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Line 60... | Line 60... | ||
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "uart0.h" |
61 | #include "uart0.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "uart2.h" |
63 | #include "uart2.h" |
64 | #include "gps.h" |
64 | #include "gps.h" |
65 | #include "i2c0.h" |
- | |
66 | #include "i2c1.h" |
65 | #include "i2c.h" |
67 | #include "compass.h" |
66 | #include "compass.h" |
68 | #include "ncmag.h" |
67 | #include "ncmag.h" |
69 | #include "timer1.h" |
68 | #include "timer1.h" |
70 | #include "timer2.h" |
69 | #include "timer2.h" |
71 | #include "analog.h" |
70 | #include "analog.h" |
Line 80... | Line 79... | ||
80 | #include "debug.h" |
79 | #include "debug.h" |
81 | #include "eeprom.h" |
80 | #include "eeprom.h" |
82 | #include "ssc.h" |
81 | #include "ssc.h" |
83 | #include "sdc.h" |
82 | #include "sdc.h" |
84 | #include "uart1.h" |
83 | #include "uart1.h" |
85 | #include "ncmag.h" |
- | |
- | 84 | ||
Line 86... | Line 85... | ||
86 | 85 | ||
87 | 86 | ||
88 | #ifdef FOLLOW_ME |
87 | #ifdef FOLLOW_ME |
Line 144... | Line 143... | ||
144 | { |
143 | { |
145 | static s32 no_error_delay = 0; |
144 | static s32 no_error_delay = 0; |
146 | s32 newErrorCode = 0; |
145 | s32 newErrorCode = 0; |
147 | UART_VersionInfo.HardwareError[0] = 0; |
146 | UART_VersionInfo.HardwareError[0] = 0; |
Line 148... | Line 147... | ||
148 | 147 | ||
149 | if((I2C_CompassPort == I2C_INTERN_1 && CheckDelay(I2C1_Timeout)) || (I2C_CompassPort == I2C_EXTERN_0 && CheckDelay(I2C0_Timeout)) || (Compass_Heading < 0)) |
- | |
150 | - | ||
151 | DebugOut.StatusRed |= AMPEL_COMPASS; |
148 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
Line 152... | Line 149... | ||
152 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
149 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
153 | 150 | ||
Line 154... | Line 151... | ||
154 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
151 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
155 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
152 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
Line 156... | Line -... | ||
156 | - | ||
157 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
- | |
158 | else DebugOut.StatusRed &= ~AMPEL_NC; |
153 | |
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; |
155 | else DebugOut.StatusRed &= ~AMPEL_NC; |
161 | 156 | ||
162 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
157 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
163 | { |
158 | { |
164 | sprintf(ErrorMSG,"Calibrate... "); |
159 | sprintf(ErrorMSG,"Calibrate... "); |
165 | newErrorCode = 0; |
160 | newErrorCode = 0; |
166 | ErrorCode = 0; |
161 | ErrorCode = 0; |
167 | no_error_delay = 1; |
162 | no_error_delay = 1; |
168 | } |
163 | } |
169 | else if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1)) |
164 | else if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
170 | { |
- | |
171 | LED_RED_ON; |
165 | { |
172 | sprintf(ErrorMSG,"no compass communica"); |
166 | LED_RED_ON; |
173 | //Reset I2CBus |
167 | sprintf(ErrorMSG,"no compass communica"); |
174 | I2C1_Deinit(); |
168 | //Reset Compass communication |
175 | I2C1_Init(); |
169 | Compass_Init(); |
176 | newErrorCode = 4; |
170 | newErrorCode = 4; |
177 | StopNavigation = 1; |
- | |
178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
- | |
179 | DebugOut.StatusRed |= AMPEL_COMPASS; |
- | |
180 | } |
- | |
181 | else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0)) |
- | |
182 | { |
- | |
183 | LED_RED_ON; |
- | |
184 | LED_RED_ON_T; |
- | |
185 | sprintf(ErrorMSG,"no ext. compass "); |
- | |
186 | //Reset I2CBus |
- | |
187 | I2C0_Deinit(); |
- | |
188 | I2C0_Init(); |
- | |
189 | NCMAG_Update(1); |
- | |
190 | newErrorCode = 33; |
- | |
191 | StopNavigation = 1; |
- | |
192 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
171 | StopNavigation = 1; |
193 | DebugOut.StatusRed |= AMPEL_COMPASS; |
172 | 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 | { |
Line 214... | Line 193... | ||
214 | newErrorCode = 1; |
193 | newErrorCode = 1; |
215 | StopNavigation = 1; |
194 | StopNavigation = 1; |
216 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
195 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
217 | 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; |
Line 286... | Line 264... | ||
286 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
264 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
287 | { |
265 | { |
288 | LED_RED_ON; |
266 | LED_RED_ON; |
289 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
267 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
290 | // else |
268 | // else |
291 | { |
269 | { |
292 | sprintf(ErrorMSG,"no GPS communication"); |
270 | sprintf(ErrorMSG,"no GPS communication"); |
293 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
271 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
294 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
272 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
295 | newErrorCode = 5; |
273 | newErrorCode = 5; |
296 | } |
274 | } |
297 | StopNavigation = 1; |
275 | StopNavigation = 1; |
298 | // UBX_Timeout = SetDelay(500); |
