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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; |
| 1298 | hbuss | 57 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| 1512 | holgerb | 58 | unsigned int FlugSekunden = 0; |
| 1444 | ingob | 59 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| 1702 | holgerb | 60 | unsigned char FoundMotors = 0; |
| 1834 | holgerb | 61 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
| 2333 | holgerb | 62 | unsigned char ActiveParamSet = 3; |
| 1444 | ingob | 63 | |
| 2030 | holgerb | 64 | void PrintLine(void) |
| 65 | { |
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| 66 | printf("\n\r==================================="); |
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| 67 | } |
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| 68 | |||
| 69 | |||
| 819 | hbuss | 70 | void CalMk3Mag(void) |
| 71 | { |
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| 72 | static unsigned char stick = 1; |
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| 73 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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| 74 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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| 75 | { |
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| 76 | stick = 1; |
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| 77 | WinkelOut.CalcState++; |
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| 1051 | killagreg | 78 | if(WinkelOut.CalcState > 4) |
| 79 | { |
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| 819 | hbuss | 80 | // WinkelOut.CalcState = 0; // in Uart.c |
| 81 | beeptime = 1000; |
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| 1051 | killagreg | 82 | } |
| 1232 | hbuss | 83 | else Piep(WinkelOut.CalcState,150); |
| 819 | hbuss | 84 | } |
| 85 | } |
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| 86 | |||
| 1438 | ingob | 87 | |
| 1268 | hbuss | 88 | void LipoDetection(unsigned char print) |
| 89 | { |
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| 1654 | killagreg | 90 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
| 91 | unsigned int timer, cells; |
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| 92 | if(print) printf("\n\rBatt:"); |
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| 93 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
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| 94 | { |
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| 95 | timer = SetDelay(500); |
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| 96 | if(print) while (!CheckDelay(timer)); |
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| 1657 | killagreg | 97 | // up to 6s LiPo, less than 2s is technical impossible |
| 98 | for(cells = 2; cells < 7; cells++) |
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| 1654 | killagreg | 99 | { |
| 100 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
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| 1420 | killagreg | 101 | } |
| 1654 | killagreg | 102 | |
| 103 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
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| 104 | if(print) |
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| 105 | { |
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| 106 | Piep(cells, 200); |
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| 107 | printf(" %d Cells ", cells); |
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| 1420 | killagreg | 108 | } |
| 1654 | killagreg | 109 | } |
| 110 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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| 2034 | holgerb | 111 | if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| 1268 | hbuss | 112 | } |
| 113 | |||
| 1 | ingob | 114 | //############################################################################ |
| 115 | //Hauptprogramm |
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| 116 | int main (void) |
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| 117 | //############################################################################ |
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| 118 | { |
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| 1424 | ingob | 119 | unsigned int timer,i,timer2 = 0, timerPolling; |
| 2341 | holgerb | 120 | unsigned char update_spi = 1; |
| 1051 | killagreg | 121 | DDRB = 0x00; |
| 2330 | holgerb | 122 | PORTB = 0x00; |
| 2309 | holgerb | 123 | DDRD = 0x0A; // UART & J3 J4 J5 |
| 124 | PORTD = 0x5F; // PPM-Input & UART |
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| 188 | holgerb | 125 | for(timer = 0; timer < 1000; timer++); // verzögern |
| 1660 | holgerb | 126 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2334 | holgerb | 127 | unsigned char AccZ_ErrorCnt = 0; |
| 2309 | holgerb | 128 | if(PINB & 0x02) |
| 129 | { |
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| 130 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
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| 131 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
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| 132 | } |
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| 133 | else |
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| 134 | { |
