| 0,0 → 1,835 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + 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 |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char DisableRcOffBeeping = 1; |
| unsigned char PlatinenVersion = 10; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| unsigned int FlugSekunden = 0; |
| pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| unsigned char FoundMotors = 0; |
| unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
| unsigned char ActiveParamSet = 3; |
| unsigned char LipoCells = 4; |
| unsigned char IamMaster = 0; |
| unsigned char Delete_Stoppflag_Timer = 0; |
| unsigned char OEM_String[17] = "Booting... \0\0\0\0\0"; |
| unsigned char TouchDownTimer = 0; |
| |
| void PrintLine(void) |
| { |
| printf("\r\n==================================="); |
| } |
| |
| |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| ChannelAssingment(); |
| if(ChannelNick > -20) stick = 0; |
| if((ChannelNick < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| // WinkelOut.CalcState = 0; // in SPI.c |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState,150); |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| ShowCmpsCalibrateTime = 6; |
| #endif |
| } |
| |
| void LipoDetection(unsigned char print) |
| { |
| unsigned int warning; |
| #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
| if(print) |
| { |
| printf("\r\nBatt:"); |
| LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
| if(LipoCells > 6) LipoCells = 6; |
| } |
| |
| if(EE_Parameter.UnterspannungsWarnung < 50) |
| { |
| warning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(LipoCells, 200); |
| printf(" %d Cells ", LipoCells); |
| } |
| } |
| else warning = EE_Parameter.UnterspannungsWarnung; |
| if(warning > 255) warning = 255; BattLowVoltageWarning = warning; |
| // automatische Zellenerkennung |
| if(EE_Parameter.AutoLandingVoltage < 50) warning = LipoCells * EE_Parameter.AutoLandingVoltage; else warning = EE_Parameter.AutoLandingVoltage; |
| if(warning > 255) warning = 255; BattAutoLandingVoltage = warning; |
| |
| if(EE_Parameter.ComingHomeVoltage < 50) warning = LipoCells * EE_Parameter.ComingHomeVoltage; else warning = EE_Parameter.ComingHomeVoltage; |
| if(warning > 255) warning = 255; BattComingHomeVoltage = warning; |
| |
| if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
| if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
| if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
| |
| if(print) |
| { |
| printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
| if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
| } |
| |
| } |
| |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| void LoadStoreSingleWP(void) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| // + Load/Store one single point |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| static unsigned char switch_hyterese = 0, hyterese = 1, wp_tmp_s = 0, wp_tmp_l = 0; |
| static int delay; |
| |
| if(PPM_in[EE_Parameter.SingleWpControlChannel] > 50) // Switch Up -> load |
| { |
| if(switch_hyterese == 1 || switch_hyterese == 3) |
| { |
| ToNC_Load_SingePoint = 1; |
| switch_hyterese = 2; |
| SpeakHoTT = SPEAK_NEXT_WP; |
| Show_Load_Time = 5; |
| Show_Load_Value = 1; |
| wp_tmp_l = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bedienung per Taster am Sender |
| if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
| { |
| hyterese = 2; |
| if(CheckDelay(delay)) { wp_tmp_l = 0; hyterese = 1;} |
| } |
| else |
| if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
| { |
| delay = SetDelay(2500); |
| if(hyterese == 2 && (wp_tmp_l < NaviData_MaxWpListIndex)) |
| { |
| wp_tmp_l++; |
| ToNC_Load_SingePoint = wp_tmp_l; |
| Show_Load_Time = 5; |
| Show_Load_Value = wp_tmp_l; |
| SpeakHoTT = SPEAK_NEXT_WP; |
| } |
| hyterese = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| } |
| else |
| if(PPM_in[EE_Parameter.SingleWpControlChannel] < -50) // Switch Down -> store |
| { |
| if(switch_hyterese == 1 || switch_hyterese == 2) |
| { |
| ToNC_Store_SingePoint = 1; |
| switch_hyterese = 3; |
| SpeakHoTT = SPEAK_MIKROKOPTER; |
| Show_Store_Time = 5; |
| Show_Store_Value = 1; |
| wp_tmp_s = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bedienung per Taster am Sender |
| if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
| { |
| hyterese = 2; |
| if(CheckDelay(delay)) { wp_tmp_s = 0; hyterese = 1;} |
| } |
| else |
| if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
| { |
| delay = SetDelay(2500); |
| if(hyterese == 2 && (wp_tmp_s < NaviData_MaxWpListIndex)) |
| { |
| wp_tmp_s++; |
| ToNC_Store_SingePoint = wp_tmp_s; |
| Show_Store_Time = 5; |
| Show_Store_Value = wp_tmp_s; |
| SpeakHoTT = SPEAK_MIKROKOPTER; |
| } |
| hyterese = 0; |
| } |
| } |
| else // Middle |
| { |
| switch_hyterese = 1; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| #endif |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // check if ServoControl is serial Poti and if yes: check if there is valid data |
| void InitSerialPoti(void) |
| { |
| unsigned char i; |