276 | // UBX_Timeout = SetDelay(500); |
299 | } |
277 | } |
300 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
278 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
301 | { |
279 | { |
Line 332... | Line 310... | ||
332 | sprintf(ErrorMSG,"RC Signal lost "); |
310 | sprintf(ErrorMSG,"RC Signal lost "); |
333 | newErrorCode = 7; |
311 | newErrorCode = 7; |
334 | } |
312 | } |
335 | else if(ErrorGpsFixLost) |
313 | else if(ErrorGpsFixLost) |
336 | { |
314 | { |
337 | LED_RED_ON; |
315 | LED_RED_ON; |
338 | sprintf(ErrorMSG,"GPS Fix lost "); |
316 | sprintf(ErrorMSG,"GPS Fix lost "); |
339 | newErrorCode = 21; |
317 | newErrorCode = 21; |
340 | } |
318 | } |
341 | else if(ErrorDisturbedEarthMagnetField) |
319 | else if(ErrorDisturbedEarthMagnetField) |
342 | { |
320 | { |
343 | LED_RED_ON; |
321 | LED_RED_ON; |
344 | sprintf(ErrorMSG,"Magnet error "); |
322 | sprintf(ErrorMSG,"Magnet error "); |
345 | newErrorCode = 22; |
323 | newErrorCode = 22; |
346 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
324 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
347 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
325 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
348 | } |
326 | } |
349 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
327 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
350 | { |
328 | { |
351 | LED_RED_ON; |
329 | LED_RED_ON; |
352 | sprintf(ErrorMSG,"ERR:Motor restart "); |
330 | sprintf(ErrorMSG,"ERR:Motor restart "); |
353 | newErrorCode = 23; |
331 | newErrorCode = 23; |
354 | DebugOut.StatusRed |= AMPEL_BL; |
332 | 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; |
336 | u16 i; |
359 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
337 | 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; |
340 | newErrorCode = 32; |
364 | DebugOut.StatusRed |= AMPEL_BL; |
341 | DebugOut.StatusRed |= AMPEL_BL; |
365 | } |
342 | } |
366 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
343 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
367 | { |
344 | { |
368 | LED_RED_ON; |
345 | LED_RED_ON; |
369 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
346 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
370 | newErrorCode = 24; |
347 | newErrorCode = 24; |
371 | DebugOut.StatusRed |= AMPEL_BL; |
348 | DebugOut.StatusRed |= AMPEL_BL; |
372 | } |
349 | } |
373 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
350 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
374 | { |
351 | { |
375 | LED_RED_ON; |
352 | LED_RED_ON; |
376 | sprintf(ErrorMSG,"ERR:GPS range "); |
353 | sprintf(ErrorMSG,"ERR:GPS range "); |
377 | newErrorCode = 25; |
354 | newErrorCode = 25; |
378 | DebugOut.StatusRed |= AMPEL_NC; |
355 | DebugOut.StatusRed |= AMPEL_NC; |
379 | } |
356 | } |
380 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
357 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
381 | { |
358 | { |
382 | LED_RED_ON; |
359 | LED_RED_ON; |
383 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
360 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
384 | newErrorCode = 26; |
361 | newErrorCode = 26; |
385 | DebugOut.StatusRed |= AMPEL_NC; |
362 | DebugOut.StatusRed |= AMPEL_NC; |
386 | } |
363 | } |
387 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
364 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
388 | { |
365 | { |
389 | LED_RED_ON; |
366 | LED_RED_ON; |
390 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
367 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
391 | newErrorCode = 27; |
368 | newErrorCode = 27; |
392 | DebugOut.StatusRed |= AMPEL_NC; |
369 | DebugOut.StatusRed |= AMPEL_NC; |
393 | SD_LoggingError = 0; |
370 | SD_LoggingError = 0; |
394 | } |
371 | } |
395 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
372 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
396 | { |
373 | { |
397 | LED_RED_ON; |
374 | LED_RED_ON; |
398 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
375 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
399 | newErrorCode = 29; |
376 | newErrorCode = 29; |
400 | DebugOut.StatusRed |= AMPEL_NC; |
377 | DebugOut.StatusRed |= AMPEL_NC; |
401 | } |
378 | } |
402 | 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))) |
379 | 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))) |
403 | { |
380 | { |
404 | LED_RED_ON; |
381 | LED_RED_ON; |
405 | sprintf(ErrorMSG,"No GPS Fix "); |
382 | sprintf(ErrorMSG,"No GPS Fix "); |
406 | newErrorCode = 30; |
383 | newErrorCode = 30; |
407 | } |
384 | } |
408 | else // no error occured |
385 | else // no error occured |
409 | { |
386 | { |
410 | StopNavigation = 0; |
387 | StopNavigation = 0; |
411 | LED_RED_OFF; |
388 | LED_RED_OFF; |
412 | if(no_error_delay) { no_error_delay--; } |
389 | if(no_error_delay) { no_error_delay--; } |
413 | else |
390 | else |
414 | { |
391 | { |
415 | sprintf(ErrorMSG,"No Error "); |
392 | sprintf(ErrorMSG,"No Error "); |
416 | ErrorCode = 0; |
393 | ErrorCode = 0; |
417 | } |
394 | } |
418 | } |
395 | } |
Line 419... | Line 396... | ||
419 | 396 | ||
420 | if(newErrorCode) |
397 | if(newErrorCode) |
421 | { |
398 | { |
Line 497... | Line 474... | ||
497 | 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 |