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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
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| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 1 | ingob | 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2050 | holgerb | 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 19 | // + des Mitverschuldens offen. |
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| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 1 | ingob | 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2050 | holgerb | 29 | // + Software LICENSING TERMS |
| 1 | ingob | 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2050 | holgerb | 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 32 | // + 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 |
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| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 34 | // + The Software may only be used with the Licensor's products. |
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| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 37 | // + agreement shall be the property of the Licensor. |
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| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 40 | // + The customer shall be responsible for taking reasonable precautions |
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| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 50 | // + #### END OF LICENSING TERMS #### |
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| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 1 | ingob | 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 53 | #include "main.h" |
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| 1913 | holgerb | 54 | unsigned char DisableRcOffBeeping = 0; |
| 173 | holgerb | 55 | unsigned char PlatinenVersion = 10; |
| 1232 | hbuss | 56 | unsigned char BattLowVoltageWarning = 94; |
| 2416 | holgerb | 57 | unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0; |
| 1298 | hbuss | 58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| 1512 | holgerb | 59 | unsigned int FlugSekunden = 0; |
| 1444 | ingob | 60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| 1702 | holgerb | 61 | unsigned char FoundMotors = 0; |
| 1834 | holgerb | 62 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
| 2333 | holgerb | 63 | unsigned char ActiveParamSet = 3; |
| 2402 | holgerb | 64 | unsigned char LipoCells = 4; |
| 1444 | ingob | 65 | |
| 2030 | holgerb | 66 | void PrintLine(void) |
| 67 | { |
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| 68 | printf("\n\r==================================="); |
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| 69 | } |
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| 70 | |||
| 71 | |||
| 819 | hbuss | 72 | void CalMk3Mag(void) |
| 73 | { |
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| 74 | static unsigned char stick = 1; |
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| 2499 | holgerb | 75 | ChannelAssingment(); |
| 2496 | holgerb | 76 | if(ChannelNick > -20) stick = 0; |
| 77 | if((ChannelNick < -70) && !stick) |
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| 819 | hbuss | 78 | { |
| 79 | stick = 1; |
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| 80 | WinkelOut.CalcState++; |
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| 1051 | killagreg | 81 | if(WinkelOut.CalcState > 4) |
| 82 | { |
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| 819 | hbuss | 83 | // WinkelOut.CalcState = 0; // in Uart.c |
| 84 | beeptime = 1000; |
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| 1051 | killagreg | 85 | } |
| 1232 | hbuss | 86 | else Piep(WinkelOut.CalcState,150); |
| 819 | hbuss | 87 | } |
| 88 | } |
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| 89 | |||
| 1438 | ingob | 90 | |
| 1268 | hbuss | 91 | void LipoDetection(unsigned char print) |
| 92 | { |
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| 2517 | holgerb | 93 | unsigned int warning; |
| 2407 | holgerb | 94 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
| 2408 | holgerb | 95 | if(print) |
| 96 | { |
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| 97 | printf("\n\rBatt:"); |
