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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
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.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
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 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1 ingob 52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53
#include "main.h"
1913 holgerb 54
unsigned char DisableRcOffBeeping = 0;
173 holgerb 55
unsigned char PlatinenVersion = 10;
2093 - 56
unsigned char SendVersionToNavi = 1;
1232 hbuss 57
unsigned char BattLowVoltageWarning = 94;
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
1444 ingob 63
 
2093 - 64
unsigned char metrotest;
2030 holgerb 65
void PrintLine(void)
66
{
67
 printf("\n\r===================================");
68
}
69
 
2093 - 70
static char panodelay = 0; ///martinw
71
//static char panoleddelay = 0; ///martinw
2030 holgerb 72
 
819 hbuss 73
void CalMk3Mag(void)
74
{
75
 static unsigned char stick = 1;
76
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
77
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
78
  {
79
   stick = 1;
80
   WinkelOut.CalcState++;
1051 killagreg 81
   if(WinkelOut.CalcState > 4)
82
    {
819 hbuss 83
//     WinkelOut.CalcState = 0; // in Uart.c
84
     beeptime = 1000;
1051 killagreg 85
    }
1232 hbuss 86
   else Piep(WinkelOut.CalcState,150);
819 hbuss 87
  }
88
  DebugOut.Analog[19] = WinkelOut.CalcState;
89
}
90
 
1438 ingob 91
 
1268 hbuss 92
void LipoDetection(unsigned char print)
93
{
1654 killagreg 94
        #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
95
        unsigned int timer, cells;
96
        if(print) printf("\n\rBatt:");
97
        if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
98
        {
99
                timer = SetDelay(500);
100
                if(print) while (!CheckDelay(timer));
1657 killagreg 101
                // up to 6s LiPo, less than 2s is technical impossible
102
                for(cells = 2; cells < 7; cells++)
1654 killagreg 103
                {
104
                        if(UBat < cells * MAX_CELL_VOLTAGE) break;
1420 killagreg 105
                }
1654 killagreg 106
 
107
                BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
108
                if(print)
109
                {
110
                        Piep(cells, 200);
111
                        printf(" %d Cells ", cells);
1420 killagreg 112
                }
1654 killagreg 113
        }
114
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
2093 - 115
        //if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
116
        if(print) printf("Low Batt level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); /// Martinw; removed memorysaving
1268 hbuss 117
}
118
 
1 ingob 119
//############################################################################
120
//Hauptprogramm
121
int main (void)
122
//############################################################################
123
{
1424 ingob 124
        unsigned int timer,i,timer2 = 0, timerPolling;
1479 killagreg 125
 
1051 killagreg 126
    DDRB  = 0x00;
127
    PORTB = 0x00;
188 holgerb 128
    for(timer = 0; timer < 1000; timer++); // verzögern
1660 holgerb 129
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
130
        PlatinenVersion = 21;
131
#else
132
        if(PINB & 0x01)
918 hbuss 133
     {
1051 killagreg 134
      if(PINB & 0x02) PlatinenVersion = 13;
135
       else           PlatinenVersion = 11;
918 hbuss 136
     }
1051 killagreg 137
    else
1021 hbuss 138
     {
1051 killagreg 139
      if(PINB & 0x02) PlatinenVersion = 20;
140
       else           PlatinenVersion = 10;
1021 hbuss 141
     }
1660 holgerb 142
#endif
173 holgerb 143
    DDRC  = 0x81; // SCL
1036 hbuss 144
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 145
    PORTC = 0xff; // Pullup SDA
146
    DDRB  = 0x1B; // LEDs und Druckoffset
147
    PORTB = 0x01; // LED_Rot
148
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1153 hbuss 149
        PORTD = 0x47; // LED
1171 hbuss 150
    HEF4017R_ON;
1 ingob 151
    MCUSR &=~(1<<WDRF);
152
    WDTCSR |= (1<<WDCE)|(1<<WDE);
153
    WDTCSR = 0;
154
 
1652 holgerb 155
    beeptime = 2500;
1660 holgerb 156
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
157
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 158
    ROT_OFF;
1479 killagreg 159
 
1 ingob 160
    Timer_Init();
1156 hbuss 161
        TIMER2_Init();
1 ingob 162
        UART_Init();
163
    rc_sum_init();
164
        ADC_Init();
1743 holgerb 165
        I2C_Init(1);
597 ingob 166
        SPI_MasterInit();
2093 - 167
        //Capacity_Init(); //Moved by metro
1435 killagreg 168
        LIBFC_Init();
1431 ingob 169
        GRN_ON;
170
    sei();
1622 killagreg 171
        ParamSet_Init();
2093 - 172
    Capacity_Init(); //Moved by metro
1344 hbuss 173
 
