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5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
Line 30... | Line 30... | ||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
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 |
89 | u8 TransmitAlsoToFC = 0; |
88 | u8 TransmitAlsoToFC = 0; |
90 | #endif |
89 | #endif |
91 | u32 TimerCheckError; |
90 | u32 TimerCheckError; |
92 | u8 ErrorCode = 0; |
91 | u8 ErrorCode = 0; |
93 | u16 BeepTime; |
92 | u16 BeepTime; |
94 | u8 NCFlags = 0; |
93 | u8 NCFlags = 0; |
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 | - | ||
Line 157... | Line 153... | ||
157 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
153 | |
158 | else DebugOut.StatusRed &= ~AMPEL_NC; |
154 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
159 | 155 | else DebugOut.StatusRed &= ~AMPEL_NC; |
|
160 | //if(I2C_CompassPort == I2C_EXTERN_0) LED_RED_OFF_T; |
156 | |
161 | 157 | ||
162 | if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1)) |
- | |
163 | { |
158 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
164 | LED_RED_ON; |
159 | { |
165 | sprintf(ErrorMSG,"no compass communica"); |
160 | LED_RED_ON; |
166 | //Reset I2CBus |
161 | sprintf(ErrorMSG,"no compass communica"); |
167 | I2C1_Deinit(); |
162 | //Reset Compass communication |
168 | I2C1_Init(); |
163 | Compass_Init(); |
169 | newErrorCode = 4; |
- | |
170 | StopNavigation = 1; |
- | |
171 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
- | |
172 | DebugOut.StatusRed |= AMPEL_COMPASS; |
- | |
173 | } |
- | |
174 | else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0)) |
- | |
175 | { |
- | |
176 | LED_RED_ON; |
- | |
177 | //LED_RED_ON_T; |
- | |
178 | sprintf(ErrorMSG,"no ext. compass "); |
- | |
179 | //Reset I2CBus |
- | |
180 | I2C0_Deinit(); |
- | |
181 | I2C0_Init(); |
- | |
182 | NCMAG_Update(1); |
- | |
183 | newErrorCode = 33; |
164 | newErrorCode = 4; |
184 | StopNavigation = 1; |
165 | StopNavigation = 1; |
185 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
166 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
186 | DebugOut.StatusRed |= AMPEL_COMPASS; |
167 | DebugOut.StatusRed |= AMPEL_COMPASS; |
187 | } |
168 | } |
188 | else if(CompassValueErrorCount > 30) |
169 | else if(CompassValueErrorCount > 30) |
189 | { |
170 | { |
190 | LED_RED_ON; |
- | |
191 | sprintf(ErrorMSG,"compass sensor error"); |
- | |
192 | newErrorCode = 34; |
- | |
193 | StopNavigation = 1; |
171 | LED_RED_ON; |
194 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
- | |
195 | if(I2C_CompassPort == I2C_INTERN_1) |
- | |
196 | { |
- | |
197 | I2C1_Deinit(); |
- | |
198 | I2C1_Init(); |
- | |
199 | } |
- | |
200 | else |
172 | sprintf(ErrorMSG,"compass sensor error"); |
201 | { |
- | |
202 | I2C0_Deinit(); |
173 | newErrorCode = 34; |
203 | I2C0_Init(); |
174 | StopNavigation = 1; |
204 | } |
175 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
205 | } |
176 | Compass_Init(); |
206 | else |
177 | } |
207 | if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
178 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
208 | { |
179 | { |
209 | sprintf(ErrorMSG,"Calibrate... "); |
- | |
210 | newErrorCode = 0; |
180 | sprintf(ErrorMSG,"Calibrate... "); |
211 | ErrorCode = 0; |
181 | newErrorCode = 0; |
212 | no_error_delay = 1; |
182 | ErrorCode = 0; |
213 | } |
183 | no_error_delay = 1; |
214 | else |
184 | } |
215 | if(CheckDelay(SPI0_Timeout)) |
185 | else if(CheckDelay(SPI0_Timeout)) |
216 | { |
186 | { |
217 | LED_RED_ON; |
187 | LED_RED_ON; |
Line 233... | Line 203... | ||
233 | newErrorCode = 1; |
203 | newErrorCode = 1; |
234 | StopNavigation = 1; |
204 | StopNavigation = 1; |
235 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
205 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
236 | DebugOut.StatusRed |= AMPEL_NC; |
206 | DebugOut.StatusRed |= AMPEL_NC; |
237 | } |
207 | } |
238 | - | ||
239 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
208 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
240 | { |
209 | { |
241 | LED_RED_ON; |
210 | LED_RED_ON; |
242 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
211 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