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| 98 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
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| 2416 | holgerb | 99 | if(LipoCells > 6) LipoCells = 6; |
| 2408 | holgerb | 100 | } |
| 2416 | holgerb | 101 | |
| 2390 | holgerb | 102 | if(EE_Parameter.UnterspannungsWarnung < 50) |
| 1654 | killagreg | 103 | { |
| 2517 | holgerb | 104 | warning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
| 1654 | killagreg | 105 | if(print) |
| 106 | { |
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| 2402 | holgerb | 107 | Piep(LipoCells, 200); |
| 108 | printf(" %d Cells ", LipoCells); |
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| 1420 | killagreg | 109 | } |
| 1654 | killagreg | 110 | } |
| 2517 | holgerb | 111 | else warning = EE_Parameter.UnterspannungsWarnung; |
| 112 | if(warning > 255) warning = 255; BattLowVoltageWarning = warning; |
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| 2390 | holgerb | 113 | // automatische Zellenerkennung |
| 2517 | holgerb | 114 | if(EE_Parameter.AutoLandingVoltage < 50) warning = LipoCells * EE_Parameter.AutoLandingVoltage; else warning = EE_Parameter.AutoLandingVoltage; |
| 115 | if(warning > 255) warning = 255; BattAutoLandingVoltage = warning; |
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| 116 | |||
| 117 | if(EE_Parameter.ComingHomeVoltage < 50) warning = LipoCells * EE_Parameter.ComingHomeVoltage; else warning = EE_Parameter.ComingHomeVoltage; |
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| 118 | if(warning > 255) warning = 255; BattComingHomeVoltage = warning; |
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| 2390 | holgerb | 119 | |
| 2416 | holgerb | 120 | if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
| 121 | if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
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| 122 | if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
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| 2408 | holgerb | 123 | |
| 2390 | holgerb | 124 | if(print) |
| 125 | { |
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| 2408 | holgerb | 126 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| 2416 | holgerb | 127 | if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
| 128 | if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
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| 2390 | holgerb | 129 | } |
| 2416 | holgerb | 130 | |
| 1268 | hbuss | 131 | } |
| 132 | |||
| 1 | ingob | 133 | //############################################################################ |
| 134 | //Hauptprogramm |
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| 135 | int main (void) |
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| 136 | //############################################################################ |
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| 137 | { |
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| 1424 | ingob | 138 | unsigned int timer,i,timer2 = 0, timerPolling; |
| 2341 | holgerb | 139 | unsigned char update_spi = 1; |
| 1051 | killagreg | 140 | DDRB = 0x00; |
| 2330 | holgerb | 141 | PORTB = 0x00; |
| 2309 | holgerb | 142 | DDRD = 0x0A; // UART & J3 J4 J5 |
| 143 | PORTD = 0x5F; // PPM-Input & UART |
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| 188 | holgerb | 144 | for(timer = 0; timer < 1000; timer++); // verzögern |
| 1660 | holgerb | 145 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2334 | holgerb | 146 | unsigned char AccZ_ErrorCnt = 0; |
| 2309 | holgerb | 147 | if(PINB & 0x02) |
| 148 | { |
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| 149 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
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| 150 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
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| 151 | } |
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| 152 | else |
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| 153 | { |
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| 2367 | holgerb | 154 | PlatinenVersion = 25; ACC_AltitudeControl = 1; |
| 2309 | holgerb | 155 | } |
| 1660 | holgerb | 156 | #else |
| 157 | if(PINB & 0x01) |
