML_DocumentInit(&gpslogfile); // Initialize the new kml-document for further use. |
230 | SCU_Config(); |
| 233 | 231 | KML_DocumentInit(&gpslogfile); // Initialize the new kml-document for further use. |
|
| 234 | /* init VIC (Vectored Interrupt Controller) */ |
232 | /* init VIC (Vectored Interrupt Controller) */ |
| 235 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
233 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
| 236 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
234 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
| Line 242... | Line 240... | ||
| 242 | // initialize the LEDs (needs Timer 1) |
240 | // initialize the LEDs (needs Timer 1) |
| 243 | Led_Init(); |
241 | Led_Init(); |
| 244 | // initialize the debug UART1 |
242 | // initialize the debug UART1 |
| 245 | UART1_Init(); |
243 | UART1_Init(); |
| 246 | SerialPutString("\r\n---------------------------------------------"); |
244 | SerialPutString("\r\n---------------------------------------------"); |
| 247 | - | ||
| 248 | // initialize UART2 to FLIGHTCTRL |
245 | // initialize UART2 to FLIGHTCTRL |
| 249 | UART2_Init(); |
246 | UART2_Init(); |
| 250 | // initialize UART0 (to MKGPS or MK3MAG) |
247 | // initialize UART0 (to MKGPS or MK3MAG) |
| 251 | UART0_Init(); |
248 | UART0_Init(); |
| 252 | // initialize usb |
249 | // initialize usb |
| Line 258... | Line 255... | ||
| 258 | // initialize the gps position controller (needs Timer 1) |
255 | // initialize the gps position controller (needs Timer 1) |
| 259 | GPS_Init(); |
256 | GPS_Init(); |
| 260 | // initialize fat16 partition on sd card (needs Timer 1) |
257 | // initialize fat16 partition on sd card (needs Timer 1) |
| 261 | Fat16_Init(); |
258 | Fat16_Init(); |
| Line 262... | Line -... | ||
| 262 | - | ||
| 263 | 259 | ||
| 264 | TimerCompassUpdate = SetDelay(5); |
260 | TimerCompassUpdate = SetDelay(5); |
| 265 | TimerKmlAddPointDelay = SetDelay(250); |
261 | TimerKmlAddPointDelay = SetDelay(250); |
| 266 | TimerCheckError = SetDelay(3000); |
- | |
| 267 | 262 | TimerCheckError = SetDelay(3000); |
|
| 268 | SerialPutString("\r\n---------------------------------------------"); |
263 | SerialPutString("\r\n---------------------------------------------"); |
| 269 | SerialPutString("\n\r Version information:"); |
264 | SerialPutString("\n\r Version information:"); |
| 270 | GetNaviCtrlVersion(); |
265 | GetNaviCtrlVersion(); |
| 271 | SPI0_GetFlightCtrlVersion(); |
266 | SPI0_GetFlightCtrlVersion(); |
| Line 274... | Line 269... | ||
| 274 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
269 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
| 275 | //SerialPutString(ErrorMSG); |
270 | //SerialPutString(ErrorMSG); |
| 276 | SerialPutString("\n\r Flight-Ctrl not compatible"); |
271 | SerialPutString("\n\r Flight-Ctrl not compatible"); |
| 277 | LED_RED_ON; |
272 | LED_RED_ON; |
| 278 | } |
273 | } |
| - | 274 | ||
| 279 | I2C1_GetMK3MagVersion(); |
275 | I2C1_GetMK3MagVersion(); |
| 280 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
276 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| 281 | { |
277 | { |
| 282 | SerialPutString("\n\r MK3Mag not compatible"); |
278 | SerialPutString("\n\r MK3Mag not compatible"); |
| 283 | LED_RED_ON; |
279 | LED_RED_ON; |
| 284 | } |
280 | } |
| Line 285... | Line 281... | ||
| 285 | 281 | ||
| 286 | /* |
282 | /* |
| 287 | ReadSetting(1); |
283 | ReadSetting(1); |
| 288 | */ |
284 | */ |
| Line 289... | Line 285... | ||
| 289 | SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
285 | SerialPutString("\r\n---------------------------------------------\r\n\r\n "); |
| 290 | 286 | ||
| 291 | for (;;) |
287 | for (;;) |
| 292 | { |
288 | { |
| Line 343... | Line 339... | ||
| 343 | } |
339 | } |
| 344 | // ---------------- KML Timing ------------------------------------ |
340 | // ---------------- KML Timing ------------------------------------ |
| 345 | if(CheckDelay(TimerKmlAddPointDelay)) |
341 | if(CheckDelay(TimerKmlAddPointDelay)) |
| 346 | { |
342 | { |
| 347 | TimerKmlAddPointDelay = SetDelay(500); // every 500 ms |
343 | TimerKmlAddPointDelay = SetDelay(500); // every 500 ms |
| - | 344 | ||
| 348 | if(FC.MKFlags & MKFLAG_FLY) // model is flying |
345 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
| 349 | { |
346 | { |
| 350 | switch(logfilestate) |
347 | switch(logfilestate) |
| 351 | { |
348 | { |
| 352 | case LOGFILE_IDLE: |
349 | case LOGFILE_IDLE: |
| 353 | case LOGFILE_CLOSED: |
350 | case LOGFILE_CLOSED: |
| - | 351 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
|
| - | 352 | logfilestate = LOGFILE_START; |
|
| - | 353 | break; |
|
| - | 354 | case LOGFILE_START: |
|
| 354 | // find unused logfile name |
355 | // find unused logfile name |
| 355 | do |
356 | do |
| 356 | { // try to generate a new logfile name |
357 | { // try to generate a new logfile name |
| 357 | gpslogfilename = GenerateGPSLogFileName(); |
358 | gpslogfilename = GenerateGPSLogFileName(); |
| 358 | }while((gpslogfilename != NULL) && fexist_(gpslogfilename)); |
359 | }while((gpslogfilename != NULL) && fexist_(gpslogfilename)); |
| Line 386... | Line 387... | ||
| 386 | { // error logging data |
387 | { // error logging data |
| 387 | SerialPutString("\r\nError Logging GPS data\r\n"); |
388 | SerialPutString("\r\nError Logging GPS data\r\n"); |
| 388 | KML_DocumentClose(&gpslogfile); |
389 | KML_DocumentClose(&gpslogfile); |
| 389 | logfilestate = LOGFILE_ERROR; |
390 | logfilestate = LOGFILE_ERROR; |
| 390 | } |
391 | } |
| 391 | else DebugOut.Analog[26]++; |
392 | else DebugOut.Analog[26]++; // count SD-Logs |
| 392 | } |
393 | } |
| 393 | break; |
394 | break; |
| Line 394... | Line 395... | ||
| 394 | 395 | ||
| 395 | case LOGFILE_ERROR: |
396 | case LOGFILE_ERROR: |