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Ignore whitespace Rev 2704 → Rev 2705

/tags/V2.18a/FlightCtrl.aps
0,0 → 1,0
<AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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Files\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>uart.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>menu.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>timer0.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>fc.c</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>fc.h</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>menu.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>TWIMASTER.C</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>twimaster.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>uart.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>_Settings.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>analog.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>gps.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>main.h</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>old_macros.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>printf_P.h</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>rc.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>Settings.h</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>timer0.h</FileName><Status>1</Status></File00018></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
/tags/V2.18a/GPS.c
0,0 → 1,16
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
signed int GPS_Nick = 0;
signed int GPS_Roll = 0;
unsigned char GPS_Aid_StickMultiplikator = 0; // 64 = 100%
 
 
 
 
/tags/V2.18a/Hex-Files/Flight-Ctrl_MEGA1284p_V2_18a.hex
0,0 → 1,6274
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/tags/V2.18a/Hex-Files/License.txt
0,0 → 1,69
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
/tags/V2.18a/Hex-Files/REDUNDANCE/Flight-Ctrl_MEGA1284p_V2_18a__REDUNDANT_MASTER.hex
0,0 → 1,6288
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/tags/V2.18a/Hex-Files/REDUNDANCE
Property changes:
Added: bugtraq:number
+true
\ No newline at end of property
Added: tsvn:logminsize
+8
\ No newline at end of property
/tags/V2.18a/Hex-Files/WasIstWas.txt
0,0 → 1,14
+++++++++++++++++++++++++
+ Flight-Ctrl:
+++++++++++++++++++++++++
 
Flight-Ctrl_MEGA1284_Vx_yy.hex
Flight-Ctrl_MEGA644_Vx_yy.hex
Aktuelle Firmware
Wird per serielle Schnittstelle (durch den Bootloader) eingespielt
 
Achtung: Die Programme für den ATMEGA1284 dürfen ausschliesslich per Bootloader, also seriell (MKUSB) eingespielt werden und NICHT per ISP
 
Warning: do not program the ATMEGA1284 (FC2.1) via SPI. Only use the MKUSB and the Koptertool for update!
 
/tags/V2.18a/License.txt
0,0 → 1,52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
/tags/V2.18a/M-Link.c
0,0 → 1,70
//############################################################################
// MULTIPLEX Servo protocol SRXL16 & SRXL12
//############################################################################
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 
#include "Spektrum.h"
#include "M-Link.h"
#include "main.h"
unsigned char NewMlinkData = 0;
unsigned char MlinkData[36];
 
//############################################################################
// Initializes the UART here
//############################################################################
void MlinkUartInit(void)
{
SpektrumUartInit(); // same like Spektrum
};
 
//############################################################################
// Is called by the uart RX interrupt
// UDR contains the received byte
//############################################################################
void MlinkParser(unsigned char udr)
{
static unsigned char state = 0, lenght = 0;
if(!SpektrumTimer) // Timeout-> block finished
{
if(state > 24 && state < 36) // udr = 0xA1 oder A2
{
if(udr == 0xA1) lenght = 12 * 2 + 2; // 12 channels plus CRC
else
if(udr == 0xA2) lenght = 16 * 2 + 2; // 16 channels plus CRC
else lenght = 0;
} else lenght = 0;
state = 0;
}
else
{
if(state < sizeof(MlinkData))
{
MlinkData[state++] = udr;
if(state == lenght) // last Byte received
{
NewMlinkData = lenght - 2; // without CRC
lenght = 0;
}
}
}
SpektrumTimer = 100; // 10ms Timeout
};
 
void ProcessMlinkData(void)
{
unsigned char i = 0;
unsigned int tmp;
while(i < NewMlinkData)
{
tmp = (unsigned int) MlinkData[i] * 256 + MlinkData[i + 1];
tmp /= 13;
i += 2;
s_update(i/2, (signed int) tmp - 156); // copies the values into the Channel-Data and calculates the PPM_Diff
SenderOkay = 220;
}
Channels = i/2 + 1;
NewPpmData = 0; // Null bedeutet: Neue Daten
NewMlinkData = 0;
}
#endif
/tags/V2.18a/M-Link.h
0,0 → 1,9
#ifndef _MLINK_H
#define _MLINK_H
 
extern unsigned char NewMlinkData;
extern void MlinkParser(unsigned char);
extern void MlinkUartInit(void);
extern void ProcessMlinkData(void);
 