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| 918 | hbuss | 158 | { |
| 1051 | killagreg | 159 | if(PINB & 0x02) PlatinenVersion = 13; |
| 160 | else PlatinenVersion = 11; |
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| 918 | hbuss | 161 | } |
| 1051 | killagreg | 162 | else |
| 1021 | hbuss | 163 | { |
| 1051 | killagreg | 164 | if(PINB & 0x02) PlatinenVersion = 20; |
| 2309 | holgerb | 165 | else |
| 166 | { |
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| 167 | PlatinenVersion = 10; |
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| 168 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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| 169 | PORTD = 0x47; // |
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| 170 | } |
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| 1021 | hbuss | 171 | } |
| 1660 | holgerb | 172 | #endif |
| 2316 | holgerb | 173 | |
| 2309 | holgerb | 174 | DDRC = 0x81; // I2C, Spaker |
| 1036 | hbuss | 175 | DDRC |=0x40; // HEF4017 Reset |
| 1 | ingob | 176 | PORTC = 0xff; // Pullup SDA |
| 177 | DDRB = 0x1B; // LEDs und Druckoffset |
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| 178 | PORTB = 0x01; // LED_Rot |
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| 2309 | holgerb | 179 | |
| 2146 | holgerb | 180 | HEF4017Reset_ON; |
| 1 | ingob | 181 | MCUSR &=~(1<<WDRF); |
| 182 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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| 183 | WDTCSR = 0; |
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| 184 | |||
| 1652 | holgerb | 185 | beeptime = 2500; |
| 2496 | holgerb | 186 | StickGier = 0; StickRoll = 0; StickNick = 0; |
| 1660 | holgerb | 187 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| 1 | ingob | 188 | ROT_OFF; |
| 2193 | holgerb | 189 | GRN_ON; |
| 1479 | killagreg | 190 | |
| 1 | ingob | 191 | Timer_Init(); |
| 1156 | hbuss | 192 | TIMER2_Init(); |
| 1 | ingob | 193 | UART_Init(); |
| 194 | rc_sum_init(); |
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| 195 | ADC_Init(); |
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| 1743 | holgerb | 196 | I2C_Init(1); |
| 597 | ingob | 197 | SPI_MasterInit(); |
| 1486 | killagreg | 198 | Capacity_Init(); |
| 2309 | holgerb | 199 | LIBFC_Init(LIB_FC_COMPATIBLE); |
| 1431 | ingob | 200 | GRN_ON; |
| 201 | sei(); |
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| 1622 | killagreg | 202 | ParamSet_Init(); |
| 1211 | hbuss | 203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2426 | holgerb | 204 | if(PlatinenVersion < 20) |
| 205 | { |
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| 206 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 2462 | holgerb | 207 | while(1) printf("\n\rOld FC Hardware not supported by this Firmware!"); |
| 2426 | holgerb | 208 | } |
| 2427 | holgerb | 209 | #ifndef REDUNDANT_FC_SLAVE |
| 2426 | holgerb | 210 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1211 | hbuss | 211 | // + Check connected BL-Ctrls |
| 212 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1648 | killagreg | 213 | // Check connected BL-Ctrls |
| 214 | BLFlags |= BLFLAG_READ_VERSION; |
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| 1662 | killagreg | 215 | motor_read = 0; // read the first I2C-Data |
| 2466 | holgerb | 216 | for(i=0; i < 500; i++) |
| 217 | { |
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| 218 | SendMotorData(); |
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| 219 | timer = SetDelay(5); |
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| 220 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 221 | } |
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| 1648 | killagreg | 222 | printf("\n\rFound BL-Ctrl: "); |
| 2466 | holgerb | 223 | // timer = SetDelay(1000); |
| 1211 | hbuss | 224 | for(i=0; i < MAX_MOTORS; i++) |
| 1622 | killagreg | 225 | { |
| 2466 | holgerb | 226 | // SendMotorData(); |
| 227 | // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 1622 | killagreg | 228 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| 229 | { |
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| 1648 | killagreg | 230 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| 231 | { |
