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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
| 32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 35 | // + this list of conditions and the following disclaimer. |
35 | // + this list of conditions and the following disclaimer. |
| 36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 37 | // + from this software without specific prior written permission. |
37 | // + from this software without specific prior written permission. |
| 38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 39 | // + for non-commercial use (directly or indirectly) |
39 | // + for non-commercial use (directly or indirectly) |
| 40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 41 | // + with our written permission |
41 | // + with our written permission |
| 42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 43 | // + clearly linked as origin |
43 | // + clearly linked as origin |
| 44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
44 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 45 | // |
45 | // |
| 46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 56 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // + POSSIBILITY OF SUCH DAMAGE. |
| 57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 58 | //#define MCLK96MHZ |
58 | //#define MCLK96MHZ |
| 59 | const unsigned long _Main_Crystal = 25000; |
59 | const unsigned long _Main_Crystal = 25000; |
| 60 | #include <stdio.h> |
60 | #include <stdio.h> |
| 61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
| 62 | #include "led.h" |
62 | #include "led.h" |
| 63 | #include "uart0.h" |
63 | #include "uart0.h" |
| 64 | #include "uart1.h" |
64 | #include "uart1.h" |
| 65 | #include "uart2.h" |
65 | #include "uart2.h" |
| 66 | #include "GPS.h" |
66 | #include "GPS.h" |
| 67 | #include "i2c.h" |
67 | #include "i2c.h" |
| 68 | #include "timer.h" |
68 | #include "timer.h" |
| 69 | #include "spi_slave.h" |
69 | #include "spi_slave.h" |
| 70 | #include "fat16.h" |
70 | #include "fat16.h" |
| 71 | #include "usb.h" |
71 | #include "usb.h" |
| 72 | #include "sdc.h" |
72 | #include "sdc.h" |
| 73 | #include "kml.h" |
73 | #include "kml.h" |
| 74 | #include "main.h" |
74 | #include "main.h" |
| 75 | 75 | ||
| 76 | 76 | ||
| 77 | typedef enum |
77 | typedef enum |
| 78 | { |
78 | { |
| 79 | LOGFILE_IDLE, |
79 | LOGFILE_IDLE, |
| 80 | LOGFILE_START, |
80 | LOGFILE_START, |
| 81 | LOGFILE_CLOSED, |
81 | LOGFILE_CLOSED, |
| 82 | LOGFILE_OPENED, |
82 | LOGFILE_OPENED, |
| 83 | LOGFILE_ERROR, |
83 | LOGFILE_ERROR, |
| 84 | } logfilestate_t; |
84 | } logfilestate_t; |
| 85 | 85 | ||
| 86 | u32 TimerCompassUpdate; |
86 | u32 TimerCompassUpdate; |
| 87 | u32 TimerKmlAddPointDelay; |
87 | u32 TimerKmlAddPointDelay; |
| 88 | u32 TimerCheckError; |
88 | u32 TimerCheckError; |
| 89 | u32 ErrorCode = 0; |
89 | u32 ErrorCode = 0; |
| 90 | u16 BeepTime; |
90 | u16 BeepTime; |
| 91 | 91 | ||
| 92 | u8 ClearMKFlags = 0; |
92 | u8 ClearMKFlags = 0; |
| 93 | u8 StopNavigation = 0; |
93 | u8 StopNavigation = 0; |
| 94 | Param_t Parameter; |
94 | Param_t Parameter; |
| 95 | volatile FC_t FC; |
95 | volatile FC_t FC; |
| 96 | 96 | ||
| 97 | s8 ErrorMSG[25]; |
97 | s8 ErrorMSG[25]; |
| 98 | 98 | ||
| 99 | //---------------------------------------------------------------------------------------------------- |
99 | //---------------------------------------------------------------------------------------------------- |
| 100 | void SCU_Config(void) |
100 | void SCU_Config(void) |
| 101 | { |
101 | { |
| 102 | /* configure PLL and set it as master clock source */ |
102 | /* configure PLL and set it as master clock source */ |