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| 2367 | holgerb | 135 | PlatinenVersion = 25; ACC_AltitudeControl = 1; |
| 2309 | holgerb | 136 | } |
| 1660 | holgerb | 137 | #else |
| 138 | if(PINB & 0x01) |
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| 918 | hbuss | 139 | { |
| 1051 | killagreg | 140 | if(PINB & 0x02) PlatinenVersion = 13; |
| 141 | else PlatinenVersion = 11; |
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| 918 | hbuss | 142 | } |
| 1051 | killagreg | 143 | else |
| 1021 | hbuss | 144 | { |
| 1051 | killagreg | 145 | if(PINB & 0x02) PlatinenVersion = 20; |
| 2309 | holgerb | 146 | else |
| 147 | { |
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| 148 | PlatinenVersion = 10; |
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| 149 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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| 150 | PORTD = 0x47; // |
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| 151 | } |
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| 1021 | hbuss | 152 | } |
| 1660 | holgerb | 153 | #endif |
| 2316 | holgerb | 154 | |
| 2309 | holgerb | 155 | DDRC = 0x81; // I2C, Spaker |
| 1036 | hbuss | 156 | DDRC |=0x40; // HEF4017 Reset |
| 1 | ingob | 157 | PORTC = 0xff; // Pullup SDA |
| 158 | DDRB = 0x1B; // LEDs und Druckoffset |
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| 159 | PORTB = 0x01; // LED_Rot |
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| 2309 | holgerb | 160 | |
| 2146 | holgerb | 161 | HEF4017Reset_ON; |
| 1 | ingob | 162 | MCUSR &=~(1<<WDRF); |
| 163 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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| 164 | WDTCSR = 0; |
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| 165 | |||
| 1652 | holgerb | 166 | beeptime = 2500; |
| 1660 | holgerb | 167 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
| 168 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
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| 1 | ingob | 169 | ROT_OFF; |
| 2193 | holgerb | 170 | GRN_ON; |
| 1479 | killagreg | 171 | |
| 1 | ingob | 172 | Timer_Init(); |
| 1156 | hbuss | 173 | TIMER2_Init(); |
| 1 | ingob | 174 | UART_Init(); |
| 175 | rc_sum_init(); |
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| 176 | ADC_Init(); |
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| 1743 | holgerb | 177 | I2C_Init(1); |
| 597 | ingob | 178 | SPI_MasterInit(); |
| 1486 | killagreg | 179 | Capacity_Init(); |
| 2309 | holgerb | 180 | LIBFC_Init(LIB_FC_COMPATIBLE); |
| 1431 | ingob | 181 | GRN_ON; |
| 182 | sei(); |
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| 1622 | killagreg | 183 | ParamSet_Init(); |
| 1344 | hbuss | 184 | |
| 1211 | hbuss | 185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 186 | // + Check connected BL-Ctrls |
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| 187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1648 | killagreg | 188 | // Check connected BL-Ctrls |
| 189 | BLFlags |= BLFLAG_READ_VERSION; |
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| 1662 | killagreg | 190 | motor_read = 0; // read the first I2C-Data |
| 1648 | killagreg | 191 | SendMotorData(); |
| 1683 | killagreg | 192 | timer = SetDelay(500); |
| 193 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 1654 | killagreg | 194 | |
| 1648 | killagreg | 195 | printf("\n\rFound BL-Ctrl: "); |
| 1591 | holgerb | 196 | timer = SetDelay(4000); |
| 1211 | hbuss | 197 | for(i=0; i < MAX_MOTORS; i++) |
| 1622 | killagreg | 198 | { |
| 199 | SendMotorData(); |
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| 1683 | killagreg | 200 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 1622 | killagreg | 201 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| 202 | { |
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| 1648 | killagreg | 203 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| 204 | { |
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| 205 | SendMotorData(); |
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| 1683 | killagreg | 206 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 1648 | killagreg | 207 | } |
| 1232 | hbuss | 208 | } |
| 1648 | killagreg | 209 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| 210 | { |
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| 211 | printf("%d",i+1); |
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| 1702 | holgerb | 212 | FoundMotors++; |
| 2380 | holgerb | 213 | // if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r"); |
| 214 | // else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r"); |
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| 1648 | killagreg | 215 | } |
| 1622 | killagreg | 216 | } |
| 1211 | hbuss | 217 | for(i=0; i < MAX_MOTORS; i++) |
| 1051 | killagreg | 218 | { |
| 1622 | killagreg | 219 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| 220 | { |
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| 221 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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| 1701 | holgerb | 222 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| 1111 | hbuss | 223 | } |
| 1622 | killagreg | 224 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| 1 | ingob | 225 | } |
| 2030 | holgerb | 226 | PrintLine();// ("\n\r==================================="); |
| 1648 | killagreg | 227 | |