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| 2496 | holgerb | 232 | if((BLFlags & BLFLAG_TX_COMPLETE)) SendMotorData(); |
| 233 | //while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 1648 | killagreg | 234 | } |
| 1232 | hbuss | 235 | } |
| 1648 | killagreg | 236 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| 237 | { |
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| 2466 | holgerb | 238 | unsigned char vers; |
| 239 | printf("%d",(i+1)%10); |
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| 1702 | holgerb | 240 | FoundMotors++; |
| 2466 | holgerb | 241 | vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
| 242 | if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
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| 2527 | holgerb | 243 | //if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)"); |
| 244 | //if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)"); |
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| 245 | //printf(":V%03d\n\r",vers); |
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| 1648 | killagreg | 246 | } |
| 1622 | killagreg | 247 | } |
| 1211 | hbuss | 248 | for(i=0; i < MAX_MOTORS; i++) |
| 1051 | killagreg | 249 | { |
| 1622 | killagreg | 250 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| 251 | { |
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| 252 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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| 1701 | holgerb | 253 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| 1111 | hbuss | 254 | } |
| 1622 | killagreg | 255 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| 1 | ingob | 256 | } |
| 2466 | holgerb | 257 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 258 | if(VersionInfo.BL_Firmware != 255) |
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| 259 | { |
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| 260 | printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
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| 261 | if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
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| 262 | } |
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| 263 | #endif |
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| 264 | |||
| 2030 | holgerb | 265 | PrintLine();// ("\n\r==================================="); |
| 1765 | killagreg | 266 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| 2407 | holgerb | 267 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
| 2437 | holgerb | 268 | #else |
| 2462 | holgerb | 269 | printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r"); |
| 2437 | holgerb | 270 | #endif |
| 271 | |||
| 272 | #ifdef REDUNDANT_FC_MASTER |
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| 2462 | holgerb | 273 | printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r"); |
| 2437 | holgerb | 274 | #endif |
| 275 | |||
| 2427 | holgerb | 276 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 277 | // Calibrating altitude sensor |
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| 278 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1529 | killagreg | 279 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| 1622 | killagreg | 280 | { |
| 281 | printf("\n\rCalibrating pressure sensor.."); |
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| 282 | timer = SetDelay(1000); |
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| 283 | SucheLuftruckOffset(); |
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| 284 | while (!CheckDelay(timer)); |
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| 285 | printf("OK\n\r"); |
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| 1 | ingob | 286 | } |
| 1051 | killagreg | 287 | |
| 2427 | holgerb | 288 | #ifdef REDUNDANT_FC_SLAVE |
| 2418 | holgerb | 289 | VersionInfo.HardwareError[0] = 0; |
| 290 | VersionInfo.HardwareError[1] = 0; |
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| 291 | #endif |
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| 292 | |||
| 1622 | killagreg | 293 | SetNeutral(0); |
| 1 | ingob | 294 | |
| 295 | ROT_OFF; |
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| 1051 | killagreg | 296 | |
| 1 | ingob | 297 | beeptime = 2000; |
| 298 | |||