#endif
/tags/V2.18a/Settings.h
--- V2.18a/Spektrum.c (nonexistent)
+++ V2.18a/Spektrum.c (revision 2705)
@@ -0,0 +1,408 @@
+/*#######################################################################################
+Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
+#######################################################################################*/
+
+#include "Spektrum.h"
+#include "main.h"
+
+unsigned char SpektrumTimer = 0;
+
+// Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der main.h gesetzt
+#if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP)
+unsigned char s_excnt = 0; // Bitcounter for Spektrum-Expander
+unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander
+signed char s_exdata[11]; // Data for Spektrum-Expander
+#endif
+
+void s_update(unsigned char channel, signed int value) // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in
+{
+ if(value > 127) value = 127; else if(value < -127) value = -127;
+ if(SenderOkay >= 180) PPM_diff[channel] = ((value - PPM_in[channel]) / 3) * 3;
+ else PPM_diff[channel] = 0;
+ PPM_in[channel] = value;
+}
+
+//############################################################################
+// USART1 initialisation from killagreg
+void SpektrumUartInit(void)
+//############################################################################
+ {
+ // -- Start of USART1 initialisation for Spekturm seriell-mode
+ // USART1 Control and Status Register A, B, C and baud rate register
+ uint8_t sreg = SREG;
+
+ uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
+
+ // disable all interrupts before reconfiguration
+ cli();
+ // disable RX-Interrupt
+ UCSR1B &= ~(1 << RXCIE1);
+ // disable TX-Interrupt
+ UCSR1B &= ~(1 << TXCIE1);
+ // disable DRE-Interrupt
+ UCSR1B &= ~(1 << UDRIE1);
+/*
+ // set direction of RXD1 and TXD1 pins
+ // set RXD1 (PD2) as an input pin
+ PORTD |= (1 << PORTD2);
+ DDRD &= ~(1 << DDD2);
+ // set TXD1 (PD3) as an output pin
+ PORTD |= (1 << PORTD3);
+ DDRD |= (1 << DDD3);
+*/
+ // USART0 Baud Rate Register
+ // set clock divider
+ UBRR1H = (uint8_t)(ubrr>>8);
+ UBRR1L = (uint8_t)ubrr;
+ // enable double speed operation
+ UCSR1A |= (1 << U2X1);
+ // enable receiver and transmitter
+ //UCSR1B = (1<<RXEN1)|(1<<TXEN1);
+
+ UCSR1B = (1<<RXEN1);
+ // set asynchronous mode
+ UCSR1C &= ~(1 << UMSEL11);
+ UCSR1C &= ~(1 << UMSEL10);
+ // no parity
+ UCSR1C &= ~(1 << UPM11);
+ UCSR1C &= ~(1 << UPM10);
+ // 1 stop bit
+ UCSR1C &= ~(1 << USBS1);
+ // 8-bit
+ UCSR1B &= ~(1 << UCSZ12);
+ UCSR1C |= (1 << UCSZ11);
+ UCSR1C |= (1 << UCSZ10);
+ // flush receive buffer explicit
+ while(UCSR1A & (1<<RXC1)) UDR1;
+ // enable RX-interrupts at the end
+ UCSR1B |= (1 << RXCIE1);
+ // -- End of USART1 initialisation
+ // restore global interrupt flags
+
+ SREG = sreg;
+ return;
+ }
+
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Copyright (c) Rainer Walther
+// + RC-routines from original MK rc.c (c) H&I
+// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2
+// + only for non-profit use
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+//
+// 20080808 rw Modified for Spektrum AR6100 (PPM)
+// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)
+// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)
+// Replace AR6100-coding with original composit-signal routines
+//
+// ---
+// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!
+// Binding is not implemented. Bind with external Receiver.
+// Servo output J3, J4, J5 not serviced
+//
+// Anschuß Spektrum Receiver
+// Orange: 3V von der FC (keinesfalls an 5V anschließen!)
+// Schwarz: GND
+// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker
+//
+// ---
+// Satellite-Reciever connected on USART1:
+//
+// DX7/DX6i: One data-frame at 115200 baud every 22ms.
+// DX7se: One data-frame at 115200 baud every 11ms.
+// byte1: unknown
+// byte2: unknown
+// byte3: and byte4: channel data (FLT-Mode)
+// byte5: and byte6: channel data (Roll)
+// byte7: and byte8: channel data (Nick)
+// byte9: and byte10: channel data (Gier)
+// byte11: and byte12: channel data (Gear Switch)
+// byte13: and byte14: channel data (Gas)
+// byte15: and byte16: channel data (AUX2)
+//
+// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9
+// 1st Frame:
+// byte1: unknown
+// byte2: unknown
+// byte3: and byte4: channel data
+// byte5: and byte6: channel data
+// byte7: and byte8: channel data
+// byte9: and byte10: channel data
+// byte11: and byte12: channel data
+// byte13: and byte14: channel data
+// byte15: and byte16: channel data
+// 2nd Frame:
+// byte1: unknown
+// byte2: unknown
+// byte3: and byte4: channel data
+// byte5: and byte6: channel data
+// byte7: and byte8: 0xffff
+// byte9: and byte10: 0xffff
+// byte11: and byte12: 0xffff
+// byte13: and byte14: 0xffff
+// byte15: and byte16: 0xffff
+//
+// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:
+//
+// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
+//
+// 0 means a '0' bit
+// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)
+// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
+// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
+//
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+#define MIN_FRAMEGAP 68 // 7ms
+#define MAX_BYTEGAP 3 // 310us
+
+
+//############################################################################
+// Wird im UART-Interrupt aufgerufen
+//############################################################################
+void SpektrumParser(unsigned char c)
+{
+ static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;
+ unsigned int Channel, index = 0;
+ signed int signal = 0, tmp;
+ int bCheckDelay;
+// c = UDR1; // get data byte
+ if(ReSync == 1)
+ {
+ // wait for beginning of new frame
+ ReSync = 0;
+ SpektrumTimer = MIN_FRAMEGAP;
+ FrameCnt = 0;
+ Sync = 0;
+ ByteHigh = 0;
+ }
+ else
+ {
+ if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer);
+ if ( Sync == 0 )
+ {
+ if(bCheckDelay)
+ {
+ // nach einer Pause von mind. 7ms erstes Sync-Character gefunden
+ // Zeichen ignorieren, da Bedeutung unbekannt
+ Sync = 1;
+ FrameCnt ++;
+ SpektrumTimer = MAX_BYTEGAP;
+ }
+ else
+ {
+ // Zeichen kam vor Ablauf der 7ms Sync-Pause
+ // warten auf erstes Sync-Zeichen
+ SpektrumTimer = MIN_FRAMEGAP;
+ FrameCnt = 0;
+ Sync = 0;
+ ByteHigh = 0;
+ }
+ }
+ else if((Sync == 1) && !bCheckDelay)
+ {
+ // zweites Sync-Character ignorieren, Bedeutung unbekannt
+ Sync = 2;
+ FrameCnt ++;
+ SpektrumTimer = MAX_BYTEGAP;
+ }
+ else if((Sync == 2) && !bCheckDelay)
+ {
+ SpektrumTimer = MAX_BYTEGAP;
+ // Datenbyte high
+ ByteHigh = c;
+ if (FrameCnt == 2)
+ {
+ // is 1st Byte of Channel-data
+ // Frame 1 with Channel 1-7 comming next
+ Frame2 = 0;
+ if(ByteHigh & 0x80)
+ {
+ // DS9: Frame 2 with Channel 8-9 comming next
+ Frame2 = 1;
+ }
+ }
+ Sync = 3;
+ FrameCnt ++;
+ }
+ else if((Sync == 3) && !bCheckDelay)
+ {
+ // Datenbyte low
+ // High-Byte for next channel comes next
+ SpektrumTimer = MAX_BYTEGAP;
+ Sync = 2;
+ FrameCnt ++;
+ Channel = ((unsigned int)ByteHigh << 8) | c;
+ if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM)
+ {
+ signal = Channel & 0x3ff;
+ signal -= 0x200; // Offset, range 0x000..0x3ff?
+ signal = signal/3; // scaling to fit PPM resolution
+ index = (ByteHigh >> 2) & 0x0f;
+ }
+ else
+ if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES)
+ {
+ signal = Channel & 0x7ff;
+ signal -= 0x400; // Offset, range 0x000..0x7ff?
+ signal = signal/6; // scaling to fit PPM resolution
+ index = (ByteHigh >> 3) & 0x0f;
+ }
+ else
+ //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES)
+ {
+ signal = Channel & 0x3ff;
+ signal -= 360; // Offset, range 0x000..0x3ff?
+ signal = signal/2; // scaling to fit PPM resolution
+ index = (ByteHigh >> 2) & 0x0f;
+ }
+
+ index++;
+ if(index < 13)
+ {
+ // Stabiles Signal
+#if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP)
+ if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4)
+ else if (index == 4) index = 2;
+#endif
+ if(abs(signal - PPM_in[index]) < 6)
+ {
+ if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
+ {
+ if(SenderOkay < 200) SenderOkay += 10;
+ else
+ {
+ SenderOkay = 200;
+ TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input
+ }
+ }
+ }
+ tmp = (3 * (PPM_in[index]) + signal) / 4;
+ if(tmp > signal+1) tmp--; else
+ if(tmp < signal-1) tmp++;
+
+#ifdef RECEIVER_SPEKTRUM_DX7EXP
+ if(index == 6) // FLIGHT-MODE - The channel used for our data uplink
+ {
+ if (signal > 100) // SYNC received
+ {
+ if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit
+ if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check
+ {
+ if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5)
+ else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5)
+ else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5)
+ s_update(6,s_exdata[3]); // Elevator (CH6)
+ s_update(11,s_exdata[4]); // Aileron (CH11)
+ s_update(12,s_exdata[5]); // Rudder (CH12)
+
+ if (s_excnt == 9) // New Mode (12 Channels)
+ {
+ if (s_exdata[7] == 125) s_update(8,PPM_in[8]+5); // Hover Pitch UP (CH8)
+ if (s_exdata[8] == 125) s_update(8,PPM_in[8]-5); // Hover Pitch DN (CH8)
+ if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit
+ else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit
+ s_update(10,s_exdata[6]); // AUX2 (CH10)
+ }
+ }
+
+ s_excnt = 0; // Reset bitcounter
+ s_exparity = 0; // Reset parity bit
+ }
+
+ if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min)
+ if (s_excnt == 10) s_excnt = 0; // Overflow protection
+ if (signal < -100)
+ {
+ s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max)
+ s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit
+ }
+
+ }
+
+ if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4)
+ else if (index == 5) s_update(7,signal); // Gear (CH7)
+ else if (index == 7) s_update(9,signal); // Hover Throttle (CH9)
+
+#elif defined RECEIVER_SPEKTRUM_DX8EXP
+ if(index == 6) // FLIGHT-MODE - The channel used for our data uplink
+ {
+ if (signal > 100) // SYNC received
+ {
+ if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit
+ if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check
+ {
+ if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5)
+ else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5)
+ else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5)
+
+ if (s_exdata[3] == 125 && s_exdata[6] == -125) s_update(6,125); // Reconstruct tripole Elev D/R value (CH6)
+ else if (s_exdata[3] == -125 && s_exdata[6] == -125) s_update(6,0); // Reconstruct tripole Elev D/R value (CH6)
+ else if (s_exdata[3] == -125 && s_exdata[6] == 125) s_update(6,-125); // Reconstruct tripole Elev D/R value (CH6)
+
+
+ if (s_exdata[7] == 125 && s_exdata[8] == -125) s_update(9,-125); // Reconstruct tripole AIL D/R value (CH9)
+ else if (s_exdata[7] == -125 && s_exdata[8] == -125) s_update(9,0); // Reconstruct tripole AIL D/R value (CH9)
+ else if (s_exdata[7] == -125 && s_exdata[8] == 125) s_update(9,125); // Reconstruct tripole AIL D/R value (CH9)
+
+ s_update(10,s_exdata[5]); // Gear (CH10)
+ s_update(12,s_exdata[4]); // Mix (CH12)
+ }
+
+ s_excnt = 0; // Reset bitcounter
+ s_exparity = 0; // Reset parity bit
+ }
+
+ if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min)
+ if (s_excnt == 10) s_excnt = 0; // Overflow protection
+ if (signal < -100)
+ {
+ s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max)
+ s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit
+ }
+
+ }
+
+ if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4)
+ else if (index == 7) s_update(7,signal); // R Trim (CH7)
+ else if (index == 5) s_update(8,signal); // AUX2 (CH8)
+ else if (index == 8) s_update(11,signal); // AUX3 (CH11)
+
+#else
+ if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
+ if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
+ else PPM_diff[index] = 0;
+ PPM_in[index] = tmp;
+#endif
+ }
+ else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren
+ }
+ else
+ {
+ // hier stimmt was nicht: neu synchronisieren
+ ReSync = 1;
+ FrameCnt = 0;
+ Frame2 = 0;
+ // new frame next, nach fruehestens 7ms erwartet
+ SpektrumTimer = MIN_FRAMEGAP;
+ }
+
+ // 16 Bytes eingetroffen -> Komplett
+ if(FrameCnt >= 16)
+ {
+ // Frame complete
+ if(Frame2 == 0)
+ {
+ // Null bedeutet: Neue Daten
+ // nur beim ersten Frame (CH 0-7) setzen
+ if(!ReSync) NewPpmData = 0;
+ }
+ FrameCnt = 0;
+ Frame2 = 0;
+ Sync = 0;
+ SpektrumTimer = MIN_FRAMEGAP;
+ }
+ }
+}
+
+
/tags/V2.18a/Spektrum.h
0,0 → 1,13
/*#######################################################################################
Dekodieren eines Spektrum Signals
#######################################################################################*/
 