| 2030 | holgerb | 228 | |
| 1765 | killagreg | 229 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| 1702 | holgerb | 230 | |
| 1529 | killagreg | 231 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| 1622 | killagreg | 232 | { |
| 233 | printf("\n\rCalibrating pressure sensor.."); |
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| 234 | timer = SetDelay(1000); |
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| 235 | SucheLuftruckOffset(); |
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| 236 | while (!CheckDelay(timer)); |
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| 237 | printf("OK\n\r"); |
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| 1 | ingob | 238 | } |
| 1051 | killagreg | 239 | |
| 1622 | killagreg | 240 | SetNeutral(0); |
| 1 | ingob | 241 | |
| 242 | ROT_OFF; |
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| 1051 | killagreg | 243 | |
| 1 | ingob | 244 | beeptime = 2000; |
| 1051 | killagreg | 245 | ExternControl.Digital[0] = 0x55; |
| 1 | ingob | 246 | |
| 1051 | killagreg | 247 | |
| 1652 | holgerb | 248 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| 249 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
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| 1622 | killagreg | 250 | |
| 1702 | holgerb | 251 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| 1622 | killagreg | 252 | { |
| 253 | FlugMinuten = 0; |
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| 254 | FlugMinutenGesamt = 0; |
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| 255 | } |
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| 2034 | holgerb | 256 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| 1 | ingob | 257 | LcdClear(); |
| 173 | holgerb | 258 | I2CTimeout = 5000; |
| 819 | hbuss | 259 | WinkelOut.Orientation = 1; |
| 1268 | hbuss | 260 | LipoDetection(1); |
| 1626 | killagreg | 261 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 2030 | holgerb | 262 | PrintLine();// ("\n\r==================================="); |
| 1622 | killagreg | 263 | //SpektrumBinding(); |
| 1350 | hbuss | 264 | timer = SetDelay(2000); |
| 1424 | ingob | 265 | timerPolling = SetDelay(250); |
| 1648 | killagreg | 266 | |
| 1636 | ingob | 267 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| 2340 | holgerb | 268 | //printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN); |
| 269 | |||
| 1702 | holgerb | 270 | DebugOut.Status[0] = 0x01 | 0x02; |
| 1834 | holgerb | 271 | JetiBeep = 0; |
| 1913 | holgerb | 272 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
| 2333 | holgerb | 273 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| 2330 | holgerb | 274 | while(1) |
| 1 | ingob | 275 | { |
| 1945 | holgerb | 276 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| 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(); |
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| 1 | ingob | 285 | ROT_OFF; |
| 1937 | holgerb | 286 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
| 1603 | killagreg | 287 | else |
| 288 | { |
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| 289 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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| 290 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
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| 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; |
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| 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 | { |
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| 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__)) |
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| 322 | if(NewSBusData) ProcessSBus(); |
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| 323 | else |
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| 324 | #endif |
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| 1639 | holgerb | 325 | { |
| 1760 | holgerb | 326 | if(CalculateServoSignals) CalculateServo(); |
| 327 | DatenUebertragung(); |
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| 328 | BearbeiteRxDaten(); |
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| 1254 | killagreg | 329 | if(CheckDelay(timer)) |
| 330 | { |
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| 1512 | holgerb | 331 | static unsigned char second; |
| 1420 | killagreg | 332 | timer += 20; // 20 ms interval |
| 2191 | holgerb | 333 | CalcNickServoValue(); |
| 1925 | holgerb | 334 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1917 | holgerb | 335 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| 2263 | holgerb | 336 | else |
| 337 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
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| 2334 | holgerb | 338 | // ++++++++++++++++++++++++++++ |
| 339 | // + check the ACC-Z range |
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| 340 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
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| 341 | { |
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| 342 | if(++AccZ_ErrorCnt > 50) |
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| 343 | { |
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| 344 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
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| 345 | else CalibrationDone = 0; |