| 1652 | holgerb | 299 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| 300 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
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| 1622 | killagreg | 301 | |
| 1702 | holgerb | 302 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| 1622 | killagreg | 303 | { |
| 304 | FlugMinuten = 0; |
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| 305 | FlugMinutenGesamt = 0; |
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| 306 | } |
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| 2034 | holgerb | 307 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| 1 | ingob | 308 | LcdClear(); |
| 173 | holgerb | 309 | I2CTimeout = 5000; |
| 819 | hbuss | 310 | WinkelOut.Orientation = 1; |
| 1268 | hbuss | 311 | LipoDetection(1); |
| 1626 | killagreg | 312 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 2030 | holgerb | 313 | PrintLine();// ("\n\r==================================="); |
| 1622 | killagreg | 314 | //SpektrumBinding(); |
| 1350 | hbuss | 315 | timer = SetDelay(2000); |
| 1424 | ingob | 316 | timerPolling = SetDelay(250); |
| 1648 | killagreg | 317 | |
| 1636 | ingob | 318 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| 2340 | holgerb | 319 | //printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN); |
| 320 | |||
| 1702 | holgerb | 321 | DebugOut.Status[0] = 0x01 | 0x02; |
| 1834 | holgerb | 322 | JetiBeep = 0; |
| 1913 | holgerb | 323 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
| 2466 | holgerb | 324 | ReadBlSize = 3; // don't read the version any more |
| 2462 | holgerb | 325 | #ifdef REDUNDANT_FC_SLAVE |
| 326 | timer = SetDelay(2500); |
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| 327 | while(!CheckDelay(timer)); |
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| 328 | printf("\n\rStart\n\r"); |
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| 329 | #endif |
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| 2330 | holgerb | 330 | while(1) |
| 1 | ingob | 331 | { |
| 2439 | holgerb | 332 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| 1945 | holgerb | 333 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| 1419 | ingob | 334 | if(UpdateMotor && AdReady) // ReglerIntervall |
| 1051 | killagreg | 335 | { |
| 2386 | holgerb | 336 | cli(); |
| 337 | UpdateMotor--; |
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| 338 | sei(); |
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| 819 | hbuss | 339 | if(WinkelOut.CalcState) CalMk3Mag(); |
| 1644 | holgerb | 340 | else MotorRegler(); |
| 341 | SendMotorData(); |
||
| 1 | ingob | 342 | ROT_OFF; |
| 1937 | holgerb | 343 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
| 1603 | killagreg | 344 | else |
| 345 | { |
||
| 346 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
||
| 347 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
||
| 1765 | killagreg | 348 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
| 2486 | holgerb | 349 | // Now clear the channel values - they would be wrong |
| 350 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 351 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 352 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 353 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 354 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 355 | PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
||
| 2496 | holgerb | 356 | ChannelNick = 0; |
| 357 | ChannelRoll = 0; |
||
| 358 | ChannelYaw = 0; |
||
| 359 | ChannelGas = 0; |
||
| 1603 | killagreg | 360 | } |
| 1420 | killagreg | 361 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1481 | holgerb | 362 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| 363 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
||
| 1309 | hbuss | 364 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1210 | hbuss | 365 | if(!--I2CTimeout || MissingMotor) |
| 173 | holgerb | 366 | { |
| 1254 | killagreg | 367 | if(!I2CTimeout) |
| 1210 | hbuss | 368 | { |
| 1662 | killagreg | 369 | I2C_Reset(); |
| 1210 | hbuss | 370 | I2CTimeout = 5; |
| 1322 | hbuss | 371 | DebugOut.Analog[28]++; // I2C-Error |
| 1765 | killagreg | 372 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
| 1702 | holgerb | 373 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| 1322 | hbuss | 374 | } |