| if(!SerialChannelDataOkay) |
| { |
| if(EE_Parameter.ServoNickControl >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.ServoNickControl; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[0]) PPM_in[i] = EE_Parameter.ServoFS_Pos[0] - 127; // there is a failsafe position |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.ServoRollControl >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.ServoRollControl; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[1]) PPM_in[i] = EE_Parameter.ServoFS_Pos[1] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.Servo3 >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.Servo3; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[2]) PPM_in[i] = EE_Parameter.ServoFS_Pos[2] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.Servo4 >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.Servo4; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[3]) PPM_in[i] = EE_Parameter.ServoFS_Pos[3] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.Servo5 >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.Servo5; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[4]) PPM_in[i] = EE_Parameter.ServoFS_Pos[4] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| } |
| } |
| |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer,i,timer2 = 0, timerPolling; |
| unsigned char update_spi = 1; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| DDRD = 0x0A; // UART & J3 J4 J5 |
| PORTD = 0x7F; // PPM-Input & UART |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| unsigned char AccZ_ErrorCnt = 0; |
| if(PINB & 0x02) |
| { |
| if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
| else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
| } |
| else |
| { |
| PlatinenVersion = LIBFC_Get_HW_Version(25); |
| ACC_AltitudeControl = 1; |
| J4Low; |
| } |
| /* |
| if(PlatinenVersion >= 30) -> wird noch der #define gemacht |
| { |
| if(!(PIND & 0x20)) IamMaster = SLAVE; // Slave |
| else IamMaster = MASTER; // Master |
| } |
| */ |
| #else |
| if(PINB & 0x01) |
| { |
| if(PINB & 0x02) PlatinenVersion = 13; |
| else PlatinenVersion = 11; |
| } |
| else |
| { |
| if(PINB & 0x02) PlatinenVersion = 20; |
| else |
| { |
| PlatinenVersion = 10; |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // |
| } |
| } |
| #endif |
| |
| DDRC = 0x81; // I2C, Spaker |
| DDRC |=0x40; // HEF4017 Reset |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x05; // LED_Rot & pullup on PB2 (RC-Voltage detection) |
| |
| HEF4017Reset_ON; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| |
| beeptime = 2500; |
| StickGier = 0; StickRoll = 0; StickNick = 0; |
| if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| ROT_OFF; |
| GRN_ON; |
| |
| Timer_Init(); |
| TIMER2_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| I2C_Init(1); |
| SPI_MasterInit(); |
| Capacity_Init(); |
| LIBFC_Init(LIB_FC_COMPATIBLE); |
| GRN_ON; |
| sei(); |
| ParamSet_Init(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PlatinenVersion < 20) |
| { |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| while(1) printf("\r\nOld FC Hardware not supported by this Firmware!"); |
| } |
| #ifndef REDUNDANT_FC_SLAVE |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Check connected BL-Ctrls |
| BLFlags |= BLFLAG_READ_VERSION; |
| motor_read = 0; // read the first I2C-Data |
| for(i=0; i < 500; i++) |
| { |
| SendMotorData(); |
| timer = SetDelay(5); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| printf("\r\nFound BL-Ctrl: "); |
| // timer = SetDelay(1000); |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| // SendMotorData(); |
| // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| { |
| while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| { |
| if((BLFlags & BLFLAG_TX_COMPLETE)) SendMotorData(); |
| //while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| } |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| unsigned char vers; |
| printf("%d",(i+1)%10); |
| FoundMotors++; |
| vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
| if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
| //if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)"); |
| //if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)"); |
| //printf(":V%03d\r\n",vers); |
| } |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| { |
| printf("\r\n\r\n!! MISSING BL-CTRL: %d !!",i+1); |
| ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| } |
| Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(VersionInfo.BL_Firmware != 255) |
| { |
| printf("\r\nBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
| if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
| } |
| #endif |
| |
| PrintLine();// ("\r\n==================================="); |
| if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
| #else |
| printf("\r\n\r\n--> REDUNDANT SLAVE <---\r\n"); |
| IamMaster = SLAVE; |
| #endif |
| |
| #ifdef REDUNDANT_FC_MASTER |
| printf("\r\n\r\n--> REDUNDANT MASTER <---\r\n"); |