1211 hbuss 174
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
175
// + Check connected BL-Ctrls
176
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1648 killagreg 177
        // Check connected BL-Ctrls
178
        BLFlags |= BLFLAG_READ_VERSION;
1662 killagreg 179
        motor_read = 0;  // read the first I2C-Data
1648 killagreg 180
        SendMotorData();
1683 killagreg 181
        timer = SetDelay(500);
182
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
1654 killagreg 183
 
1648 killagreg 184
    printf("\n\rFound BL-Ctrl: ");
1591 holgerb 185
    timer = SetDelay(4000);
1211 hbuss 186
        for(i=0; i < MAX_MOTORS; i++)
1622 killagreg 187
        {
188
                SendMotorData();
1683 killagreg 189
                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
1622 killagreg 190
                if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
191
                {
1648 killagreg 192
                        while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
193
                        {
194
                                SendMotorData();
1683 killagreg 195
                                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
1648 killagreg 196
                        }
1232 hbuss 197
                }
1648 killagreg 198
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
199
                {
200
                        printf("%d",i+1);
1702 holgerb 201
                        FoundMotors++;
1652 holgerb 202
//                      if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
1648 killagreg 203
                }
1622 killagreg 204
        }
1211 hbuss 205
        for(i=0; i < MAX_MOTORS; i++)
1051 killagreg 206
        {
1622 killagreg 207
                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
208
                {
209
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
1701 holgerb 210
                        ServoActive = 2; // just in case the FC would be used as camera-stabilizer
1111 hbuss 211
                }
1622 killagreg 212
                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
1 ingob 213
        }
2030 holgerb 214
   PrintLine();// ("\n\r===================================");
1648 killagreg 215
 
2030 holgerb 216
 
1765 killagreg 217
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
1702 holgerb 218
 
1529 killagreg 219
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1622 killagreg 220
        {
2093 - 221
                //printf("\n\rCalibrating pressure sensor..");
222
                printf("\n\rCal. pressure sensor");/// Martinw; removed memorysaving
1622 killagreg 223
                timer = SetDelay(1000);
224
                SucheLuftruckOffset();
225
                while (!CheckDelay(timer));
226
                printf("OK\n\r");
1 ingob 227
        }
1051 killagreg 228
 
1622 killagreg 229
        SetNeutral(0);
1 ingob 230
 
231
        ROT_OFF;
1051 killagreg 232
 
1 ingob 233
    beeptime = 2000;
1051 killagreg 234
    ExternControl.Digital[0] = 0x55;
1 ingob 235
 
1051 killagreg 236
 
1652 holgerb 237
        FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
238
        FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
1622 killagreg 239
 
1702 holgerb 240
        if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF))
1622 killagreg 241
        {
242
                FlugMinuten = 0;
243
                FlugMinutenGesamt = 0;
244
        }
2034 holgerb 245
    printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
1622 killagreg 246
 
2093 - 247
#ifdef WITH_MKTOOL_Display                      // MartinW; for no MKT Display main.h
248
#warning : "### with MKTool Display ###"
1 ingob 249
    LcdClear();
2093 - 250
        #endif
251
 
173 holgerb 252
    I2CTimeout = 5000;
819 hbuss 253
    WinkelOut.Orientation = 1;
1268 hbuss 254
    LipoDetection(1);
1626 killagreg 255
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
2030 holgerb 256
    PrintLine();// ("\n\r===================================");
1622 killagreg 257
        //SpektrumBinding();
1350 hbuss 258
    timer = SetDelay(2000);
1424 ingob 259
        timerPolling = SetDelay(250);
1648 killagreg 260
 
1636 ingob 261
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
1702 holgerb 262
    DebugOut.Status[0] = 0x01 | 0x02;
1834 holgerb 263
        JetiBeep = 0;
1913 holgerb 264
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
2093 - 265
 
266
//#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))      ///MartinW; only for 1284er
267
//#warning : "### with Sponsored Message ###"
268
    // printf("\n\rJETI+ / HoTT+ Version sponsored by Flyinghigh.ch, progammed by metro, MartinW\n\r");
269
        printf("\n\rACC-HH Version progammed by MartinR\n\r");
270
//#endif
271
 