| 1051 | killagreg | 375 | if((BeepMuster == 0xffff) && MotorenEin) |
| 376 | { |
||
| 1936 | holgerb | 377 | beeptime = 25000; |
| 173 | holgerb | 378 | BeepMuster = 0x0080; |
| 1051 | killagreg | 379 | } |
| 1 | ingob | 380 | } |
| 1051 | killagreg | 381 | else |
| 1 | ingob | 382 | { |
| 1051 | killagreg | 383 | ROT_OFF; |
| 1944 | holgerb | 384 | } |
| 1916 | holgerb | 385 | LIBFC_Polling(); |
| 386 | |||
| 1639 | holgerb | 387 | if(!UpdateMotor) |
| 2012 | holgerb | 388 | { |
| 389 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 390 | if(NewSBusData) ProcessSBus(); |
||
| 391 | else |
||
| 2543 | holgerb | 392 | if(NewMlinkData) ProcessMlinkData(); |
| 393 | else |
||
| 2012 | holgerb | 394 | #endif |
| 1639 | holgerb | 395 | { |
| 2404 | holgerb | 396 | if(BytegapSPI == 0) SPI_TransmitByte(); |
| 1760 | holgerb | 397 | if(CalculateServoSignals) CalculateServo(); |
| 398 | DatenUebertragung(); |
||
| 399 | BearbeiteRxDaten(); |
||
| 1254 | killagreg | 400 | if(CheckDelay(timer)) |
| 401 | { |
||
| 1512 | holgerb | 402 | static unsigned char second; |
| 1420 | killagreg | 403 | timer += 20; // 20 ms interval |
| 2191 | holgerb | 404 | CalcNickServoValue(); |
| 2497 | holgerb | 405 | // ++++++++++++++++++++++++++++ |
| 406 | // + New direction setpoint from NC |
||
| 407 | if(NC_CompassSetpoint != -1) |
||
| 408 | { |
||
| 409 | int diff; |
||
| 2500 | holgerb | 410 | if(!NeueKompassRichtungMerken && (KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
| 2497 | holgerb | 411 | { |
| 412 | diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
||
| 413 | if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
||
| 414 | else |
||
| 415 | if(diff < -2) diff = -2; |
||
| 416 | KompassSollWert -= diff; |
||
| 417 | } |
||
| 2500 | holgerb | 418 | else |
| 419 | { |
||
| 420 | NC_CompassSetpoint = -1; |
||
| 421 | NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
||
| 422 | } |
||
| 2497 | holgerb | 423 | } |
| 424 | // ++++++++++++++++++++++++++++ |
||
| 1925 | holgerb | 425 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1917 | holgerb | 426 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| 2263 | holgerb | 427 | else |
| 428 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
||
| 2334 | holgerb | 429 | // ++++++++++++++++++++++++++++ |
| 430 | // + check the ACC-Z range |
||
| 431 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
||
| 432 | { |
||
| 433 | if(++AccZ_ErrorCnt > 50) |
||
| 434 | { |
||
| 435 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
||
| 436 | else CalibrationDone = 0; |
||
| 437 | } |
||
| 438 | } |
||
| 439 | else AccZ_ErrorCnt = 0; |
||
| 440 | // ++++++++++++++++++++++++++++ |
||
| 1925 | holgerb | 441 | #endif |
| 2390 | holgerb | 442 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
| 1702 | holgerb | 443 | { |
| 2390 | holgerb | 444 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| 1702 | holgerb | 445 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| 1765 | killagreg | 446 | } |
| 447 | else |
||
| 1702 | holgerb | 448 | { |
| 1936 | holgerb | 449 | if(!beeptime) |
| 450 | { |
||
| 451 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
||
| 452 | } |
||
| 1765 | killagreg | 453 | } |
| 2029 | holgerb | 454 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
| 1420 | killagreg | 455 | if(PcZugriff) PcZugriff--; |
| 456 | else |
||
| 457 | { |
||
| 1913 | holgerb | 458 | if(!SenderOkay) |
| 1420 | killagreg | 459 | { |
| 1914 | holgerb | 460 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
| 1913 | holgerb | 461 | { |
| 462 | beeptime = 15000; |
||
| 463 | BeepMuster = 0x0c00; |
||
| 1914 | holgerb | 464 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
| 1913 | holgerb | 465 | } |
| 1914 | holgerb | 466 | } |
| 1420 | killagreg | 467 | } |
| 1682 | holgerb | 468 | if(NaviDataOkay > 200) |
| 1420 | killagreg | 469 | { |
| 470 | NaviDataOkay--; |
||
| 1765 | killagreg | 471 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| 2342 | holgerb | 472 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
| 1420 | killagreg | 473 | } |
| 474 | else |
||
| 475 | { |
||
| 1702 | holgerb | 476 | if(NC_Version.Compatible) |
| 477 | { |
||