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| 346 | } |
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| 347 | } |
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| 348 | else AccZ_ErrorCnt = 0; |
||
| 349 | // ++++++++++++++++++++++++++++ |
||
| 1925 | holgerb | 350 | #endif |
| 1702 | holgerb | 351 | if(MissingMotor) |
| 352 | { |
||
| 1765 | killagreg | 353 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| 1702 | holgerb | 354 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| 1765 | killagreg | 355 | } |
| 356 | else |
||
| 1702 | holgerb | 357 | { |
| 1936 | holgerb | 358 | if(!beeptime) |
| 359 | { |
||
| 360 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
||
| 361 | } |
||
| 1765 | killagreg | 362 | } |
| 2029 | holgerb | 363 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
| 1420 | killagreg | 364 | if(PcZugriff) PcZugriff--; |
| 365 | else |
||
| 366 | { |
||
| 367 | ExternControl.Config = 0; |
||
| 368 | ExternStickNick = 0; |
||
| 369 | ExternStickRoll = 0; |
||
| 370 | ExternStickGier = 0; |
||
| 1913 | holgerb | 371 | if(!SenderOkay) |
| 1420 | killagreg | 372 | { |
| 1914 | holgerb | 373 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
| 1913 | holgerb | 374 | { |
| 375 | beeptime = 15000; |
||
| 376 | BeepMuster = 0x0c00; |
||
| 1914 | holgerb | 377 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
| 1913 | holgerb | 378 | } |
| 1914 | holgerb | 379 | } |
| 1420 | killagreg | 380 | } |
| 1682 | holgerb | 381 | if(NaviDataOkay > 200) |
| 1420 | killagreg | 382 | { |
| 383 | NaviDataOkay--; |
||
| 1765 | killagreg | 384 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| 2342 | holgerb | 385 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
| 1420 | killagreg | 386 | } |
| 387 | else |
||
| 388 | { |
||
| 1702 | holgerb | 389 | if(NC_Version.Compatible) |
| 390 | { |
||
| 1930 | holgerb | 391 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| 392 | NC_ErrorCode = 9; // "ERR: no NC communication" |
||
| 1702 | holgerb | 393 | if(BeepMuster == 0xffff && MotorenEin) |
| 394 | { |
||
| 395 | beeptime = 15000; |
||
| 396 | BeepMuster = 0xA800; |
||
| 397 | } |
||
| 1765 | killagreg | 398 | } |
| 1420 | killagreg | 399 | GPS_Nick = 0; |
| 400 | GPS_Roll = 0; |
||
| 1945 | holgerb | 401 | GPS_Aid_StickMultiplikator = 0; |
| 1916 | holgerb | 402 | GPSInfo.Flags = 0; |
| 2348 | holgerb | 403 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1936 | holgerb | 404 | FromNaviCtrl.AccErrorN = 0; |
| 405 | FromNaviCtrl.AccErrorR = 0; |
||
| 1691 | holgerb | 406 | FromNaviCtrl.CompassValue = -1; |
| 2342 | holgerb | 407 | FromNC_AltitudeSpeed = 0; |
| 408 | FromNC_AltitudeSetpoint = 0; |
||
| 409 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
||
| 1703 | holgerb | 410 | NaviDataOkay = 0; |
| 1420 | killagreg | 411 | } |
| 1309 | hbuss | 412 | if(UBat < BattLowVoltageWarning) |
| 1254 | killagreg | 413 | { |
| 1765 | killagreg | 414 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
| 2373 | holgerb | 415 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
| 1254 | killagreg | 416 | { |
| 417 | beeptime = 6000; |
||
| 418 | BeepMuster = 0x0300; |
||
| 419 | } |
||
| 420 | } |
||
| 1765 | killagreg | 421 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| 2341 | holgerb | 422 | SendSPI = SPI_BYTEGAP; |
| 2333 | holgerb | 423 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| 2009 | holgerb | 424 | // +++++++++++++++++++++++++++++++++ |
| 425 | // Sekundentakt |
||
| 1512 | holgerb | 426 | if(++second == 49) |
| 427 | { |
||
| 428 | second = 0; |
||
| 2346 | holgerb | 429 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2345 | holgerb | 430 | if(ShowSettingNameTime) ShowSettingNameTime--; |
| 2346 | holgerb | 431 | #endif |
| 2009 | holgerb | 432 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
| 2309 | holgerb | 433 | else timer2 = 1450; // 0,5 Minuten aufrunden |
| 434 | if(modell_fliegt < 1024) |
||
| 2009 | holgerb | 435 | { |
| 2309 | holgerb | 436 | if(StartLuftdruck < Luftdruck) StartLuftdruck += 5; |
| 2009 | holgerb | 437 | else |
| 2309 | holgerb | 438 | if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5; |
| 2009 | holgerb | 439 | } |
| 1512 | holgerb | 440 | } |
| 2009 | holgerb | 441 | // +++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 442 | if(++timer2 == 2930) // eine Minute |
| 1298 | hbuss | 443 | { |
| 444 | timer2 = 0; |
||
| 445 | FlugMinuten++; |
||
| 446 | FlugMinutenGesamt++; |
||
| 1652 | holgerb | 447 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| 448 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
||
| 449 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
||
| 450 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
||
| 1344 | hbuss | 451 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| 1298 | hbuss | 452 | } |
| 1254 | killagreg | 453 | } |
| 921 | hbuss | 454 | LED_Update(); |
| 1486 | killagreg | 455 | Capacity_Update(); |
| 1936 | holgerb | 456 | } //else DebugOut.Analog[26]++; |
| 604 | hbuss | 457 | } |
| 2341 | holgerb | 458 | if(update_spi) update_spi--; |
| 459 | } // 500Hz |
||
| 460 | if(update_spi == 0) { SPI_StartTransmitPacket(); update_spi = 12;} // 41Hz |
||
| 461 | else if(!SendSPI) { SPI_TransmitByte(); } |
||
| 1 | ingob | 462 | } |
| 463 | } |
||
| 1944 | holgerb | 464 | //DebugOut.Analog[16] |
| 1 | ingob | 465 |