272
 
1 ingob 273
        while (1)
274
        {
1945 holgerb 275
        if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
1907 ingob 276
 
1930 holgerb 277
//GRN_ON;
1419 ingob 278
        if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 279
            {
1930 holgerb 280
//GRN_OFF;
1907 ingob 281
                        UpdateMotor=0;    
819 hbuss 282
            if(WinkelOut.CalcState) CalMk3Mag();
1644 holgerb 283
            else  MotorRegler();
284
                        SendMotorData();
1 ingob 285
            ROT_OFF;
1937 holgerb 286
            if(SenderOkay)  { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ }
1603 killagreg 287
                        else
288
                        {
289
                                TIMSK1 |= _BV(ICIE1); // enable PPM-Input
290
                                PPM_in[0] = 0; // set RSSI to zero on data timeout
1765 killagreg 291
                                VersionInfo.HardwareError[1] |= FC_ERROR1_PPM;
1603 killagreg 292
                        }
1420 killagreg 293
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1481 holgerb 294
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
295
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
1309 hbuss 296
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1210 hbuss 297
            if(!--I2CTimeout || MissingMotor)
173 holgerb 298
                {
1254 killagreg 299
                  if(!I2CTimeout)
1210 hbuss 300
                                   {
1662 killagreg 301
                                    I2C_Reset();
1210 hbuss 302
                    I2CTimeout = 5;
1322 hbuss 303
                                        DebugOut.Analog[28]++; // I2C-Error
1765 killagreg 304
                                        VersionInfo.HardwareError[1] |= FC_ERROR1_I2C;
1702 holgerb 305
                                        DebugOut.Status[1] |= 0x02; // BL-Error-Status
1322 hbuss 306
                                   }
1051 killagreg 307
                  if((BeepMuster == 0xffff) && MotorenEin)
308
                   {
1936 holgerb 309
                    beeptime = 25000;
173 holgerb 310
                    BeepMuster = 0x0080;
1051 killagreg 311
                   }
1 ingob 312
                }
1051 killagreg 313
            else
1 ingob 314
                {
1051 killagreg 315
                 ROT_OFF;
1944 holgerb 316
                }
1916 holgerb 317
                  LIBFC_Polling();
318
 
1639 holgerb 319
          if(!UpdateMotor)
2012 holgerb 320
                  {
321
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
322
                   if(NewSBusData) ProcessSBus();  
323
                   else
324
#endif
1639 holgerb 325
                   {
1760 holgerb 326
                        if(CalculateServoSignals) CalculateServo();
327
                        DatenUebertragung();
328
                        BearbeiteRxDaten();
1254 killagreg 329
                        if(CheckDelay(timer))
330
                        {
1512 holgerb 331
                                static unsigned char second;
1420 killagreg 332
                                timer += 20; // 20 ms interval
2093 - 333
#if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU))
334
        #warning : "### with Hottmenu ###"
1917 holgerb 335
                                if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
1925 holgerb 336
#endif
1702 holgerb 337
                                if(MissingMotor)
338
                                 {
1765 killagreg 339
                                  VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
1702 holgerb 340
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
1765 killagreg 341
                                 }
342
                                 else
1702 holgerb 343
                                 {
1936 holgerb 344
                                   if(!beeptime)
345
                                    {
346
                                     if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
347
                                        }
1765 killagreg 348
                                 }
2029 holgerb 349
                                if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
1420 killagreg 350
                                if(PcZugriff) PcZugriff--;
351
                                else
352
                                {
353
                                        ExternControl.Config = 0;
354
                                        ExternStickNick = 0;
355
                                        ExternStickRoll = 0;
356
                                        ExternStickGier = 0;
1913 holgerb 357
                                        if(!SenderOkay)
1420 killagreg 358
                                        {
1914 holgerb 359
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
1913 holgerb 360
                                          {
361
                                                  beeptime = 15000;
362
                                                  BeepMuster = 0x0c00;
1914 holgerb 363
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
1913 holgerb 364
                                          }
1914 holgerb 365
                                        }
1420 killagreg 366
                                }
1682 holgerb 367
                                if(NaviDataOkay > 200)
1420 killagreg 368
                                {
369
                                        NaviDataOkay--;
1765 killagreg 370
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
1420 killagreg 371
                                }
372
                                else
373
                                {
1702 holgerb 374
                                        if(NC_Version.Compatible)
375
                                         {
1930 holgerb 376
                                           VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
377
                                           NC_ErrorCode = 9; // "ERR: no NC communication"
1702 holgerb 378
                       if(BeepMuster == 0xffff && MotorenEin)
379
                                                {
380
                                                        beeptime = 15000;
381
                                                        BeepMuster = 0xA800;
382
                                                }
1765 killagreg 383
                                         }
1420 killagreg 384
                                        GPS_Nick = 0;
385
                                        GPS_Roll = 0;
1945 holgerb 386
                                        GPS_Aid_StickMultiplikator = 0;
1916 holgerb 387
                                        GPSInfo.Flags = 0;
1936 holgerb 388
                                        FromNaviCtrl.AccErrorN = 0;
389
                                        FromNaviCtrl.AccErrorR = 0;
1691 holgerb 390
                    FromNaviCtrl.CompassValue = -1;
1703 holgerb 391
                    NaviDataOkay = 0;
1420 killagreg 392
                                }
1309 hbuss 393
                           if(UBat < BattLowVoltageWarning)
1254 killagreg 394
                                {
1765 killagreg 395
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
1254 killagreg 396
                                        if(BeepMuster == 0xffff)
397
                                        {
398
                                                beeptime = 6000;
399
                                                BeepMuster = 0x0300;
400
                                        }
401
                                }
1765 killagreg 402
                                else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
1420 killagreg 403
 