| 103 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
103 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
| 104 | SCU_PLLCmd(DISABLE); // now disable the PLL |
104 | SCU_PLLCmd(DISABLE); // now disable the PLL |
| 105 | #ifdef MCLK96MHZ |
105 | #ifdef MCLK96MHZ |
| 106 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
106 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
| 107 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
107 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
| 108 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
108 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| 109 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
109 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| 110 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
110 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
| 111 | #else |
111 | #else |
| 112 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
112 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
| 113 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
113 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
| 114 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
114 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| 115 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
115 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| 116 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
116 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
| 117 | #endif |
117 | #endif |
| 118 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
118 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
| 119 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
119 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
| 120 | } |
120 | } |
| 121 | 121 | ||
| 122 | //---------------------------------------------------------------------------------------------------- |
122 | //---------------------------------------------------------------------------------------------------- |
| 123 | void GetNaviCtrlVersion(void) |
123 | void GetNaviCtrlVersion(void) |
| 124 | { |
124 | { |
| 125 | u8 msg[25]; |
125 | u8 msg[25]; |
| 126 | 126 | ||
| 127 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
127 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 128 | SerialPutString(msg); |
128 | SerialPutString(msg); |
| 129 | } |
129 | } |
| 130 | 130 | ||
| 131 | 131 | ||
| 132 | //---------------------------------------------------------------------------------------------------- |
132 | //---------------------------------------------------------------------------------------------------- |
| 133 | s8* GenerateGPSLogFileName(void) |
133 | s8* GenerateGPSLogFileName(void) |
| 134 | { |
134 | { |
| 135 | static u16 filenum = 0; // file name counter |
135 | static u16 filenum = 0; // file name counter |
| 136 | static s8 filename[30]; |
136 | static s8 filename[30]; |
| 137 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
137 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| 138 | 138 | ||
| 139 | if(SystemTime.Valid) |
139 | if(SystemTime.Valid) |
| 140 | { |
140 | { |
| 141 | // if the day has been changed |
141 | // if the day has been changed |
| 142 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
142 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| 143 | { |
143 | { |
| 144 | LastTime.Year = SystemTime.Year; |
144 | LastTime.Year = SystemTime.Year; |
| 145 | LastTime.Month = SystemTime.Month; |
145 | LastTime.Month = SystemTime.Month; |
| 146 | LastTime.Day = SystemTime.Day; |
146 | LastTime.Day = SystemTime.Day; |
| 147 | LastTime.Valid = 1; |