| IamMaster = MASTER; |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calibrating altitude sensor |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\r\nCalibrating pressure sensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\r\n"); |
| } |
| |
| #ifdef REDUNDANT_FC_SLAVE |
| VersionInfo.HardwareError[0] = 0; |
| VersionInfo.HardwareError[1] = 0; |
| #endif |
| |
| SetNeutral(0); |
| |
| ROT_OFF; |
| |
| beeptime = 2000; |
| |
| FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
| |
| if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| printf("\r\nFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| LcdClear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| LipoDetection(1); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| PrintLine();// ("\r\n==================================="); |
| //SpektrumBinding(); |
| timer = SetDelay(2000); |
| timerPolling = SetDelay(250); |
| |
| Debug(ANSI_CLEAR "FC-Start!\r\nFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| if(PARAMSET_STRUCT_LEN != 179) while(1) printf("\r\nEE_Parameter size:%i", PARAMSET_STRUCT_LEN); |
| |
| DebugOut.Status[0] = 0x01 | 0x02; |
| JetiBeep = 0; |
| if(!(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)) DisableRcOffBeeping = 0; |
| ReadBlSize = 3; // don't read the version any more |
| if(PlatinenVersion < 30) OEM_String[0] = 0xff; |
| #ifdef REDUNDANT_FC_SLAVE |
| timer = SetDelay(2500); |
| while(!CheckDelay(timer)); |
| printf("\r\nStart\r\n"); |
| #endif |
| while(1) |
| { |
| EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| if(UpdateMotor && AdReady) // ReglerIntervall |
| { |
| cli(); |
| UpdateMotor--; |
| sei(); |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| |
| if(SenderOkay > ReceiverOkay) ReceiverOkay = SenderOkay; |
| |
| if(ReceiverOkay) ReceiverOkay--; |
| else |
| { |
| ChannelNick = 0; |
| ChannelRoll = 0; |
| ChannelYaw = 0; |
| ChannelGas = 0; |
| VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
| } |
| |
| if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
| else |
| { |
| TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| PPM_in[0] = 0; // set RSSI to zero on data timeout |
| // Now clear the channel values - they would be wrong |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!--I2CTimeout || MissingMotor) |
| { |
| if(!I2CTimeout) |
| { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 25000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| LIBFC_Polling(); |
| |
| if(!UpdateMotor) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NewSBusData) ProcessSBus(); |
| else |
| if(NewMlinkData) ProcessMlinkData(); |
| else |
| #endif |
| { |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| if(CalculateServoSignals) CalculateServo(0); |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| if(!(PINB & 0x04)) VersionInfo.HardwareError[1] |= FC_ERROR1_RC_VOLTAGE; |
| if(CheckDelay(timer)) |
| { |
| static unsigned char second; |
| timer += 20; // 20 ms interval |
| //DebugOut.Analog[] = LuftdruckTemperaturOffset; |
| CalcNickServoValue(); |
| if(!CalibrationDone) FC_StatusFlags3 |= FC_STATUS3_NOT_CALIBRATED; else FC_StatusFlags3 &= ~FC_STATUS3_NOT_CALIBRATED; |
| // ++++++++++++++++++++++++++++ |
| // + New direction setpoint from NC |
| if((NC_CompassSetpoint != -1) && !NeueKompassRichtungMerken) |
| { |
| int diff; |
| if((KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
| { |
| diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
| if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
| else |
| if(diff < -2) diff = -2; |
| KompassSollWert -= diff; |
| } |
| else |
| { |
| NC_CompassSetpoint = -1; |
| NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
| } |
| } |
| // ++++++++++++++++++++++++++++ |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| else |
| if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
| // ++++++++++++++++++++++++++++ |
| // + check the ACC-Z range |
| if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
| { |
| if(++AccZ_ErrorCnt > 50) |
| { |
| if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
| else CalibrationDone = 0; |
| } |
| } |
| else AccZ_ErrorCnt = 0; |
| // ++++++++++++++++++++++++++++ |
| #endif |
| if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
| { |
| if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| else |
| { |
| if(!beeptime) |
| { |
| if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
| } |
| } |
| if(DisableRcOffBeeping) if(ReceiverOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| if(!ReceiverOkay) |
| { |
| if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
| } |
| } |
| } |
| if(NaviDataOkay > 200) |
| { |
| NaviDataOkay--; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
| } |
| else |
| { |
| if(NC_Version.Compatible) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| NC_ErrorCode = 9; // "ERR: no NC communication" |
| if(BeepMuster == 0xffff && MotorenEin) |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA800; |
| } |
| } |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| GPS_Aid_StickMultiplikator = 0; |
| GPSInfo.Flags = 0; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl.AccErrorN = 0; |