243 | newErrorCode = 10; |
212 | newErrorCode = 10; |
Line 278... | Line 247... | ||
278 | sprintf(ErrorMSG,"ERR:Flying range!"); |
247 | sprintf(ErrorMSG,"ERR:Flying range!"); |
279 | newErrorCode = 28; |
248 | newErrorCode = 28; |
280 | } |
249 | } |
281 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
250 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
282 | { |
251 | { |
283 | LED_RED_ON; |
252 | LED_RED_ON; |
284 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
253 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
285 | newErrorCode = 16; |
254 | newErrorCode = 16; |
286 | } |
255 | } |
287 | else if(FC.Error[1] & FC_ERROR1_I2C) |
256 | else if(FC.Error[1] & FC_ERROR1_I2C) |
288 | { |
257 | { |
Line 304... | Line 273... | ||
304 | } |
273 | } |
305 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
274 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
306 | { |
275 | { |
307 | LED_RED_ON; |
276 | LED_RED_ON; |
308 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
277 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
309 | // else |
278 | // else |
310 | { |
279 | { |
311 | sprintf(ErrorMSG,"no GPS communication"); |
280 | sprintf(ErrorMSG,"no GPS communication"); |
312 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
281 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
313 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
282 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
314 | newErrorCode = 5; |
283 | newErrorCode = 5; |
315 | } |
284 | } |
316 | StopNavigation = 1; |
285 | StopNavigation = 1; |
317 | // UBX_Timeout = SetDelay(500); |
286 | // UBX_Timeout = SetDelay(500); |
318 | } |
287 | } |
319 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
288 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
320 | { |
289 | { |
Line 349... | Line 318... | ||
349 | { |
318 | { |
350 | LED_RED_ON; |
319 | LED_RED_ON; |
351 | sprintf(ErrorMSG,"RC Signal lost "); |
320 | sprintf(ErrorMSG,"RC Signal lost "); |
352 | newErrorCode = 7; |
321 | newErrorCode = 7; |
353 | } |
322 | } |
354 | else if(ErrorGpsFixLost) |
323 | else if(ErrorGpsFixLost) |
355 | { |
324 | { |
356 | LED_RED_ON; |
325 | LED_RED_ON; |
357 | sprintf(ErrorMSG,"GPS Fix lost "); |
326 | sprintf(ErrorMSG,"GPS Fix lost "); |
358 | newErrorCode = 21; |
327 | newErrorCode = 21; |
359 | } |
328 | } |
360 | else if(ErrorDisturbedEarthMagnetField) |
329 | else if(ErrorDisturbedEarthMagnetField) |
361 | { |
330 | { |
362 | LED_RED_ON; |
331 | LED_RED_ON; |
363 | sprintf(ErrorMSG,"Magnet error "); |
332 | sprintf(ErrorMSG,"Magnet error "); |
364 | newErrorCode = 22; |
333 | newErrorCode = 22; |
365 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
334 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
366 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
335 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
367 | } |
336 | } |
368 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
337 | else if(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode) |
369 | { |
338 | { |
370 | LED_RED_ON; |
339 | LED_RED_ON; |
371 | sprintf(ErrorMSG,"ERR:Motor restart "); |
340 | sprintf(ErrorMSG,"ERR:Motor restart "); |
372 | newErrorCode = 23; |
341 | newErrorCode = 23; |
373 | DebugOut.StatusRed |= AMPEL_BL; |
342 | DebugOut.StatusRed |= AMPEL_BL; |
374 | } |
343 | } |
375 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
344 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
376 | { |
345 | { |
377 | unsigned int i; |
346 | u16 i; |
378 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
347 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
379 | - | ||
380 | LED_RED_ON; |
348 | LED_RED_ON; |
381 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
349 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
382 | newErrorCode = 32; |
350 | newErrorCode = 32; |
383 | DebugOut.StatusRed |= AMPEL_BL; |
351 | DebugOut.StatusRed |= AMPEL_BL; |
384 | } |
352 | } |
385 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
353 | else if(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
386 | { |
354 | { |
387 | LED_RED_ON; |
355 | LED_RED_ON; |
388 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