| 1930 | holgerb | 478 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| 479 | NC_ErrorCode = 9; // "ERR: no NC communication" |
||
| 1702 | holgerb | 480 | if(BeepMuster == 0xffff && MotorenEin) |
| 481 | { |
||
| 482 | beeptime = 15000; |
||
| 483 | BeepMuster = 0xA800; |
||
| 484 | } |
||
| 1765 | killagreg | 485 | } |
| 1420 | killagreg | 486 | GPS_Nick = 0; |
| 487 | GPS_Roll = 0; |
||
| 1945 | holgerb | 488 | GPS_Aid_StickMultiplikator = 0; |
| 1916 | holgerb | 489 | GPSInfo.Flags = 0; |
| 2348 | holgerb | 490 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1936 | holgerb | 491 | FromNaviCtrl.AccErrorN = 0; |
| 492 | FromNaviCtrl.AccErrorR = 0; |
||
| 1691 | holgerb | 493 | FromNaviCtrl.CompassValue = -1; |
| 2342 | holgerb | 494 | FromNC_AltitudeSpeed = 0; |
| 495 | FromNC_AltitudeSetpoint = 0; |
||
| 496 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
||
| 2553 | holgerb | 497 | NC_To_FC_Flags = 0; |
| 1703 | holgerb | 498 | NaviDataOkay = 0; |
| 1420 | killagreg | 499 | } |
| 2390 | holgerb | 500 | if(UBat <= BattLowVoltageWarning) |
| 1254 | killagreg | 501 | { |
| 1765 | killagreg | 502 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
| 2373 | holgerb | 503 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
| 1254 | killagreg | 504 | { |
| 505 | beeptime = 6000; |
||
| 506 | BeepMuster = 0x0300; |
||
| 507 | } |
||
| 508 | } |
||
| 2009 | holgerb | 509 | // +++++++++++++++++++++++++++++++++ |
| 2496 | holgerb | 510 | if(ExternalControlTimeout) |
| 511 | { |
||
| 512 | ExternalControlTimeout--; |
||
| 513 | if(ExternalControlTimeout == 1) beeptime = 2000; |
||
| 514 | } |
||
| 515 | // +++++++++++++++++++++++++++++++++ |
||
| 2009 | holgerb | 516 | // Sekundentakt |
| 1512 | holgerb | 517 | if(++second == 49) |
| 518 | { |
||
| 519 | second = 0; |
||
| 2346 | holgerb | 520 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2345 | holgerb | 521 | if(ShowSettingNameTime) ShowSettingNameTime--; |
| 2346 | holgerb | 522 | #endif |
| 2541 | holgerb | 523 | if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
| 524 | else |
||
| 525 | if(ServoFailsafeActive) ServoFailsafeActive--; |
||
| 526 | |||
| 2009 | holgerb | 527 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
| 2309 | holgerb | 528 | else timer2 = 1450; // 0,5 Minuten aufrunden |
| 529 | if(modell_fliegt < 1024) |
||
| 2009 | holgerb | 530 | { |
| 2309 | holgerb | 531 | if(StartLuftdruck < Luftdruck) StartLuftdruck += 5; |
| 2009 | holgerb | 532 | else |
| 2309 | holgerb | 533 | if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5; |
| 2534 | holgerb | 534 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
| 2009 | holgerb | 535 | } |
| 2534 | holgerb | 536 | else |
| 537 | { |
||
| 538 | #ifdef REDUNDANT_FC_MASTER |
||
| 539 | if(!(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_ERROR; |
||
| 540 | else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
||
| 541 | #endif |
||
| 542 | } |
||
| 2390 | holgerb | 543 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| 1512 | holgerb | 544 | } |
| 2009 | holgerb | 545 | // +++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 546 | if(++timer2 == 2930) // eine Minute |
| 1298 | hbuss | 547 | { |
| 548 | timer2 = 0; |
||
| 549 | FlugMinuten++; |
||
| 550 | FlugMinutenGesamt++; |
||
| 1652 | holgerb | 551 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| 552 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
||
| 553 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
||
| 554 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
||
| 1344 | hbuss | 555 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| 1298 | hbuss | 556 | } |
| 1254 | killagreg | 557 | } |
| 921 | hbuss | 558 | LED_Update(); |
| 1486 | killagreg | 559 | Capacity_Update(); |
| 2386 | holgerb | 560 | } |
| 561 | } //else DebugOut.Analog[18]++; |
||
| 2341 | holgerb | 562 | if(update_spi) update_spi--; |
| 563 | } // 500Hz |
||
| 2386 | holgerb | 564 | if(update_spi == 0) // 41Hz |
| 565 | { |
||
| 566 | if(SPI_StartTransmitPacket()) update_spi = 12; |
||
| 567 | else |
||
| 568 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
| 569 | } |
||
| 570 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
||
| 1 | ingob | 571 | } |
| 572 | } |
||
| 2534 | holgerb | 573 | //DebugOut.Analog[] |
| 1 | ingob | 574 |