WebSVN - NaviCtrl - Diff - Rev 482 and 483

 #include "led.h"
 #include "uart0.h"
 #include "uart1.h"
 #include "uart2.h"
 #include "gps.h"
+#include "i2c0.h"
-#include "i2c.h"
+#include "i2c1.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))
-        if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;
+         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((FCCalibActive || CompassCalState) && FC_Version.Hardware)
+     {
                 sprintf(ErrorMSG,"Calibrate... ");
                 newErrorCode = 0;
                 ErrorCode = 0;
                 no_error_delay = 1;
+         }
-        else if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout))
+        else if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1))
+        {
-        {
+                LED_RED_ON;
-                LED_RED_ON;
+                sprintf(ErrorMSG,"no compass communica");
-                sprintf(ErrorMSG,"no compass communica");
+                //Reset I2CBus
-                //Reset Compass communication
+                I2C1_Deinit();
-                Compass_Init();
+                I2C1_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;
+                StopNavigation = 1;
-                StopNavigation = 1;
+                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
-                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
+                DebugOut.StatusRed |= AMPEL_COMPASS;
                 DebugOut.StatusRed |= AMPEL_COMPASS;
         else
-        else if(CheckDelay(SPI0_Timeout))
+        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;
         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");
+                  sprintf(ErrorMSG,"no GPS communication");
-                        UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
+                  UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
-                        UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;
+                  UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;
-                        newErrorCode = 5;
+              newErrorCode = 5;
-                }
+                 }
                 StopNavigation = 1;
 //              UBX_Timeout = SetDelay(500);
+        }
         else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)
+        {
                 sprintf(ErrorMSG,"RC Signal lost ");
                 newErrorCode = 7;
+        }
         else if(ErrorGpsFixLost)
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"GPS Fix lost    ");
+         sprintf(ErrorMSG,"GPS Fix lost    ");
-                newErrorCode = 21;
+         newErrorCode = 21;
+        }
         else if(ErrorDisturbedEarthMagnetField)
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"Magnet error    ");
+         sprintf(ErrorMSG,"Magnet error    ");
-                newErrorCode = 22;
+         newErrorCode = 22;
-                DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;
+         DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;
-                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
+         UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
+        }
         else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode)
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"ERR:Motor restart  ");
+         sprintf(ErrorMSG,"ERR:Motor restart  ");
-                newErrorCode = 23;
+         newErrorCode = 23;
-                DebugOut.StatusRed |= AMPEL_BL;
+         DebugOut.StatusRed |= AMPEL_BL;
+        }
         else if(BL_MinOfMaxPWM < 30 && !ErrorCode)
+        {
-                u16 i;
+     unsigned int 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;
+        }
         else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"ERR:BL Limitation   ");
+         sprintf(ErrorMSG,"ERR:BL Limitation   ");
-                newErrorCode = 24;
+         newErrorCode = 24;
-                DebugOut.StatusRed |= AMPEL_BL;
+         DebugOut.StatusRed |= AMPEL_BL;
+        }
         else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"ERR:GPS range  ");
+         sprintf(ErrorMSG,"ERR:GPS range  ");
-                newErrorCode = 25;
+         newErrorCode = 25;
-                DebugOut.StatusRed |= AMPEL_NC;
+         DebugOut.StatusRed |= AMPEL_NC;
+        }
         else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"ERR:No SD-Card  ");
+         sprintf(ErrorMSG,"ERR:No SD-Card  ");
-                newErrorCode = 26;
+         newErrorCode = 26;
-                DebugOut.StatusRed |= AMPEL_NC;
+         DebugOut.StatusRed |= AMPEL_NC;
+        }
         else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"ERR:SD Logging abort");
+         sprintf(ErrorMSG,"ERR:SD Logging abort");
-                newErrorCode = 27;
+         newErrorCode = 27;
-                DebugOut.StatusRed |= AMPEL_NC;
+         DebugOut.StatusRed |= AMPEL_NC;
-                SD_LoggingError = 0;
+         SD_LoggingError = 0;
+        }
         else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"ERR:Max Altitude ");
+         sprintf(ErrorMSG,"ERR:Max Altitude ");
-                newErrorCode = 29;
+         newErrorCode = 29;
-                DebugOut.StatusRed |= AMPEL_NC;
+         DebugOut.StatusRed |= AMPEL_NC;
+        }
         else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50)))
+        {
-                LED_RED_ON;
+         LED_RED_ON;
-                sprintf(ErrorMSG,"No GPS Fix      ");
+         sprintf(ErrorMSG,"No GPS Fix      ");
-                newErrorCode = 30;
+         newErrorCode = 30;
+        }
         else // no error occured
+        {
                 StopNavigation = 0;
                 LED_RED_OFF;
                 if(no_error_delay) { no_error_delay--;  }
                 else
-                {
+                 {
-                        sprintf(ErrorMSG,"No Error            ");
+                  sprintf(ErrorMSG,"No Error            ");
-                        ErrorCode = 0;
+                  ErrorCode = 0;
-                }
+                 }
+        }
     if(newErrorCode)
+         {
 void Polling(void)
+{
  static u8 running = 0, oldFcFlags = 0, count5sec;
- static u8 running = 0, oldFcFlags = 0, count5sec;
+ static u32 old_ms = 0;
+ if(running) return;
+ running = 1;
+   if(CountMilliseconds != old_ms)  // 1 ms
+    {
+                old_ms = CountMilliseconds;
+                Compass_Update();               // update compass communication
+                Analog_Update();                // get new ADC values
- if(running) return;
+                CalcHeadFree();
  running = 1;
                 SPI0_UpdateBuffer();    // also calls the GPS-functions
                 UART0_ProcessRxData();  // GPS process request
                 UART0_TransmitTxData(); // GPS send answer
                 UART1_ProcessRxData();  // PC process request
-                UART1_TransmitTxData(); // PC send answer
-                UART2_TransmitTxData(); // FC send answer
+                UART1_TransmitTxData(); // PC send answer
-                CalcHeadFree();
+                UART2_TransmitTxData(); // FC send answer
                 // ---------------- Error Check Timing ----------------------------
                 if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
+                {
+}
 // 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)
+void EXTIT3_IRQHandler(void)  // 1ms - Takt
+{
         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)
+        {
                 PollingTimeout = 5;
+                Polling();
-                Polling();
+DebugOut.Analog[16]++;
+        }
         VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
 //----------------------------------------------------------------------------------------------------
 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)
-        I2CBus_Init(I2C0);
+        I2C0_Init();
-        I2CBus_Init(I2C1);
+        I2C1_Init();
         // initialize fat16 partition on sd card (needs Timer 1)
         Fat16_Init();
         // initialize NC params
     Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval);
         UART1_PutString("\r\n");
         for (;;) // the endless main loop
+        {
                 Polling();
-                PollingTimeout = 15;
+                PollingTimeout = 10;
                 // ---------------- 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/V2.06d/main.c @ 617 - Rev 482 → 483