356 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
389 | newErrorCode = 24; |
357 | newErrorCode = 24; |
390 | DebugOut.StatusRed |= AMPEL_BL; |
358 | DebugOut.StatusRed |= AMPEL_BL; |
391 | } |
359 | } |
392 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
360 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
393 | { |
361 | { |
394 | LED_RED_ON; |
362 | LED_RED_ON; |
395 | sprintf(ErrorMSG,"ERR:GPS range "); |
363 | sprintf(ErrorMSG,"ERR:GPS range "); |
396 | newErrorCode = 25; |
364 | newErrorCode = 25; |
397 | DebugOut.StatusRed |= AMPEL_NC; |
365 | DebugOut.StatusRed |= AMPEL_NC; |
398 | } |
366 | } |
399 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
367 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
400 | { |
368 | { |
401 | LED_RED_ON; |
369 | LED_RED_ON; |
402 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
370 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
403 | newErrorCode = 26; |
371 | newErrorCode = 26; |
404 | DebugOut.StatusRed |= AMPEL_NC; |
372 | DebugOut.StatusRed |= AMPEL_NC; |
405 | } |
373 | } |
406 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
374 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
407 | { |
375 | { |
408 | LED_RED_ON; |
376 | LED_RED_ON; |
409 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
377 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
410 | newErrorCode = 27; |
378 | newErrorCode = 27; |
411 | DebugOut.StatusRed |= AMPEL_NC; |
379 | DebugOut.StatusRed |= AMPEL_NC; |
412 | SD_LoggingError = 0; |
380 | SD_LoggingError = 0; |
413 | } |
381 | } |
414 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
382 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
415 | { |
383 | { |
416 | LED_RED_ON; |
384 | LED_RED_ON; |
417 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
385 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
418 | newErrorCode = 29; |
386 | newErrorCode = 29; |
419 | DebugOut.StatusRed |= AMPEL_NC; |
387 | DebugOut.StatusRed |= AMPEL_NC; |
420 | } |
388 | } |
421 | 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))) |
389 | 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))) |
422 | { |
390 | { |
423 | LED_RED_ON; |
391 | LED_RED_ON; |
424 | sprintf(ErrorMSG,"No GPS Fix "); |
392 | sprintf(ErrorMSG,"No GPS Fix "); |
425 | newErrorCode = 30; |
393 | newErrorCode = 30; |
426 | } |
394 | } |
427 | else // no error occured |
395 | else // no error occured |
428 | { |
396 | { |
429 | StopNavigation = 0; |
397 | StopNavigation = 0; |
430 | LED_RED_OFF; |
398 | LED_RED_OFF; |
431 | if(no_error_delay) { no_error_delay--; } |
399 | if(no_error_delay) { no_error_delay--; } |
432 | else |
400 | else |
433 | { |
401 | { |
434 | sprintf(ErrorMSG,"No Error "); |
402 | sprintf(ErrorMSG,"No Error "); |
435 | ErrorCode = 0; |
403 | ErrorCode = 0; |
436 | } |
404 | } |
437 | } |
405 | } |
Line 438... | Line 406... | ||
438 | 406 | ||
439 | if(newErrorCode) |
407 | if(newErrorCode) |
440 | { |
408 | { |
441 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
409 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
442 | ErrorCode = newErrorCode; |
410 | ErrorCode = newErrorCode; |
443 | } |
411 | } |
444 | FC.Error[0] = 0; |
412 | FC.Error[0] = 0; |
Line 451... | Line 419... | ||
451 | 419 | ||
452 | 420 | ||
453 | 421 | ||
454 | u8 Polling(void) |
422 | u8 Polling(void) |
- | 423 | { |
|
455 | { |
424 | static u8 running = 0, oldFcFlags = 0, count5sec; |
456 | static u8 running = 0, oldFcFlags = 0, count5sec; |
425 | static u32 old_ms = 0; |
- | 426 | ||
457 | static u32 old_ms = 0; |
427 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
458 | if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
428 | running = 1; |
459 | running = 1; |
429 | |
460 | if(CountMilliseconds != old_ms) // 1 ms |
430 | if(CountMilliseconds != old_ms) // 1 ms |
461 | { |
431 | { |
462 | old_ms = CountMilliseconds; |
432 | old_ms = CountMilliseconds; |
463 | Compass_Update(); // update compass communication |
433 | Compass_Update(); // update compass communication |
464 | Analog_Update(); // get new ADC values |
- | |
465 | CalcHeadFree(); |
- | |
466 | } |
- | |
467 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
- | |