#ifndef _SPEKTRUM_H
#define _SPEKTRUM_H
void SpektrumUartInit(void);
void SpektrumBinding(void);
extern unsigned char SpektrumTimer;
extern void SpektrumParser(unsigned char c);
void s_update(unsigned char channel, signed int value); // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in
 
#endif //_RC_H
/tags/V2.18a/analog.c
0,0 → 1,402
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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"
#include "eeprom.h"
volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 150;
volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
volatile int HiResNick = 2500, HiResRoll = 2500;
volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
int LuftdruckTemperaturOffset = 0;
volatile long Luftdruck = 32000;
volatile long LuftdruckKompensiert = 32000;
volatile long SummenHoehe = 0;
volatile long StartLuftdruck;
volatile unsigned int MessLuftdruck = 1023;
unsigned char DruckOffsetSetting;
signed char ExpandBaro = 0;
volatile int VarioMeter = 0;
volatile unsigned int ZaehlMessungen = 0;
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
volatile unsigned char AdReady = 1;
unsigned int BaroStep = 500;
long ExpandBaroStep = 0;
long HoehenWertF = 0;
long HoehenWert_Mess = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
long HoehenWertF_Mess = 0;
unsigned char CalAthmospheare = 16;
unsigned char AD_ACC_Y = 6;
unsigned char AD_ACC_X = 7;
#endif
 
//#######################################################################################
void ADC_Init(void)
//#######################################################################################
{
ADMUX = 0;//Referenz ist extern
ANALOG_ON;
}
 
#define DESIRED_H_ADC 800
 
void CalcExpandBaroStep(void)
{
if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro;
else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4;
}
 
void SucheLuftruckOffset(void)
{
unsigned int off;
ExpandBaro = 0;
CalcExpandBaroStep();
off = GetParamByte(PID_PRESSURE_OFFSET);
if(off < 240) off += 10;
OCR0A = off;
OCR0B = 255-off;
Delay_ms_Mess(150);
if(MessLuftdruck > DESIRED_H_ADC) off = 240;
for(; off > 5; off--)
{
OCR0A = off;
OCR0B = 255-off;
Delay_ms_Mess(100);
printf(".");
if(MessLuftdruck > DESIRED_H_ADC) break;
}
DruckOffsetSetting = off;
SetParamByte(PID_PRESSURE_OFFSET, off);
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 230)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + correction of the altitude error in higher altitudes
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
CalAthmospheare = 15; // re-claibrated from 16 to 15 at 2.09 -> the baro-Altimeter was about 7% too high
if(ACC_AltitudeControl)
{
if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (160 - off) / 26; }
// else { if(off < 170) CalAthmospheare += (188 - off) / 19; }
else { if(off < 170) CalAthmospheare += (188 - off) / 15; } // rescaled at 2.09
}
Luftdruck = MessLuftdruck * CalAthmospheare;
LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset;
#endif
Delay_ms_Mess(300);
}
 
/*
void SucheGyroOffset(void)
{
unsigned char i, ready = 0;
int timeout;
timeout = SetDelay(2000);
for(i=140; i != 0; i--)
{
if(ready == 3 && i > 10) i = 9;
ready = 0;
if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};
if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};
if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;};
while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
AdReady = 0;
ANALOG_ON;
while(!AdReady);
if(i<10) Delay_ms_Mess(10);
}
Delay_ms_Mess(70);
}
*/
/*
0 n
1 r
2 g
3 y
4 x
5 n
6 r
7 u
8 z
9 L
10 n
11 r
12 g
13 y
14 x
15 n
16 r
17 L
*/
 
 
//#######################################################################################
//
ISR(ADC_vect)
//#######################################################################################
{
static unsigned char kanal=0,state = 0;
static signed int subcount = 0;
static signed int gier1, roll1, nick1, nick_filter, roll_filter;
static signed int accy, accx;
static long tmpLuftdruck = 0;
static char messanzahl_Druck = 0;
switch(state++)
{
case 0:
nick1 = ADC;
kanal = AD_ROLL;
break;
case 1:
roll1 = ADC;
kanal = AD_GIER;
break;
case 2:
gier1 = ADC;
kanal = AD_ACC_Y;
break;
case 3:
Aktuell_ay = NeutralAccY - ADC;
accy = Aktuell_ay;
kanal = AD_ACC_X;
break;
case 4:
Aktuell_ax = ADC - NeutralAccX;
accx = Aktuell_ax;
kanal = AD_NICK;
break;
case 5:
nick1 += ADC;
kanal = AD_ROLL;
break;
case 6:
roll1 += ADC;
kanal = AD_UBAT;
break;
case 7:
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference
else
#endif
{
static unsigned int tmpVoltage = 0;
if(!tmpVoltage) tmpVoltage = (10 * ADC);
if(tmpVoltage <= (10 * ADC)) tmpVoltage += 2; else tmpVoltage -= 2;
UBat = tmpVoltage / 31;
}
kanal = AD_ACC_Z;
break;
case 8:
Aktuell_az = ADC;
AdWertAccHoch = Aktuell_az - NeutralAccZ - (int) NeutralAccZfine;
if(!ACC_AltitudeControl) // The Offset must be corrected, because of the ACC-Drift from vibrations
{
if(AdWertAccHoch > 1)
{
if(NeutralAccZ < 750)
{
subcount += 5;
if(modell_fliegt < 500) subcount += 10;
if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
}
}
else if(AdWertAccHoch < -1)
{
if(NeutralAccZ > 550)
{
subcount -= 5;
if(modell_fliegt < 500) subcount -= 10;
if(subcount < -100) { NeutralAccZ--; subcount += 100;}
}
}
}
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
else
if(CosAttitude > 8192 - 50) // horizontal leveled within 6°
{
if(AdWertAccHoch > 1)
{
if(++subcount > 5000)
{
if(NeutralAccZfine < 6) NeutralAccZfine++;
subcount -= 5000;
}
}
else
if(AdWertAccHoch < -1)
{
if(--subcount < -5000)
{
if(NeutralAccZfine > -6) NeutralAccZfine--;
subcount += 5000;
}
}
}
#endif
Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
kanal = AD_DRUCK;
break;
// "case 9:" fehlt hier absichtlich
case 10:
nick1 += ADC;
kanal = AD_ROLL;
break;
case 11:
roll1 += ADC;
kanal = AD_GIER;
break;
case 12:
/* if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
else
if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);
else AdWertGier = (ADC + gier1);
*/
AdWertGier = 2047 - (ADC + gier1);
kanal = AD_ACC_Y;
break;
case 13:
Aktuell_ay = NeutralAccY - ADC;
AdWertAccRoll = (Aktuell_ay + accy);
kanal = AD_ACC_X;
break;
case 14:
Aktuell_ax = ADC - NeutralAccX;
AdWertAccNick = (Aktuell_ax + accx);
kanal = AD_NICK;
break;
case 15:
nick1 += ADC;
//if(PlatinenVersion == 10) nick1 *= 2; else
nick1 *= 4;
AdWertNick = nick1 / 8;
nick_filter = (nick_filter + nick1) / 2;
HiResNick = nick_filter - AdNeutralNick;
AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
kanal = AD_ROLL;
break;
case 16:
roll1 += ADC;
//if(PlatinenVersion == 10) roll1 *= 2; else
roll1 *= 4;
AdWertRoll = roll1 / 8;
roll_filter = (roll_filter + roll1) / 2;
HiResRoll = roll_filter - AdNeutralRoll;
AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
kanal = AD_DRUCK;
break;
case 17:
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl)
{
HoehenWertF_Mess = (ACC_AltitudeFusion(0) + SA_FILTER/2)/SA_FILTER; // cm
}
else HoehenWertF_Mess = HoehenWert;
#endif
state = 0;
AdReady = 1;
ZaehlMessungen++;
// "break" fehlt hier absichtlich
case 9:
MessLuftdruck = ADC;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl)
{
tmpLuftdruck = MessLuftdruck - ExpandBaroStep; // -523 counts per offset step
if(BaroExpandActive)
{
if(BaroExpandActive < 10) Luftdruck = tmpLuftdruck * CalAthmospheare;
}
else
{
Luftdruck -= Luftdruck / CalAthmospheare; // 16
Luftdruck += tmpLuftdruck;
LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset;
HoehenWert_Mess = StartLuftdruck - LuftdruckKompensiert; // cm
}
}
else
#endif
{ // old version (until FC V2.1)
tmpLuftdruck += MessLuftdruck;
if(++messanzahl_Druck >= 16) // war bis 0.86 "18"
{
signed int tmp;
Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8; // -523.19 counts per 10 counts offset step
HoehenWert_Mess = StartLuftdruck - Luftdruck;
SummenHoehe -= SummenHoehe/SM_FILTER;
SummenHoehe += HoehenWert_Mess;
tmp = (HoehenWert_Mess - SummenHoehe/SM_FILTER);
if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024;
if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16;
else VarioMeter = (31 * VarioMeter + 8 * tmp)/32;
tmpLuftdruck /= 2;
messanzahl_Druck = 16/2;
LuftdruckKompensiert = Luftdruck;
}
}
kanal = AD_NICK;
break;
default:
kanal = 0; state = 0; kanal = AD_NICK;
break;
}
ADMUX = kanal;
if(state != 0) ANALOG_ON;
}
 