147 | LastTime.Valid = 1; |
| 148 | filenum = 0; // reset file counter |
148 | filenum = 0; // reset file counter |
| 149 | } |
149 | } |
| 150 | sprintf(filename, "LOG/%04i%02i%02i/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
150 | sprintf(filename, "LOG/%04i%02i%02i/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| 151 | filenum++; |
151 | filenum++; |
| 152 | return filename; |
152 | return filename; |
| 153 | } |
153 | } |
| 154 | else return NULL; |
154 | else return NULL; |
| 155 | } |
155 | } |
| 156 | 156 | ||
| 157 | 157 | ||
| 158 | //---------------------------------------------------------------------------------------------------- |
158 | //---------------------------------------------------------------------------------------------------- |
| 159 | void CheckErrors(void) |
159 | void CheckErrors(void) |
| 160 | { |
160 | { |
| 161 | if(!CheckSPIOkay) |
161 | if(!CheckSPIOkay) |
| 162 | { |
162 | { |
| 163 | LED_RED_ON; |
163 | LED_RED_ON; |
| 164 | sprintf(ErrorMSG,"no FC communication "); |
164 | sprintf(ErrorMSG,"no FC communication "); |
| 165 | ErrorCode = 3; |
165 | ErrorCode = 3; |
| 166 | StopNavigation = 1; |
166 | StopNavigation = 1; |
| 167 | } |
167 | } |
| 168 | else if(!CheckI2COkay) |
168 | else if(!CheckI2COkay) |
| 169 | { |
169 | { |
| 170 | LED_RED_ON; |
170 | LED_RED_ON; |
| 171 | sprintf(ErrorMSG,"no MK3Mag communication "); |
171 | sprintf(ErrorMSG,"no MK3Mag communication "); |
| 172 | ErrorCode = 4; |
172 | ErrorCode = 4; |
| 173 | StopNavigation = 1; |
173 | StopNavigation = 1; |
| 174 | } |
174 | } |
| 175 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
175 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 176 | { |
176 | { |
| 177 | LED_RED_ON; |
177 | LED_RED_ON; |
| 178 | sprintf(ErrorMSG,"FC not compatible "); |
178 | sprintf(ErrorMSG,"FC not compatible "); |
| 179 | ErrorCode = 1; |
179 | ErrorCode = 1; |
| 180 | StopNavigation = 1; |
180 | StopNavigation = 1; |
| 181 | } |
181 | } |
| 182 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
182 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| 183 | { |
183 | { |
| 184 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
184 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
| 185 | LED_RED_ON; |
185 | LED_RED_ON; |
| 186 | ErrorCode = 2; |
186 | ErrorCode = 2; |
| 187 | StopNavigation = 1; |
187 | StopNavigation = 1; |
| 188 | } |
188 | } |
| 189 | else if(!CheckGPSOkay) |
189 | else if(!CheckGPSOkay) |
| 190 | { |
190 | { |
| 191 | LED_RED_ON; |
191 | LED_RED_ON; |
| 192 | sprintf(ErrorMSG,"no GPS communication "); |
192 | sprintf(ErrorMSG,"no GPS communication "); |
| 193 | ErrorCode = 5; |
193 | ErrorCode = 5; |
| 194 | StopNavigation = 1; |
194 | StopNavigation = 1; |
| 195 | } |
195 | } |
| 196 | else if(I2C_Heading.Heading < 0) |
196 | else if(I2C_Heading.Heading < 0) |
| 197 | { |
197 | { |
| 198 | LED_RED_ON; |
198 | LED_RED_ON; |
| 199 | sprintf(ErrorMSG,"bad compass value "); |
199 | sprintf(ErrorMSG,"bad compass value "); |
| 200 | ErrorCode = 6; |
200 | ErrorCode = 6; |
| 201 | StopNavigation = 1; |
201 | StopNavigation = 1; |
| 202 | } |
202 | } |
| 203 | else if(FC.RC_Quality < 100) |
203 | else if(FC.RC_Quality < 100) |
| 204 | { |
204 | { |
| 205 | LED_RED_ON; |
205 | LED_RED_ON; |
| 206 | sprintf(ErrorMSG,"RC Signal lost "); |
206 | sprintf(ErrorMSG,"RC Signal lost "); |
| 207 | ErrorCode = 7; |
207 | ErrorCode = 7; |
| 208 | } |
208 | } |
| 209 | else // no error occured |
209 | else // no error occured |
| 210 | { |
210 | { |
| 211 | sprintf(ErrorMSG,"No Error "); |
211 | sprintf(ErrorMSG,"No Error "); |
| 212 | ErrorCode = 0; |