468 | UART0_ProcessRxData(); // GPS process request |
- | |
469 | UART0_TransmitTxData(); // GPS send answer |
- | |
470 | UART1_ProcessRxData(); // PC process request |
- | |
Line 471... | Line 434... | ||
471 | UART1_TransmitTxData(); // PC send answer |
434 | Analog_Update(); // get new ADC values |
- | 435 | CalcHeadFree(); |
|
- | 436 | } |
|
- | 437 | ||
- | 438 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
|
- | 439 | UART0_ProcessRxData(); // GPS process request |
|
- | 440 | UART0_TransmitTxData(); // GPS send answer |
|
- | 441 | UART1_ProcessRxData(); // PC process request |
|
472 | UART2_TransmitTxData(); // FC send answer |
442 | UART1_TransmitTxData(); // PC send answer |
- | 443 | UART2_TransmitTxData(); // FC send answer |
|
- | 444 | ||
473 | // ---------------- Error Check Timing ---------------------------- |
445 | // ---------------- Error Check Timing ---------------------------- |
474 | - | ||
475 | //DebugOut.Analog[16] = CompassValueErrorCount; |
- | |
476 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
446 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
477 | { |
447 | { |
478 | if(CheckDelay(TimerCheckError)) |
448 | if(CheckDelay(TimerCheckError)) |
479 | { |
449 | { |
480 | TimerCheckError = SetDelay(1000); |
450 | TimerCheckError = SetDelay(1000); |
481 | if(CompassValueErrorCount) CompassValueErrorCount--; |
451 | if(CompassValueErrorCount) CompassValueErrorCount--; |
482 | if(++count5sec == 5) |
452 | if(++count5sec == 5) |
483 | { |
453 | { |
484 | count5sec = 0; |
454 | count5sec = 0; |
485 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
- | |
486 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
455 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
487 | CountGpsProcessedIn5Sec = 0; |
- | |
488 | CountNewGpsDataIn5Sec = 0; |
- | |
489 | } |
- | |
490 | } |
- | |
491 | oldFcFlags = FC.StatusFlags; |
- | |
492 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
- | |
493 | - | ||
494 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
- | |
495 | - | ||
496 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
- | |
497 | if(SerialLinkOkay) SerialLinkOkay--; |
456 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
- | 457 | CountGpsProcessedIn5Sec = 0; |
|
- | 458 | CountNewGpsDataIn5Sec = 0; |
|
- | 459 | } |
|
- | 460 | } |
|
- | 461 | oldFcFlags = FC.StatusFlags; |
|
- | 462 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
|
- | 463 | ||
- | 464 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
|
- | 465 | ||
- | 466 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
|
- | 467 | if(SerialLinkOkay) SerialLinkOkay--; |
|
498 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
468 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
499 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
469 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
500 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
470 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
501 | } |
471 | } |
Line 502... | Line 472... | ||
502 | running = 0; |
472 | running = 0; |
503 | if(!PollingTimeout) DebugOut.Analog[17]++; |
473 | if(!PollingTimeout) DebugOut.Analog[17]++; |
504 | return(0); |
474 | return(0); |
505 | } |
475 | } |
506 | 476 | ||
507 | // the handler will be cyclic called by the timer 1 ISR |
477 | // the handler will be cyclic called by the timer 1 ISR |
508 | // used is for critical timing parts that normaly would handled |
478 | // used is for critical timing parts that normaly would handled |
509 | // within the main loop that could block longer at logging activities |
479 | // within the main loop that could block longer at logging activities |
510 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
480 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
- | 481 | { |
|
511 | { |
482 | IENABLE; |
512 | IENABLE; |
483 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
513 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
484 | //Compass_Update(); // update compass communication |
514 | // Compass_Update(); // update compass communication |
485 | //Analog_Update(); // get new ADC values |
515 | // Analog_Update(); // get new ADC values |
