WebSVN - NaviCtrl - Diff - Rev 470 and 472

 //----------------------------------------------------------------------------------------------------
 void GetNaviCtrlVersion(void)
+{
         u8 msg[25];
-        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
+        sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c",  Version_HW/10, Version_HW%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
         UART1_PutString(msg);
+}
+{
     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))
-        //ToDo
-        if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;
+         DebugOut.StatusRed |= AMPEL_COMPASS;
         else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status
                 sprintf(ErrorMSG,"Calibrate... ");
                 newErrorCode = 0;
                 ErrorCode = 0;
                 no_error_delay = 1;
+         }
-        else
-        if(CheckDelay(SPI0_Timeout))
+        else if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1))
+        {
                 LED_RED_ON;
-                sprintf(ErrorMSG,"no FC communication ");
+                sprintf(ErrorMSG,"no compass communica");
+                //Reset I2CBus
+                I2C1_Deinit();
+                I2C1_Init();
-                newErrorCode = 3;
+                newErrorCode = 4;
                 StopNavigation = 1;
-                DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
+                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
-                DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
+                DebugOut.StatusRed |= AMPEL_COMPASS;
-                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
+        }
-        //ToDo
-        else if(CheckDelay(I2C1_Timeout))
+        else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0))
+        {
                 LED_RED_ON;
-                sprintf(ErrorMSG,"no compass communica");
+                sprintf(ErrorMSG,"no ext. compass ");
                 //Reset I2CBus
-                I2C1_Deinit();
+                I2C0_Deinit();
-                I2C1_Init();
+                I2C0_Init();
                 newErrorCode = 4;
                 StopNavigation = 1;
                 UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
                 DebugOut.StatusRed |= AMPEL_COMPASS;
+        }
+        else
+        if(CheckDelay(SPI0_Timeout))
+        {
+                LED_RED_ON;
+                sprintf(ErrorMSG,"no FC communication ");
+                newErrorCode = 3;
+                StopNavigation = 1;
+                DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
+                DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
+                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
+        }
         else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
+        {
                 LED_RED_ON;
 #ifndef FOLLOW_ME
                 sprintf(ErrorMSG,"FC not compatible ");
          sprintf(ErrorMSG,"Magnet error    ");
          newErrorCode = 22;
          DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;
          UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
+        }
-        else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
+        else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode)
+        {
          LED_RED_ON;
          sprintf(ErrorMSG,"ERR:Motor restart  ");
          newErrorCode = 23;
          DebugOut.StatusRed |= AMPEL_BL;
+        }
+        else if(BL_MinOfMaxPWM < 30 && !ErrorCode)
+        {
+     unsigned int i;
+         for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break;
+         LED_RED_ON;
+         sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM);
+         newErrorCode = 32;
+         DebugOut.StatusRed |= AMPEL_BL;
+        }
-        else if(BL_MinOfMaxPWM != 255 && (BL_MinOfMaxPWM != 250) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
+        else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
+        {
          LED_RED_ON;
          sprintf(ErrorMSG,"ERR:BL Limitation   ");
          newErrorCode = 24;
          DebugOut.StatusRed |= AMPEL_BL;
                 UART2_TransmitTxData(); // FC send answer
                 CalcHeadFree();
                 // ---------------- Error Check Timing ----------------------------
                 if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
+                {
-//CreateNmeaGGA();
                         if(CheckDelay(TimerCheckError))
+                         {
                           TimerCheckError = SetDelay(1000);
                           if(++count5sec == 5)
+                           {
                         if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
                         if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors();
                         if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
-//                      else NaviData.FlyingTime = 0; // not the time per flight
+                        if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
                         if(SerialLinkOkay) SerialLinkOkay--;
                         if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                         else NCFlags &= ~NC_FLAG_NOSERIALLINK;

Subversion Repositories NaviCtrl

(root)/tags/V2.06i/main.c @ 741 - Rev 470 → 472