212 | ErrorCode = 0; |
| 213 | StopNavigation = 0; |
213 | StopNavigation = 0; |
| 214 | LED_RED_OFF; |
214 | LED_RED_OFF; |
| 215 | } |
215 | } |
| 216 | CheckSPIOkay = 0; |
216 | CheckSPIOkay = 0; |
| 217 | CheckGPSOkay = 0; |
217 | CheckGPSOkay = 0; |
| 218 | CheckI2COkay = 0; |
218 | CheckI2COkay = 0; |
| 219 | } |
219 | } |
| 220 | 220 | ||
| 221 | 221 | ||
| 222 | 222 | ||
| 223 | //---------------------------------------------------------------------------------------------------- |
223 | //---------------------------------------------------------------------------------------------------- |
| 224 | int main(void) |
224 | int main(void) |
| 225 | { |
225 | { |
| 226 | KML_Document_t gpslogfile; |
226 | KML_Document_t gpslogfile; |
| 227 | logfilestate_t logfilestate = LOGFILE_IDLE; |
227 | logfilestate_t logfilestate = LOGFILE_IDLE; |
| 228 | s8* gpslogfilename = NULL; |
228 | s8* gpslogfilename = NULL; |
| 229 | /* Configure the system clocks */ |
229 | /* Configure the system clocks */ |
| 230 | SCU_Config(); |
230 | SCU_Config(); |
| 231 | KML_DocumentInit(&gpslogfile); // Initialize the new kml-document for further use. |
231 | KML_DocumentInit(&gpslogfile); // Initialize the new kml-document for further use. |
| 232 | /* init VIC (Vectored Interrupt Controller) */ |
232 | /* init VIC (Vectored Interrupt Controller) */ |
| 233 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
233 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
| 234 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
234 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
| 235 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
235 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
| 236 | // initialize the interrupt handler |
236 | // initialize the interrupt handler |
| 237 | Interrupt_Init(); |
237 | Interrupt_Init(); |
| 238 | // initialize timer 1 |
238 | // initialize timer 1 |
| 239 | TIMER1_Init(); |
239 | TIMER1_Init(); |
| 240 | // initialize the LEDs (needs Timer 1) |
240 | // initialize the LEDs (needs Timer 1) |
| 241 | Led_Init(); |
241 | Led_Init(); |
| 242 | // initialize the debug UART1 |
242 | // initialize the debug UART1 |
| 243 | UART1_Init(); |
243 | UART1_Init(); |
| 244 | SerialPutString("\r\n---------------------------------------------"); |
244 | SerialPutString("\r\n---------------------------------------------"); |
| 245 | // initialize UART2 to FLIGHTCTRL |
245 | // initialize UART2 to FLIGHTCTRL |
| 246 | UART2_Init(); |
246 | UART2_Init(); |
| 247 | // initialize UART0 (to MKGPS or MK3MAG) |
247 | // initialize UART0 (to MKGPS or MK3MAG) |
| 248 | UART0_Init(); |
248 | UART0_Init(); |
| 249 | // initialize usb |
249 | // initialize usb |
| 250 | USB_ConfigInit(); |
250 | USB_ConfigInit(); |
| 251 | // initialize SPI0 to FC |
251 | // initialize SPI0 to FC |
| 252 | SPI0_Init(); |
252 | SPI0_Init(); |
| 253 | // initialize i2c bus to MK3MAG (needs Timer 1) |
253 | // initialize i2c bus to MK3MAG (needs Timer 1) |
| 254 | I2C1_Init(); |
254 | I2C1_Init(); |
| 255 | // initialize the gps position controller (needs Timer 1) |
255 | // initialize the gps position controller (needs Timer 1) |
| 256 | GPS_Init(); |
256 | GPS_Init(); |
| 257 | // initialize fat16 partition on sd card (needs Timer 1) |
257 | // initialize fat16 partition on sd card (needs Timer 1) |
| 258 | Fat16_Init(); |
258 | Fat16_Init(); |
| 259 | 259 | ||
| 260 | TimerCompassUpdate = SetDelay(5); |
260 | TimerCompassUpdate = SetDelay(5); |
| 261 | TimerKmlAddPointDelay = SetDelay(250); |
261 | TimerKmlAddPointDelay = SetDelay(250); |
| 262 | TimerCheckError = SetDelay(3000); |