/tags/V2.18a/analog.h
0,0 → 1,62
#ifndef _ANALOG_H
#define _ANALOG_H
/*#######################################################################################
 
#######################################################################################*/
 
#define SM_FILTER 16
#define SA_FILTER 512
 
extern volatile int UBat;
extern volatile int AdWertNick, AdWertRoll, AdWertGier;
extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch;
extern volatile int HiResNick, HiResRoll;
extern volatile int AdWertNickFilter, AdWertRollFilter, AdWertGierFilter;
extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az;
extern volatile long Luftdruck;
extern volatile long LuftdruckKompensiert;
extern volatile long SummenHoehe;
extern volatile char messanzahl_Druck;
extern volatile unsigned int ZaehlMessungen;
extern unsigned char DruckOffsetSetting;
extern signed char ExpandBaro;
extern volatile int VarioMeter;
extern volatile unsigned int MessLuftdruck;
extern volatile long StartLuftdruck;
extern volatile char MessanzahlNick;
extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier;
extern volatile unsigned char AdReady;
extern unsigned int BaroStep;
extern long HoehenWertF;
extern long HoehenWert_Mess;
extern long HoehenWertF_Mess;
extern int LuftdruckTemperaturOffset;
unsigned int ReadADC(unsigned char adc_input);
void ADC_Init(void);
void SucheLuftruckOffset(void);
//void SucheGyroOffset(void);
void CalcExpandBaroStep(void);
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
extern unsigned char CalAthmospheare;
#endif
 
#define AD_GIER 0
#define AD_ROLL 1
#define AD_NICK 2
#define AD_DRUCK 3
#define AD_UBAT 4
#define AD_ACC_Z 5
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
extern unsigned char AD_ACC_Y;
extern unsigned char AD_ACC_X;
#else
#define AD_ACC_Y 6
#define AD_ACC_X 7
#endif
 
#define ANALOG_OFF ADCSRA=0
 
#define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE)
//Signle trigger Mode, Interrupt on
#endif //_ANALOG_H
/tags/V2.18a/capacity.c
0,0 → 1,167
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "capacity.h"
#include "twimaster.h"
#include "main.h"
#include "timer0.h"
#include "analog.h"
 
//#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms
#define CAPACITY_UPDATE_INTERVAL 50 // 50 ms = 20Hz
#define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A
#define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A
 
// global varialbles
unsigned short update_timer = 0;
Capacity_t Capacity;
 
// initialize capacity calculation
void Capacity_Init(void)
{
Capacity.ActualCurrent = 0;
Capacity.UsedCapacity = 0;
Capacity.ActualPower = 0;
Capacity.MinOfMaxPWM = 0;
update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL);
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
unsigned int BL3_Current(unsigned char who) // in 0,1A
{
if(Motor[who].Current == 255) return(0); // invalid
if(Motor[who].Current <= 200) return(Motor[who].Current);
else
{
if(Motor[who].Version & MOTOR_STATE_BL30) return(200 + 10 * ((unsigned int)Motor[who].Current-200));
else return(Motor[who].Current);
}
}
 
// called in main loop at a regular interval
void Capacity_Update(void)
{
unsigned short Current, SetSum; // max value will be 255 * 12 = 3060
static unsigned short SubCounter = 0;
static unsigned short CurrentOffset = 0;
static unsigned long SumCurrentOffset = 0;
unsigned char i, NumOfMotors, MinOfMaxPWM;
 
if(CheckDelay(update_timer))
{
update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks
// determine sum of all present BL currents and setpoints
Current = 0;
SetSum = 0;
NumOfMotors = 0;
MinOfMaxPWM = 255;
if(Capacity.MinOfMaxPWM == 254) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_AKTIVE;
// else if(Capacity.MinOfMaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE;
for(i = 0; i < MAX_MOTORS; i++)
{
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK/* && Mixer.Motor[i][MIX_GAS]*/)
{
NumOfMotors++;
if(Motor[i].Current > 200)
{
Current += BL3_Current(i); // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
}
else Current += (unsigned int)(Motor[i].Current);
SetSum += (unsigned int)(Motor[i].SetPoint);
if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM;
else
if(Motor[i].MaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE;
}
}
Capacity.MinOfMaxPWM = MinOfMaxPWM;
if(SetSum == 0) // if all setpoints are 0
{ // determine offsets of motor currents
#define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time
CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE);
SumCurrentOffset -= CurrentOffset;
SumCurrentOffset += Current;
// after averaging set current to static offset
Current = FC_OFFSET_CURRENT;
FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE;
}
else // some motors are running, includes also motor test condition, where "MotorRunning" is false
{ // subtract offset
if(Current > CurrentOffset) Current -= CurrentOffset;
else Current = 0;
// add the FC and BL Offsets
Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT;
}
 
// update actual Current
Capacity.ActualCurrent = Current;
// update actual Power
if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution
else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W
 
// update used capacity
SubCounter += Current;
 
// 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL
// = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL)
// = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL)
#define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL)
while(SubCounter > SUB_COUNTER_LIMIT)
{
Capacity.UsedCapacity++; // we have one mAh more
SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part
}
} // EOF check delay update timer
}
/tags/V2.18a/capacity.h
0,0 → 1,18
#ifndef _CAPACITY_H
#define _CAPACITY_H
 
typedef struct
{
unsigned short ActualCurrent; // in 0.1A Steps
unsigned short ActualPower; // in 0.1W
unsigned short UsedCapacity; // in mAh
unsigned char MinOfMaxPWM; // BL Power Limit
} __attribute__((packed)) Capacity_t;
 
extern Capacity_t Capacity;
 
void Capacity_Init(void);
void Capacity_Update(void);
 
#endif //_CAPACITY_H
 
/tags/V2.18a/debug.c
0,0 → 1,48
#include "main.h"
#include "debug.h"
 
#ifdef DEBUG // only include functions if DEBUG is defined in main.h
 
#warning : "### DEBUG-Funktion aktiv ###"
 
 
 
unsigned char Debug_BufPtr = 0;
struct str_Debug tDebug;
unsigned char SendDebugOutput = 0;
 
// function called from _printf_P to output character
void Debug_Putchar(char c)
{
if (!SendDebugOutput)
{
tDebug.Text[Debug_BufPtr++] = c; // copy character to buffer
if (Debug_BufPtr > 30) Debug_BufPtr = 30; // avoid buffer overflow
}
}
 
void DebugSend(unsigned char cmd)
{
if (!SendDebugOutput)
{
tDebug.Cmd = cmd;
tDebug.Text[Debug_BufPtr] = '\0'; // end of text marker
Debug_BufPtr = 0; // set bufferindex to 0
SendDebugOutput = 1; // set flag to trasmit data the next time in serial transmit function
}
}
#endif
 
/*
add the following code block to the serial transmit function
 
#ifdef DEBUG // only include functions if DEBUG is defined
if(SendDebugOutput && UebertragungAbgeschlossen)
{
SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug));
SendDebugOutput = 0;
}
#endif
 