486 | |
516 | if(PollingTimeout == 0) |
487 | if(PollingTimeout == 0) |
Line 517... | Line 488... | ||
517 | { |
488 | { |
518 | PollingTimeout = 5; |
489 | PollingTimeout = 5; |
519 | // if(Polling() == 0) DebugOut.Analog[16]++; |
490 | //if(Polling() == 0) DebugOut.Analog[16]++; |
Line 527... | Line 498... | ||
527 | } |
498 | } |
Line 528... | Line 499... | ||
528 | 499 | ||
529 | //---------------------------------------------------------------------------------------------------- |
500 | //---------------------------------------------------------------------------------------------------- |
530 | int main(void) |
501 | int main(void) |
531 | { |
502 | { |
532 | 503 | ||
533 | static u32 ftimer =0; |
504 | // static u32 ftimer =0; |
534 | static u8 fstate = 0; |
505 | // static u8 fstate = 0; |
535 | // static File_t* f = NULL; |
506 | // static File_t* f = NULL; |
536 | 507 | ||
537 | 508 | ||
538 | /* Configure the system clocks */ |
509 | /* Configure the system clocks */ |
539 | SCU_Config(); |
510 | SCU_Config(); |
540 | /* init VIC (Vectored Interrupt Controller) */ |
511 | /* init VIC (Vectored Interrupt Controller) */ |
541 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
512 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
Line 559... | Line 530... | ||
559 | // initialize adc |
530 | // initialize adc |
560 | Analog_Init(); |
531 | Analog_Init(); |
561 | // initialize SPI0 to FC |
532 | // initialize SPI0 to FC |
562 | SPI0_Init(); |
533 | SPI0_Init(); |
563 | // initialize i2c busses (needs Timer 1) |
534 | // initialize i2c busses (needs Timer 1) |
564 | I2C0_Init(); |
535 | I2CBus_Init(I2C0); |
565 | I2C1_Init(); |
536 | I2CBus_Init(I2C1); |
Line 566... | Line 537... | ||
566 | 537 | ||
567 | // initialize fat16 partition on sd card (needs Timer 1) |
538 | // initialize fat16 partition on sd card (needs Timer 1) |
568 | Fat16_Init(); |
539 | Fat16_Init(); |
569 | // initialize NC params |
540 | // initialize NC params |
Line 617... | Line 588... | ||
617 | CompassValueErrorCount = 0; |
588 | CompassValueErrorCount = 0; |
618 | for (;;) // the endless main loop |
589 | for (;;) // the endless main loop |
619 | { |
590 | { |
620 | PollingTimeout = 5; |
591 | PollingTimeout = 5; |
621 | Polling(); |
592 | Polling(); |
622 | // ---------------- Logging --------------------------------------- |
- | |
Line -... | Line 593... | ||
- | 593 | ||
623 | 594 | // ---------------- Logging --------------------------------------- |
|
624 | if(SD_WatchDog) |
595 | if(SD_WatchDog) |
625 | { |
596 | { |
626 | SD_WatchDog = 30000; |
597 | SD_WatchDog = 30000; |
627 | 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 |
598 | 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 |
628 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
599 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
629 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
600 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
- | 601 | } |
|
630 | } |
602 | |
631 | /* |
603 | /* |
632 | if(CheckDelay(ftimer)) |
604 | if(CheckDelay(ftimer)) |
Line 633... | Line 605... | ||
633 | { |
605 | { |
634 | 606 | ||
635 | static s8 filename[35]; |
607 | static s8 filename[35]; |
636 | static u8 i = 0; |
608 | static u8 i = 0; |
637 | s8 dbgmsg[40]; |
609 | s8 dbgmsg[40]; |
Line 638... | Line 610... | ||
638 | |
610 | |
639 | |
611 | |
640 | 612 | ||
641 | ftimer = SetDelay(100); |
613 | ftimer = SetDelay(100); |
Line 660... | Line 632... | ||
660 | break; |
632 | break; |
Line 661... | Line 633... | ||
661 | 633 | ||
662 | case 2: |
634 | case 2: |
663 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
635 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
664 | break; |
636 | break; |
665 | |
637 | |
666 | case 3: |
638 | case 3: |
667 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
639 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
668 | Debug(dbgmsg); |
640 | Debug(dbgmsg); |
669 | fclose_(f); |
641 | fclose_(f); |
Line 672... | Line 644... | ||
672 | 644 | ||
673 | default: |
645 | default: |
674 | break; |
646 | break; |
675 | } |
647 | } |
676 | } |
648 | } |
677 | */ |
649 | */ |
678 | } |
650 | } |
679 | } |
651 | } |