262 | TimerCheckError = SetDelay(3000); |
| 263 | SerialPutString("\r\n---------------------------------------------"); |
263 | SerialPutString("\r\n---------------------------------------------"); |
| 264 | SerialPutString("\n\r Version information:"); |
264 | SerialPutString("\n\r Version information:"); |
| 265 | GetNaviCtrlVersion(); |
265 | GetNaviCtrlVersion(); |
| 266 | SPI0_GetFlightCtrlVersion(); |
266 | SPI0_GetFlightCtrlVersion(); |
| 267 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
267 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 268 | { |
268 | { |
| 269 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
269 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
| 270 | //SerialPutString(ErrorMSG); |
270 | //SerialPutString(ErrorMSG); |
| 271 | SerialPutString("\n\r Flight-Ctrl not compatible"); |
271 | SerialPutString("\n\r Flight-Ctrl not compatible"); |
| 272 | LED_RED_ON; |
272 | LED_RED_ON; |
| 273 | } |
273 | } |
| 274 | 274 | ||
| 275 | I2C1_GetMK3MagVersion(); |
275 | I2C1_GetMK3MagVersion(); |
| 276 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
276 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| 277 | { |
277 | { |
| 278 | SerialPutString("\n\r MK3Mag not compatible"); |
278 | SerialPutString("\n\r MK3Mag not compatible"); |
| 279 | LED_RED_ON; |
279 | LED_RED_ON; |
| 280 | } |
280 | } |
| 281 | 281 | ||
| 282 | /* |
282 | /* |
| 283 | ReadSetting(1); |
283 | ReadSetting(1); |
| 284 | */ |
284 | */ |
| 285 | SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
285 | SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
| 286 | 286 | ||
| 287 | for (;;) |
287 | for (;;) |
| 288 | { |
288 | { |
| 289 | if(rxd_buffer_locked) // new incomming command |
289 | if(rxd_buffer_locked) // new incomming command |
| 290 | { |
290 | { |
| 291 | UART1_ProcessRxData(); // process request |
291 | UART1_ProcessRxData(); // process request |
| 292 | } |
292 | } |
| 293 | UART1_TransmitTxData(); // send answer |
293 | UART1_TransmitTxData(); // send answer |
| 294 | 294 | ||
| 295 | SPI0_UpdateBuffer(); |
295 | SPI0_UpdateBuffer(); |
| 296 | UART0_Transmit(); // empty txd buffer |
296 | UART0_Transmit(); // empty txd buffer |
| 297 | UART1_Transmit(); // empty txd buffer |
297 | UART1_Transmit(); // empty txd buffer |
| 298 | 298 | ||
| 299 | // ------------------------- I2C Timing -------------------------------- |
299 | // ------------------------- I2C Timing -------------------------------- |
| 300 | if(I2C_State != I2C_OFF) |
300 | if(I2C_State != I2C_OFF) |
| 301 | { |
301 | { |
| 302 | if (CheckDelay(TimerCompassUpdate)) |
302 | if (CheckDelay(TimerCompassUpdate)) |
| 303 | { |
303 | { |
| 304 | // check for hanging I2C bus |
304 | // check for hanging I2C bus |
| 305 | if(CheckDelay(I2C1_Timeout)) |
305 | if(CheckDelay(I2C1_Timeout)) |
| 306 | { // reset I2C |
306 | { // reset I2C |
| 307 | SerialPutString("\n\rCommunication-Error: MK3Mag\n\r"); |
307 | SerialPutString("\n\rCommunication-Error: MK3Mag\n\r"); |
| 308 | I2C1_Deinit(); |
308 | I2C1_Deinit(); |
| 309 | I2C1_Init(); |
309 | I2C1_Init(); |
| 310 | } |
310 | } |
| 311 | else |
311 | else |
| 312 | { // check for incomming compass calibration request |
312 | { // check for incomming compass calibration request |
| 313 | // update CalByte from spi input queue |
313 | // update CalByte from spi input queue |
| 314 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
314 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
| 315 | // send new calstate |
315 | // send new calstate |
| 316 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
316 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