*/
 
/tags/V2.18a/debug.h
0,0 → 1,60
#ifndef _DEBUG_H
#define _DEBUG_H
// ----------------------------------------------
#define CMD_NONE 0x00
#define CMD_RAW_OUTPUT 0x01
#define CMD_ERROR_MSG 0x02
#define CMD_WARNING_MSG 0x04
#define CMD_GREEN_MSG 0x08
 
// debug console in MK-Tool can also handle ANSI ESC seq.
#define ANSI_ATTRIBUTE_OFF "\033[0m"
#define ANSI_BOLD "\033[1m"
#define ANSI_UNDERSCORE "\033[4m"
#define ANSI_BLINK "\033[5m"
#define ANSI_INVERSE "\033[7m"
#define ANSI_INVISIBLE "\033[8m"
 
#define ANSI_COLOR_BLACK "\033[30m"
#define ANSI_COLOR_RED "\033[31m"
#define ANSI_COLOR_GREEN "\033[32m"
#define ANSI_COLOR_YELLOW "\033[33m"
#define ANSI_COLOR_BLUE "\033[34m"
#define ANSI_COLOR_VIOLETT "\033[35m"
#define ANSI_COLOR_KOBALTBLUE "\033[36m"
#define ANSI_COLOR_WHITE "\033[37m"
 
#define ANSI_CLEAR "\033[2J"
#define ANSI_HOME "\033[H"
 
// macros for easier use
#ifdef DEBUG // only include functions if DEBUG is defined in main.h
 
#define Debug(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_NONE); }
#define Debug_Raw(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_RAW_OUTPUT); }
#define Debug_Warning(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_WARNING_MSG); }
#define Debug_Error(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_ERROR_MSG); }
#define Debug_OK(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_GREEN_MSG); }
 
struct str_Debug
{
unsigned char Cmd; // bitcoded command
char Text[32];
};
 
extern struct str_Debug tDebug;
unsigned char SendDebugOutput;
 
void Debug_Putchar(char c);
void DebugSend(unsigned char cmd);
 
#else // dummy macros (won't waste flash, if #DEBUG is disabled)
#define Debug(format, args...) ;
#define Debug_Raw(format, args...) ;
#define Debug_Warning(format, args...) ;
#define Debug_Error(format, args...) ;
#define Debug_OK(format, args...) ;
#endif
 
// ----------------------------------------------
#endif
/tags/V2.18a/eeprom.c
0,0 → 1,739
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#ifndef EEMEM
#define EEMEM __attribute__ ((section (".eeprom")))
#endif
 
 
#include <avr/eeprom.h>
#include <string.h>
#include "eeprom.h"
#include "uart.h"
#include "led.h"
#include "main.h"
#include "fc.h"
#include "twimaster.h"
 
paramset_t EE_Parameter;
MixerTable_t Mixer;
uint8_t RequiredMotors;
 
 
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
{
uint8_t crc = 0xAA;
uint16_t i;
 
for(i=0; i<len; i++)
{
crc += pBuffer[i];
}
return crc;
}
 
uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)
{
uint8_t crc = 0xAA;
uint16_t off;
 
for(off=0; off<len; off++)
{
crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;
}
return crc;
}
 
void ParamSet_DefaultStickMapping(void)
{
EE_Parameter.Kanalbelegung[K_GAS] = 1;
EE_Parameter.Kanalbelegung[K_ROLL] = 2;
EE_Parameter.Kanalbelegung[K_NICK] = 3;
EE_Parameter.Kanalbelegung[K_GIER] = 4;
EE_Parameter.Kanalbelegung[K_POTI1] = 5;
EE_Parameter.Kanalbelegung[K_POTI2] = 6;
EE_Parameter.Kanalbelegung[K_POTI3] = 7;
EE_Parameter.Kanalbelegung[K_POTI4] = 8;
EE_Parameter.Kanalbelegung[K_POTI5] = 9;
EE_Parameter.Kanalbelegung[K_POTI6] = 10;
EE_Parameter.Kanalbelegung[K_POTI7] = 11;
EE_Parameter.Kanalbelegung[K_POTI8] = 12;
}
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ we have an update -> insert the default parameters here
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
void InsertDefaultParameters(unsigned char old_version)
{
EE_Parameter.Revision = EEPARAM_REVISION;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Init the new Parameter
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(old_version <= 108)
{
EE_Parameter.GlobalConfig3 |= CFG3_RISE_FIRST_WAYPOINT;
}
if(old_version <= 109)
{
EE_Parameter.ExtraConfig &= CFG_FLYZONE_REQUIRED;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
}
 
/***************************************************/
/* Default Values for parameter set 1 */
/***************************************************/
void CommonDefaults(void)
{
unsigned char i;
EE_Parameter.Revision = EEPARAM_REVISION;
memset(EE_Parameter.Name,0,12); // delete name
// if(PlatinenVersion >= 20)
{
EE_Parameter.Gyro_D = 10;
EE_Parameter.Driftkomp = 0;
EE_Parameter.GyroAccFaktor = 27;
EE_Parameter.WinkelUmschlagNick = 78;
EE_Parameter.WinkelUmschlagRoll = 78;
}
/* else
{
EE_Parameter.Gyro_D = 3;
EE_Parameter.Driftkomp = 32;
EE_Parameter.GyroAccFaktor = 30;
EE_Parameter.WinkelUmschlagNick = 85;
EE_Parameter.WinkelUmschlagRoll = 85;
}
*/
EE_Parameter.GyroAccAbgleich = 32; // 1/k
EE_Parameter.BitConfig = 0; // Looping usw.
EE_Parameter.GlobalConfig = CFG_LAND_OUTSIDE_FLYZONE | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE | CFG_NO_RCOFF_BEEPING;
EE_Parameter.GlobalConfig3 = CFG3_NO_SDCARD_NO_START | CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START | CFG3_RISE_FIRST_WAYPOINT;//
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
EE_Parameter.Receiver = RECEIVER_HOTT;
#else
EE_Parameter.Receiver = RECEIVER_JETI;
#endif
 
EE_Parameter.MotorSafetySwitch = 0;
EE_Parameter.ExternalControl = 0;
 
EE_Parameter.Gas_Min = 8; // Wert : 0-32
EE_Parameter.Gas_Max = 230; // Wert : 33-247
EE_Parameter.KompassWirkung = 64; // Wert : 0-247
 
EE_Parameter.HoeheChannel = 5; // Wert : 0-32
EE_Parameter.Hoehe_MinGas = 30;
EE_Parameter.Hoehe_TiltCompensation = 110; // in %
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl)
{
EE_Parameter.Hoehe_P = 20; // Wert : 0-32
EE_Parameter.Luftdruck_D = 40; // Wert : 0-247
EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247
EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247
EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation)
EE_Parameter.FailSafeTime = 60; // 0 = off
}
else
#endif
{
EE_Parameter.Hoehe_P = 15; // Wert : 0-32
EE_Parameter.Luftdruck_D = 30; // Wert : 0-247
EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247
EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
EE_Parameter.FailSafeTime = 0; // 0 = off
}
EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag)
EE_Parameter.StartLandChannel = 0;
EE_Parameter.LandingSpeed = 12;
 
EE_Parameter.UserParam1 = 0; // zur freien Verwendung
EE_Parameter.UserParam2 = 0; // zur freien Verwendung
EE_Parameter.UserParam3 = 0; // zur freien Verwendung
EE_Parameter.UserParam4 = 0; // zur freien Verwendung
EE_Parameter.UserParam5 = 0; // zur freien Verwendung
EE_Parameter.UserParam6 = 0; // zur freien Verwendung
EE_Parameter.UserParam7 = 0; // zur freien Verwendung
EE_Parameter.UserParam8 = 0; // zur freien Verwendung
 
EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo
EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickRefresh = 3;
EE_Parameter.Servo3 = 125;
EE_Parameter.Servo4 = 125;
EE_Parameter.Servo5 = 125;
EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag
EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag
EE_Parameter.ServoManualControlSpeed = 60;
EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps
 
EE_Parameter.J16Bitmask = 0xAA;
EE_Parameter.J17Bitmask = 0xCC;
EE_Parameter.WARN_J16_Bitmask = 0x00;
EE_Parameter.WARN_J17_Bitmask = 0xAA;
EE_Parameter.J16Timing = 40;
EE_Parameter.J17Timing = 40;
EE_Parameter.AutoPhotoDistance = 0; // Photo release in meter
EE_Parameter.AutoPhotoAtitudes = 0; // Photo release in meter
EE_Parameter.SingleWpSpeed = 50; // Speed when flying the single points
 
EE_Parameter.LoopGasLimit = 50;
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag
EE_Parameter.LoopHysterese = 50;
 
EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6
EE_Parameter.NaviGpsGain = 100;
EE_Parameter.NaviGpsP = 100;
EE_Parameter.NaviGpsI = 90;
EE_Parameter.NaviGpsD = 120;
EE_Parameter.NaviGpsA = 40;
EE_Parameter.NaviGpsPLimit = 75;
EE_Parameter.NaviGpsILimit = 85;
EE_Parameter.NaviGpsDLimit = 75;
EE_Parameter.NaviGpsMinSat = 6;
EE_Parameter.NaviStickThreshold = 8;
EE_Parameter.NaviWindCorrection = 50;
EE_Parameter.NaviAccCompensation = 42;
EE_Parameter.NaviMaxFlyingRange = 0;
EE_Parameter.NaviDescendRange = 0;
EE_Parameter.NaviAngleLimitation = 140;
EE_Parameter.NaviPH_LoginTime = 2;
EE_Parameter.OrientationAngle = 0;
EE_Parameter.CareFreeChannel = 0;
EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent)
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.MotorSmooth = 0;
EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change
EE_Parameter.MaxAltitude = 150; // 0 = off
EE_Parameter.AchsKopplung1 = 125;
EE_Parameter.AchsKopplung2 = 52;
EE_Parameter.FailsafeChannel = 0;
EE_Parameter.ServoFilterNick = 0;
EE_Parameter.ServoFilterRoll = 0;
EE_Parameter.Servo3OnValue = 140;
EE_Parameter.Servo3OffValue = 70;
EE_Parameter.Servo4OnValue = 140;
EE_Parameter.Servo4OffValue = 70;
EE_Parameter.ServoFS_Pos[0] = 0;
EE_Parameter.ServoFS_Pos[1] = 0;
EE_Parameter.ServoFS_Pos[2] = 0;
EE_Parameter.ServoFS_Pos[3] = 0;
EE_Parameter.ServoFS_Pos[4] = 0;
EE_Parameter.CompassOffset = 0;
EE_Parameter.UnterspannungsWarnung = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
EE_Parameter.ComingHomeVoltage = 31;
EE_Parameter.AutoLandingVoltage = 30;
EE_Parameter.LandingPulse = 960 / 4;
EE_Parameter.SingleWpControlChannel = 0;
EE_Parameter.MenuKeyChannel = 0;
EE_Parameter.CamCtrlModeChannel = 0;
EE_Parameter.CamCtrlZoomChannel = 0;
for(i=0; i < sizeof(EE_Parameter.reserved); i++) EE_Parameter.reserved[i] = 0;
}
 
/*
void ParamSet_DefaultSet1(void) // sport
{
CommonDefaults();
EE_Parameter.Stick_P = 14; // Wert : 1-20
EE_Parameter.Stick_D = 16; // Wert : 0-20
EE_Parameter.StickGier_P = 12; // Wert : 1-20
EE_Parameter.Gyro_P = 80; // Wert : 0-247
EE_Parameter.Gyro_I = 150; // Wert : 0-247
EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247
EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8
EE_Parameter.I_Faktor = 32;
EE_Parameter.CouplingYawCorrection = 1;
EE_Parameter.GyroAccAbgleich = 16; // 1/k;
EE_Parameter.DynamicStability = 100;
memcpy(EE_Parameter.Name, "Sport\0", 12);
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
}
*/
 
/***************************************************/
/* Default Values for parameter set 1 */
/***************************************************/
void ParamSet_DefaultSet1(void) // normal
{
CommonDefaults();
EE_Parameter.Stick_P = 10; // Wert : 1-20
EE_Parameter.Stick_D = 16; // Wert : 0-20
EE_Parameter.StickGier_P = 6; // Wert : 1-20
EE_Parameter.Gyro_P = 90; // Wert : 0-247
EE_Parameter.Gyro_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247
EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8
EE_Parameter.I_Faktor = 32;
EE_Parameter.CouplingYawCorrection = 60;
EE_Parameter.DynamicStability = 75;
memcpy(EE_Parameter.Name, "Fast",4);
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
}
 
 
/***************************************************/
/* Default Values for parameter set 2 */
/***************************************************/
void ParamSet_DefaultSet2(void) // Agil
{
CommonDefaults();
EE_Parameter.Stick_P = 8; // Wert : 1-20
EE_Parameter.Stick_D = 16; // Wert : 0-20
EE_Parameter.StickGier_P = 6; // Wert : 1-20
EE_Parameter.Gyro_P = 100; // Wert : 0-247
EE_Parameter.Gyro_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247
EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8
EE_Parameter.I_Faktor = 16;
EE_Parameter.CouplingYawCorrection = 70;
EE_Parameter.DynamicStability = 70;
memcpy(EE_Parameter.Name, "Agile",5);
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
}
 
/***************************************************/
/* Default Values for parameter set 3 */
/***************************************************/
void ParamSet_DefaultSet3(void) // Easy
{
CommonDefaults();
EE_Parameter.Stick_P = 6; // Wert : 1-20
EE_Parameter.Stick_D = 10; // Wert : 0-20
EE_Parameter.StickGier_P = 4; // Wert : 1-20
EE_Parameter.Gyro_P = 100; // Wert : 0-247
EE_Parameter.Gyro_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247
EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8
EE_Parameter.I_Faktor = 16;
EE_Parameter.CouplingYawCorrection = 70;
EE_Parameter.DynamicStability = 70;
memcpy(EE_Parameter.Name, "Easy", 4);
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
}
 
 
/***************************************************/
/* Read Parameter from EEPROM as byte */
/***************************************************/
uint8_t GetParamByte(uint16_t param_id)
{
return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));
}
 
/***************************************************/
/* Write Parameter to EEPROM as byte */
/***************************************************/
void SetParamByte(uint16_t param_id, uint8_t value)
{
eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
}
 
/***************************************************/
/* Read Parameter from EEPROM as word */
/***************************************************/
uint16_t GetParamWord(uint16_t param_id)
{
return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));
}
 
/***************************************************/
/* Write Parameter to EEPROM as word */
/***************************************************/
void SetParamWord(uint16_t param_id, uint16_t value)
{
eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
}
 
/***************************************************/
/* Read Parameter Set from EEPROM */
/***************************************************/
// number [1..5]
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)
{
uint8_t crc, rev;
uint16_t eeaddr;
 
// range the setnumber
if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
 
// calculate eeprom addr
eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);
 
// calculate checksum from eeprom
crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);
 
// check crc
if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;
 
// check revision
rev = eeprom_read_byte((uint8_t*)(eeaddr));
if(rev != EEPARAM_REVISION)
{
if(rev < 108) return(0); // since 2.13 (02.2016), the eeprom parameters are backwards compatible
}
// read paramset from eeprom
eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
if(EE_Parameter.Revision != EEPARAM_REVISION) // just in case we have a newer version now
{
InsertDefaultParameters(EE_Parameter.Revision);
}
LED_Init();
InitSerialPoti();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
LIBFC_HoTT_Clear();
#endif
if(EE_Parameter.LandingPulse < 760 / 4) EE_Parameter.LandingPulse = 0;
NC_RequestsConfig = 1;
return 1;
}
 
/***************************************************/
/* Write Parameter Set to EEPROM */
/***************************************************/
// number [1..5]
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)
{
uint8_t crc;
 
if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom
{
if(setnumber > 5) setnumber = 5;
if(setnumber < 1) return 0;
LIBFC_CheckSettings();
if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas
{
if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas
}
// update checksum
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
 
// write paramset to eeprom
eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
 
// backup channel settings to separate block in eeprom
eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
 
// write crc of channel block to eeprom
crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));
eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);
 
// update active settings number
SetActiveParamSet(setnumber);
NC_RequestsConfig = 1;
LED_Init();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
LIBFC_HoTT_Clear();
#endif
return 1;
}
// wrong revision
return 0;
}
 
/***************************************************/
/* Read MixerTable from EEPROM */
/***************************************************/
uint8_t MixerTable_ReadFromEEProm(void)
{
uint8_t crc;
 
// calculate checksum in eeprom
crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);
 
// check crc
if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;
 
// check revision
if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;
 
// read mixer table
eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
return 1;
}
 
/***************************************************/
/* Write Mixer Table to EEPROM */
/***************************************************/
uint8_t MixerTable_WriteToEEProm(void)
{
if(Mixer.Revision == EEMIXER_REVISION)
{
// update crc
Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
 
// write to eeprom
eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
return 1;
}
else return 0;
}
 
/***************************************************/
/* Default Values for Mixer Table */
/***************************************************/
void MixerTable_Default(void) // Quadro
{
uint8_t i;
 
Mixer.Revision = EEMIXER_REVISION;
// clear mixer table
for(i = 0; i < 16; i++)
{
Mixer.Motor[i][MIX_GAS] = 0;
Mixer.Motor[i][MIX_NICK] = 0;
Mixer.Motor[i][MIX_ROLL] = 0;
Mixer.Motor[i][MIX_YAW] = 0;
}
// default = Quadro
Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64;
Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64;
Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12);
Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
}
 