1254 killagreg 404
                                SPI_StartTransmitPacket();
405
                                SendSPI = 4;
2009 holgerb 406
                                // +++++++++++++++++++++++++++++++++
407
                                // Sekundentakt
1512 holgerb 408
                if(++second == 49)
409
                                 {
410
                                   second = 0;
2009 holgerb 411
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
412
                                   else
413
                                    {
414
                                         timer2 = 1450; // 0,5 Minuten aufrunden
415
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck++;
416
                                         else
417
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck--;
418
                                        }
1512 holgerb 419
                                 }
2009 holgerb 420
                                // +++++++++++++++++++++++++++++++++
1320 hbuss 421
                                if(++timer2 == 2930)  // eine Minute
1298 hbuss 422
                                 {
423
                                   timer2 = 0;
424
                   FlugMinuten++;
425
                       FlugMinutenGesamt++;
1652 holgerb 426
                   SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
427
                   SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
428
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
429
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
1344 hbuss 430
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
1298 hbuss 431
                             }
1254 killagreg 432
                        }
2093 - 433
 
434
#ifdef WITH_PANOTRIGGER         ///  MartinW main.h means no memsave
435
#warning : "### with  Panorama Trigger Function ###"
436
//// Pano Trigger
437
if(Parameter_UserParam8 >= 200) //enable/disable Pano Trigger Function
438
{
439
        if(Parameter_UserParam4 <=9) { Parameter_UserParam4 = 10; }
440
        degreedivold = degreediv;
441
        degreediv = (ErsatzKompass / GIER_GRAD_FAKTOR) / Parameter_UserParam4;//Division
442
 
443
        if((degreediv-degreedivold)==2||(degreediv-degreedivold)==1||(degreediv-degreedivold)== -2||(degreediv-degreedivold)== -1)
444
                {
445
 
446
                if(panodelay == 0)
447
                        {
448
                        panotrigger= 1; // muss wieder geleert werden
449
                        ROT_ON;
450
                        J16_ON;
451
                        panodelay = Parameter_UserParam5;
452
                        }
453
                }
454
 
455
                else
456
                        {
457
                        if(panodelay <= Parameter_UserParam6) //ms Intervall
458
                                                {
459
                                                //panoleddelay = Parameter_UserParam6;
460
                                                J16_OFF;
461
                                                ROT_OFF;
462
                                                }  
463
                        if(panodelay > 0)
464
                                {
465
                                panodelay--;
466
                                }
467
 
468
                        }      
469
}// END if(Parameter_UserParam4 >= 1)
470
//// Pano Trigger
471
 
472
#else
473
#warning : "### without  Panorama Trigger Function ###" 
474
 
475
#endif
476
 
477
 
478
 
921 hbuss 479
           LED_Update();
1486 killagreg 480
           Capacity_Update();
1936 holgerb 481
           } //else DebugOut.Analog[26]++;
604 hbuss 482
          }
2012 holgerb 483
         }
484
         if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 485
    }
486
 return (1);
487
}
1944 holgerb 488
//DebugOut.Analog[16]
1 ingob 489