| 317 | { |
317 | { |
| 318 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
318 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
| 319 | } |
319 | } |
| 320 | else // request current heading |
320 | else // request current heading |
| 321 | { |
321 | { |
| 322 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
322 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
| 323 | } |
323 | } |
| 324 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
324 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
| 325 | } |
325 | } |
| 326 | 326 | ||
| 327 | } |
327 | } |
| 328 | } |
328 | } |
| 329 | 329 | ||
| 330 | // ---------------- Error Check Timing ---------------------------- |
330 | // ---------------- Error Check Timing ---------------------------- |
| 331 | if(CheckDelay(TimerCheckError)) |
331 | if(CheckDelay(TimerCheckError)) |
| 332 | { |
332 | { |
| 333 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
333 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
| 334 | CheckErrors(); |
334 | CheckErrors(); |
| 335 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
335 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| 336 | // else NaviData.FlyingTime = 0; |
336 | // else NaviData.FlyingTime = 0; |
| 337 | TimerCheckError = SetDelay(1000); |
337 | TimerCheckError = SetDelay(1000); |
| 338 | Request_SendFollowMe = TRUE; |
338 | Request_SendFollowMe = TRUE; |
| 339 | } |
339 | } |
| 340 | // ---------------- KML Timing ------------------------------------ |
340 | // ---------------- KML Timing ------------------------------------ |
| 341 | if(CheckDelay(TimerKmlAddPointDelay)) |
341 | if(CheckDelay(TimerKmlAddPointDelay)) |
| 342 | { |
342 | { |
| 343 | TimerKmlAddPointDelay = SetDelay(500); // every 500 ms |
343 | TimerKmlAddPointDelay = SetDelay(500); // every 500 ms |
| 344 | 344 | ||
| 345 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
345 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) |
| 346 | { |
346 | { |
| 347 | switch(logfilestate) |
347 | switch(logfilestate) |
| 348 | { |
348 | { |
| 349 | case LOGFILE_IDLE: |
349 | case LOGFILE_IDLE: |
| 350 | case LOGFILE_CLOSED: |
350 | case LOGFILE_CLOSED: |
| 351 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
351 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D) && (FC.MKFlags & MKFLAG_FLY)) |
| 352 | { |
352 | { |
| 353 | logfilestate = LOGFILE_START; |
353 | logfilestate = LOGFILE_START; |
| 354 | } |
354 | } |
| 355 | break; |
355 | break; |
| 356 | case LOGFILE_START: |
356 | case LOGFILE_START: |
| 357 | // find unused logfile name |
357 | // find unused logfile name |
| 358 | do |
358 | do |
| 359 | { // try to generate a new logfile name |
359 | { // try to generate a new logfile name |
| 360 | gpslogfilename = GenerateGPSLogFileName(); |
360 | gpslogfilename = GenerateGPSLogFileName(); |
| 361 | }while((gpslogfilename != NULL) && fexist_(gpslogfilename)); |
361 | }while((gpslogfilename != NULL) && fexist_(gpslogfilename)); |
| 362 | // if logfilename exist |
362 | // if logfilename exist |
| 363 | if(gpslogfilename != NULL) |
363 | if(gpslogfilename != NULL) |
| 364 | { |
364 | { |
| 365 | // try to create the log file |
365 | // try to create the log file |
| 366 | if(KML_DocumentOpen(gpslogfilename, &gpslogfile)) |
366 | if(KML_DocumentOpen(gpslogfilename, &gpslogfile)) |
| 367 | { |
367 | { |
| 368 | logfilestate = LOGFILE_OPENED; // goto next step |
368 | logfilestate = LOGFILE_OPENED; // goto next step |
| 369 | SerialPutString("\r\nOpening kml-file:"); |
369 | SerialPutString("\r\nOpening kml-file:"); |
| 370 | SerialPutString(gpslogfilename); |