/***************************************************/
/* Get active parameter set */
/***************************************************/
uint8_t GetActiveParamSet(void)
{
uint8_t setnumber;
setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));
if(setnumber > 5)
{
setnumber = 3;
eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);
}
ActiveParamSet = setnumber;
return(setnumber);
}
 
/***************************************************/
/* Set active parameter set */
/***************************************************/
void SetActiveParamSet(uint8_t setnumber)
{
if(setnumber > 5) setnumber = 5;
if(setnumber < 1) setnumber = 1;
ActiveParamSet = setnumber;
eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);
}
 
/***************************************************/
/* Set default parameter set */
/***************************************************/
void SetDefaultParameter(uint8_t set, uint8_t restore_channels)
{
 
if(set > 5) set = 5;
else if(set < 1) set = 1;
 
switch(set)
{
case 1:
ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
break;
case 2:
ParamSet_DefaultSet2(); // Kamera
break;
case 3:
ParamSet_DefaultSet3(); // Beginner
break;
default:
ParamSet_DefaultSet3(); // Beginner
break;
}
if(restore_channels)
{
uint8_t crc;
// 1st check for a valid channel backup in eeprom
crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )
{
eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
}
else ParamSet_DefaultStickMapping();
}
else ParamSet_DefaultStickMapping();
ParamSet_WriteToEEProm(set);
}
 
/***************************************************/
/* Initialize EEPROM Parameter Sets */
/***************************************************/
void ParamSet_Init(void)
{
unsigned char rev_old;
uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION))
{
printf("\r\n--> Hardware Version Byte Changed <--");
J4High; // switch pullup high
printf("\r\nRestart...");
if(PlatinenVersion == 22 && GetParamByte(PID_HARDWARE_VERSION) == 21 && !(PIND & 0x10)) SetParamByte(PID_EE_REVISION,0); // reset the Settings if the Version changed to V2.2
SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number
wdt_enable(WDTO_15MS); // Reset-Commando
while(1);
}
#endif
rev_old = GetParamByte(PID_EE_REVISION);
if((EEPARAM_REVISION) != rev_old)
{
printf("\r\n-->Parameter changed (old:%d new:%d)", rev_old, EEPARAM_REVISION);
if((EEPARAM_REVISION < rev_old) && // we have a downgrade -> check if eeprom reset is nessecary
(GetParamByte(PID_EE_REVISION_BACK) != EE_BACKWARD_COMP))
{
printf(" backwards");
ee_default = 1;
}
if(rev_old < 108) ee_default = 1; // we added forward cpmatiblity since rev 108 (2.14 - feb. 2016)
if(!ee_default)
{
printf("--> but compatible");
SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);
}
}
// 1st check for a valid channel backup in eeprom
i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1;
 
// parameter check
 
// check all 5 parameter settings
for (i = 1;i < 6; i++)
{
if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
{
bad_params = 1;
printf("\r\nGenerating default Parameter Set %d",i);
switch(i)
{
case 1:
ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
break;
case 2:
ParamSet_DefaultSet2(); // Normal
break;
default:
ParamSet_DefaultSet3(); // Easy
break;
}
if(channel_backup) // if we have an channel mapping backup in eeprom
{ // restore it from eeprom
eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
}
else
{ // use default mapping
ParamSet_DefaultStickMapping();
}
ParamSet_WriteToEEProm(i);
}
}
if(bad_params) // at least one of the parameter settings were invalid
{
// default-Setting is parameter set 3
SetActiveParamSet(3);
}
// read active parameter set to ParamSet stucture
i = GetActiveParamSet();
ParamSet_ReadFromEEProm(i);
printf("\r\nUsing Parameter Set %d", i);
 
// load mixer table
if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
{
printf("\r\nGenerating default Mixer Table");
MixerTable_Default(); // Quadro
MixerTable_WriteToEEProm();
}
if(ee_default)
{
SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);
SetParamByte(PID_EE_REVISION_BACK, EE_BACKWARD_COMP);
}
// determine motornumber
RequiredMotors = 0;
for(i = 0; i < MAX_MOTORS; i++)
{
if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;
else
{
Mixer.Motor[i][MIX_GAS] = 0;
Mixer.Motor[i][MIX_NICK] = 0;
Mixer.Motor[i][MIX_ROLL] = 0;
Mixer.Motor[i][MIX_YAW] = 0;
}
//printf("\r\n%2i:%i:%i:%i:%i",i,Mixer.Motor[i][0],Mixer.Motor[i][1],Mixer.Motor[i][2],Mixer.Motor[i][3]);
}
printf("\r\nMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
PrintLine();// ("\r\n===================================");
 
}
/tags/V2.18a/eeprom.h
0,0 → 1,312
#ifndef _EEPROM_H
#define _EEPROM_H
 
#include <inttypes.h>
#include "twimaster.h"
 
#define EEPARAM_REVISION 110 // -> InsertDefaultParameters()
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility)
#define EE_BACKWARD_COMP 1 // count up if the eepropm parameters are not backwards compatible
 
#define EEPROM_ADR_PARAM_BEGIN 0
#define EE_DUMMY 0 // Byte
#define PID_EE_REVISION 1 // byte
#define PID_ACTIVE_SET 2 // byte
#define PID_PRESSURE_OFFSET 3 // byte
 
#define PID_ACC_NICK 4 // word
#define PID_ACC_ROLL 6 // word
#define PID_ACC_TOP 8 // word
 
#define PID_FLIGHT_MINUTES_TOTAL 10 // word
#define PID_FLIGHT_MINUTES 14 // word
 
#define PID_SPEAK_HOTT_CFG 16 // Byte
#define PID_HARDWARE_VERSION 17 // Byte
 
#define PID_GYRO_NICK 18 // word
#define PID_GYRO_ROLL 20 // word
#define PID_GYRO_YAW 22 // word
 
#define PID_EE_REVISION_BACK 24 // Byte -> backward compatiblity: if firmware is downgraded form higher version
 
#define EE_LAST_GYRO_NICK 26 // word
#define EE_LAST_GYRO_ROLL 28 // word
#define EE_LAST_GYRO_YAW 30 // word
 
#define EEPROM_ADR_CHANNELS 80 // 80 - 93, 12 bytes + 1 byte crc
#define EEPROM_ADR_PARAMSET 100 // 100 - 995, 5 * 179 bytes (V2.14)
#define EEPROM_ADR_MIXERTABLE 1000 // 1000 - 1078, 78 bytes
//#define EEPROM_ADR_BLCONFIG 1200 // 1200 - 1296, 12 * 8 bytes
 
// Hinweis: der MEGA644 hat 2k und der MEGA1284 hat 4k
 
#define MIX_GAS 0
#define MIX_NICK 1
#define MIX_ROLL 2
#define MIX_YAW 3
 
typedef struct
{
uint8_t Revision;
int8_t Name[12];
int8_t Motor[16][4];
uint8_t crc;
} __attribute__((packed)) MixerTable_t;
 
extern MixerTable_t Mixer;
extern uint8_t RequiredMotors;
 
// EE_Parameter.GlobalConfig3
#define CFG3_NO_SDCARD_NO_START 0x01
#define CFG3_RISE_FIRST_WAYPOINT 0x02
#define CFG3_VARIO_FAILSAFE 0x04
#define CFG3_MOTOR_SWITCH_MODE 0x08
#define CFG3_NO_GPSFIX_NO_START 0x10
#define CFG3_USE_NC_FOR_OUT1 0x20
#define CFG3_SPEAK_ALL 0x40
#define CFG3_SERVO_NICK_COMP_OFF 0x80
 
// EE_Parameter.GlobalConfig
#define CFG_HOEHENREGELUNG 0x01
#define CFG_HOEHEN_SCHALTER 0x02
#define CFG_HEADING_HOLD 0x04
#define CFG_KOMPASS_AKTIV 0x08
#define CFG_KOMPASS_FIX 0x10
#define CFG_GPS_AKTIV 0x20
#define CFG_LAND_OUTSIDE_FLYZONE 0x40
#define CFG_DREHRATEN_BEGRENZER 0x80
 
// EE_Parameter.BitConfig
#define CFG_LOOP_OBEN 0x01
#define CFG_LOOP_UNTEN 0x02
#define CFG_LOOP_LINKS 0x04
#define CFG_LOOP_RECHTS 0x08
#define CFG_MOTOR_BLINK1 0x10
#define CFG_MOTOR_OFF_LED1 0x20
#define CFG_MOTOR_OFF_LED2 0x40
#define CFG_MOTOR_BLINK2 0x80
 