| FromNaviCtrl.AccErrorR = 0; |
| FromNaviCtrl.CompassValue = -1; |
| FromNC_AltitudeSpeed = 0; |
| FromNC_AltitudeSetpoint = 0; |
| VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
| NC_To_FC_Flags = 0; |
| NaviDataOkay = 0; |
| } |
| if(UBat <= BattLowVoltageWarning) |
| { |
| FC_StatusFlags |= FC_STATUS_LOWBAT; |
| if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++ |
| if(ExternalControlTimeout) |
| { |
| ExternalControlTimeout--; |
| if(ExternalControlTimeout == 1) |
| { |
| ExternalControl.Config = 0; |
| beeptime = 2000; |
| } |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| // + Load/Store one single point |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.SingleWpControlChannel) LoadStoreSingleWP(); |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| #endif |
| #ifdef NO_RECEIVER |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
| PPM_in[EE_Parameter.HoeheChannel] = (unsigned char) 200; |
| PPM_in[EE_Parameter.NaviGpsModeChannel] = (unsigned char) 200; |
| PPM_in[EE_Parameter.CareFreeChannel] = (unsigned char) 200; |
| SenderOkay = 180; |
| MotorenEin = 0; |
| #endif |
| if(BaroExpandCnt > 0) BaroExpandCnt--; |
| else |
| if(BaroExpandCnt < 0) BaroExpandCnt++; |
| |
| // +++++++++++++++++++++++++++++++++ |
| // Sekundentakt |
| if(++second == 49) |
| { |
| static long altitudeOld = 0; |
| static char threeseconds = 3; |
| |
| second = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ShowSettingNameTime) ShowSettingNameTime--; |
| if(Show_Load_Time) Show_Load_Time--; |
| if(Show_Store_Time) Show_Store_Time--; |
| if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
| if(Delete_Stoppflag_Timer) Delete_Stoppflag_Timer--; else FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
| #endif |
| if(NC_To_FC_Flags & (NC_TO_FC_EMERGENCY_LANDING | NC_TO_FC_FLYING_RANGE | NC_TO_FC_OUTSIDE_FLYZONE)) |
| { |
| if(!beeptime) |
| { |
| beeptime = 10000; |
| if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) BeepMuster = 0x1500; |
| else BeepMuster = 0x2800; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + for auto switch - off |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(--threeseconds == 0) |
| { |
| int AltitudeDeviationPer3Seconds = 0; |
| threeseconds = 3; |
| AltitudeDeviationPer3Seconds = HoehenWert - altitudeOld; |
| altitudeOld = HoehenWert; |
| if(abs(AltitudeDeviationPer3Seconds) > 90) TouchDownTimer = 0; |
| if(!MotorenEin) TouchDownTimer = 0; |
| } |
| if(ACC_AltitudeControl && HoehenReglerAktiv && (SollHoehe < (HoehenWert-1100)) && !(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE)) // 11m unter Sollwert |
| { |
| if(TouchDownTimer < 255) TouchDownTimer++; |
| } |
| else TouchDownTimer = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if( (NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) || // for auto landing waypoints points |
| (NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) || // for RC failsafe |
| (LowVoltageLandingActive) || // undervoltage |
| (FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) // Auto landing by switch |
| ) |
| { |
| if(TouchDownTimer == 6) SpeakHoTT = SPEAK_SINKING; |
| else |
| if(TouchDownTimer == 9) |
| { |
| SpeakHoTT = SPEAK_LANDING; |
| } |
| else |
| if(TouchDownTimer == 16) |
| { |
| FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
| Delete_Stoppflag_Timer = 2; // 1-2 seconds |
| MotorenEin = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| SpeakHoTT = SPEAK_MK_OFF; |
| } |
| } |
| else TouchDownTimer = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if(SerialChannelDataOkay) if(--SerialChannelDataOkay == 0) InitSerialPoti(); |
| if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
| else |
| if(ServoFailsafeActive) ServoFailsafeActive--; |
| |
| if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
| else timer2 = 1450; // 0,5 Minuten aufrunden |
| if(modell_fliegt < 1024 && !BaroCalState) |
| { |
| if(StartLuftdruck < LuftdruckKompensiert) StartLuftdruck += 5; |
| else |
| if(StartLuftdruck > LuftdruckKompensiert) StartLuftdruck -= 5; |
| FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
| } |
| else |
| { |
| #ifdef REDUNDANT_FC_MASTER |
| if(!(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_ERROR; |
| else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
| #endif |
| } |
| if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| TIMSK2 |= (1<<OCIE2A); // enable Servo-Interrupt now |
| } |
| // +++++++++++++++++++++++++++++++++ |
| if(++timer2 == 2930) // eine Minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| } |
| } |
| LED_Update(); |
| Capacity_Update(); |
| } |
| } //else DebugOut.Analog[18]++; |
| if(update_spi) update_spi--; |
| } // 500Hz |
| if(update_spi == 0) // 41Hz |
| { |
| if(!MotorenEin && NC_RequestsConfig) { SendSettingToNC(); update_spi = 12;} |
| else |
| if(SPI_StartTransmitPacket()) update_spi = 12; |
| else |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| } |
| else if(BytegapSPI == 0) SPI_TransmitByte(); |
| } |
| } |
| //DebugOut.Analog[] |
| |
| |