370 | SerialPutString(gpslogfilename); |
| 371 | SerialPutString("\r\n"); |
371 | SerialPutString("\r\n"); |
| 372 | } |
372 | } |
| 373 | else |
373 | else |
| 374 | { |
374 | { |
| 375 | logfilestate = LOGFILE_ERROR; |
375 | logfilestate = LOGFILE_ERROR; |
| 376 | SerialPutString("\r\nError opening kml-file: "); |
376 | SerialPutString("\r\nError opening kml-file: "); |
| 377 | SerialPutString(gpslogfilename); |
377 | SerialPutString(gpslogfilename); |
| 378 | SerialPutString("\r\n"); |
378 | SerialPutString("\r\n"); |
| 379 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
379 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
| 380 | } |
380 | } |
| 381 | } |
381 | } |
| 382 | // else retry in next loop |
382 | // else retry in next loop |
| 383 | break; |
383 | break; |
| 384 | case LOGFILE_OPENED: |
384 | case LOGFILE_OPENED: |
| 385 | // append new gps log data |
385 | // append new gps log data |
| 386 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
386 | if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| 387 | { |
387 | { |
| 388 | if(!KML_LoggGPSCoordinates(&(GPSData.Position), &gpslogfile)) |
388 | if(!KML_LoggGPSCoordinates(&(GPSData.Position), &gpslogfile)) |
| 389 | { // error logging data |
389 | { // error logging data |
| 390 | SerialPutString("\r\nError Logging GPS data\r\n"); |
390 | SerialPutString("\r\nError Logging GPS data\r\n"); |
| 391 | KML_DocumentClose(&gpslogfile); |
391 | KML_DocumentClose(&gpslogfile); |
| 392 | logfilestate = LOGFILE_ERROR; |
392 | logfilestate = LOGFILE_ERROR; |
| 393 | } |
393 | } |
| 394 | else DebugOut.Analog[26]++; // count SD-Logs |
394 | else DebugOut.Analog[26]++; // count SD-Logs |
| 395 | } |
395 | } |
| 396 | break; |
396 | break; |
| 397 | 397 | ||
| 398 | case LOGFILE_ERROR: |
398 | case LOGFILE_ERROR: |
| 399 | // try to reinitialize the fat16 filesystem |
399 | // try to reinitialize the fat16 filesystem |
| 400 | if(0 == Fat16_Init()) |
400 | if(0 == Fat16_Init()) |
| 401 | { |
401 | { |
| 402 | logfilestate = LOGFILE_IDLE; |
402 | logfilestate = LOGFILE_IDLE; |
| 403 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
403 | TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
| 404 | } |
404 | } |
| 405 | else |
405 | else |
| 406 | { |
406 | { |
| 407 | logfilestate = LOGFILE_ERROR; |
407 | logfilestate = LOGFILE_ERROR; |
| 408 | TimerKmlAddPointDelay = SetDelay(5000); // try again in 5 sec |
408 | TimerKmlAddPointDelay = SetDelay(5000); // try again in 5 sec |
| 409 | } |
409 | } |
| 410 | break; |
410 | break; |
| 411 | 411 | ||
| 412 | default: |
412 | default: |
| 413 | break; |
413 | break; |
| 414 | } |
414 | } |
| 415 | } // EOF model is flying |
415 | } // EOF model is flying |
| 416 | else // model is not flying |
416 | else // model is not flying |
| 417 | { // close log file if opened |
417 | { // close log file if opened |
| 418 | if(logfilestate == LOGFILE_OPENED) |
418 | if(logfilestate == LOGFILE_OPENED) |
| 419 | { |
419 | { |
| 420 | if(KML_DocumentClose(&gpslogfile)) |
420 | if(KML_DocumentClose(&gpslogfile)) |
| 421 | { |
421 | { |
| 422 | SerialPutString("\r\nClosing kml-file\r\n"); |
422 | SerialPutString("\r\nClosing kml-file\r\n"); |
| 423 | logfilestate = LOGFILE_CLOSED; |
423 | logfilestate = LOGFILE_CLOSED; |
| 424 | } |
424 | } |
| 425 | else |
425 | else |
| 426 | { |
426 | { |
| 427 | logfilestate = LOGFILE_ERROR; |
427 | logfilestate = LOGFILE_ERROR; |
| 428 | } |
428 | } |
| 429 | } |
429 | } |
| 430 | } //EOF model is not flying |
430 | } //EOF model is not flying |
| 431 | } |
431 | } |
| 432 | } |
432 | } |
| 433 | } |
433 | } |
| 434 | 434 | ||
| 435 | 435 | ||
| 436 | 436 | ||