// EE_Parameter.ExtraConfig
#define CFG2_HEIGHT_LIMIT 0x01
#define CFG2_VARIO_BEEP 0x02
#define CFG_FLYZONE_REQUIRED 0x04
#define CFG_3_3V_REFERENCE 0x08
#define CFG_NO_RCOFF_BEEPING 0x10
#define CFG_GPS_AID 0x20
#define CFG_LEARNABLE_CAREFREE 0x40
#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80
 
// bitcoding for EE_Parameter.ServoCompInvert
#define SERVO_NICK_INV 0x01
#define SERVO_ROLL_INV 0x02
#define SERVO_RELATIVE 0x04 // direct poti control or relative moving of the servo value
#define CH_DIRECTION_1 0x08
#define CH_DIRECTION_2 0x10
 
//CH Orientation ServoBits 0x08 0x10
// --> no change 0 0
// --> front to starting point 0 1
// --> rear to to starting point 1 0
//-> start orientation 1 1
 
// defines for the receiver selection
#define RECEIVER_PPM 0
#define RECEIVER_SPEKTRUM 1
#define RECEIVER_SPEKTRUM_HI_RES 2
#define RECEIVER_SPEKTRUM_LOW_RES 3
#define RECEIVER_JETI 4
#define RECEIVER_ACT_DSL 5
#define RECEIVER_HOTT 6
#define RECEIVER_SBUS 7
#define RECEIVER_MLINK 8
#define RECEIVER_USER 9
 
#define RECEIVER_UNKNOWN 0xFF
 
// defines for lookup ParamSet.ChannelAssignment
#define K_NICK 0
#define K_ROLL 1
#define K_GAS 2
#define K_GIER 3
#define K_POTI1 4
#define K_POTI2 5
#define K_POTI3 6
#define K_POTI4 7
#define K_POTI5 8
#define K_POTI6 9
#define K_POTI7 10
#define K_POTI8 11
 
 
// values above 247 representing poti1 to poti8
// poti1 = 255
// poti2 = 254
// poti3 = 253
// poti4 = 252
// poti5 = 251
// poti6 = 250
// poti7 = 249
// poti8 = 248
 
 
typedef struct
{
unsigned char Revision;
unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
unsigned char Hoehe_MinGas; // Wert : 0-100
unsigned char Luftdruck_D; // Wert : 0-250
unsigned char HoeheChannel; // Wert : 0-32
unsigned char Hoehe_P; // Wert : 0-32
unsigned char Hoehe_Verstaerkung; // Wert : 0-50
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
unsigned char Hoehe_HoverBand; // Wert : 0-250
unsigned char Hoehe_TiltCompensation; // Wert : 0-250
unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
unsigned char Stick_P; // Wert : 1-6
unsigned char Stick_D; // Wert : 0-64
unsigned char StickGier_P; // Wert : 1-20
unsigned char Gas_Min; // Wert : 0-32
unsigned char Gas_Max; // Wert : 33-250
unsigned char GyroAccFaktor; // Wert : 1-64
unsigned char KompassWirkung; // Wert : 0-32
unsigned char Gyro_P; // Wert : 10-250
unsigned char Gyro_I; // Wert : 0-250
unsigned char Gyro_D; // Wert : 0-250
unsigned char Gyro_Gier_P; // Wert : 10-250
unsigned char Gyro_Gier_I; // Wert : 0-250
unsigned char Gyro_Stability; // Wert : 0-16
unsigned char UnterspannungsWarnung; // Wert : 0-250
unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
unsigned char I_Faktor; // Wert : 0-250
unsigned char UserParam1; // Wert : 0-250
unsigned char UserParam2; // Wert : 0-250
unsigned char UserParam3; // Wert : 0-250
unsigned char UserParam4; // Wert : 0-250
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
//--- Seit V0.75
unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
unsigned char ServoRollComp; // Wert : 0-250
unsigned char ServoRollMin; // Wert : 0-250
unsigned char ServoRollMax; // Wert : 0-250
//---
unsigned char ServoNickRefresh; // Speed of the Servo
unsigned char ServoManualControlSpeed;//
unsigned char CamOrientation; //
unsigned char Servo3; // Value or mapping of the Servo Output
unsigned char Servo4; // Value or mapping of the Servo Output
unsigned char Servo5; // Value or mapping of the Servo Output
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
unsigned char Driftkomp;
unsigned char DynamicStability;
unsigned char UserParam5; // Wert : 0-250
unsigned char UserParam6; // Wert : 0-250
unsigned char UserParam7; // Wert : 0-250
unsigned char UserParam8; // Wert : 0-250
//---Output ---------------------------------------------
unsigned char J16Bitmask; // for the J16 Output
unsigned char J16Timing; // for the J16 Output
unsigned char J17Bitmask; // for the J17 Output
unsigned char J17Timing; // for the J17 Output
// seit version V0.75c
unsigned char WARN_J16_Bitmask; // for the J16 Output
unsigned char WARN_J17_Bitmask; // for the J17 Output
//---NaviCtrl---------------------------------------------
unsigned char AutoPhotoDistance; // Auto Photo
unsigned char NaviGpsModeChannel; // Parameters for the Naviboard
unsigned char NaviGpsGain;
unsigned char NaviGpsP;
unsigned char NaviGpsI;
unsigned char NaviGpsD;
unsigned char NaviGpsPLimit;
unsigned char NaviGpsILimit;
unsigned char NaviGpsDLimit;
unsigned char NaviGpsA;
unsigned char NaviGpsMinSat;
unsigned char NaviStickThreshold;
unsigned char NaviWindCorrection;
unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation
unsigned char NaviMaxFlyingRange; // in 10m
unsigned char NaviAngleLimitation;
unsigned char NaviPH_LoginTime;
unsigned char NaviDescendRange;
//---Ext.Ctrl---------------------------------------------
unsigned char ExternalControl; // for serial Control
//---CareFree---------------------------------------------
unsigned char OrientationAngle; // Where is the front-direction?
unsigned char CareFreeChannel; // switch for CareFree
unsigned char MotorSafetySwitch;
unsigned char MotorSmooth;
unsigned char ComingHomeAltitude;
unsigned char FailSafeTime;
unsigned char MaxAltitude;
unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost"
unsigned char ServoFilterNick;
unsigned char ServoFilterRoll;
unsigned char Servo3OnValue;
unsigned char Servo3OffValue;
unsigned char Servo4OnValue;
unsigned char Servo4OffValue;
unsigned char ServoFS_Pos[5];
unsigned char StartLandChannel;
unsigned char LandingSpeed;
unsigned char CompassOffset;
unsigned char AutoLandingVoltage; // in 0,1V 0 -> disabled
unsigned char ComingHomeVoltage; // in 0,1V 0 -> disabled
unsigned char AutoPhotoAtitudes;
unsigned char SingleWpSpeed;
unsigned char LandingPulse;
unsigned char SingleWpControlChannel;
unsigned char MenuKeyChannel;
unsigned char CamCtrlModeChannel;
unsigned char CamCtrlZoomChannel;
unsigned char reserved[32]; // for later use
//------------------------------------------------
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
unsigned char ExtraConfig; // bitcodiert
unsigned char GlobalConfig3; // bitcodiert
char Name[12];
unsigned char crc; // must be the last byte!
} paramset_t; // since 2.14 -> size is always 179 Bytes
// -> if changed: update NC-Data structure also <-
 
#define PARAMSET_STRUCT_LEN sizeof(paramset_t)
 
extern paramset_t EE_Parameter;
 
extern uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len);
 
extern void ParamSet_Init(void);
extern void SetDefaultParameter(uint8_t set, uint8_t restore_channels);
 
extern uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber);
extern uint8_t ParamSet_WriteToEEProm(uint8_t setnumber);
 
extern uint8_t GetActiveParamSet(void);
extern void SetActiveParamSet(uint8_t setnumber);
 
extern uint8_t MixerTable_ReadFromEEProm(void);
extern uint8_t MixerTable_WriteToEEProm(void);
 
extern uint8_t GetParamByte(uint16_t param_id);
extern void SetParamByte(uint16_t param_id, uint8_t value);
extern uint16_t GetParamWord(uint16_t param_id);
extern void SetParamWord(uint16_t param_id, uint16_t value);
 
 
#endif //_EEPROM_H
/tags/V2.18a/fc.c
0,0 → 1,2416
/*#######################################################################################
Flight Control
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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"
#include "mymath.h"
#include "isqrt.h"
 
unsigned char h,m,s;
unsigned int BaroExpandActive = 0;
int MesswertNick,MesswertRoll,MesswertGier,RohMesswertNick,RohMesswertRoll;
int TrimNick, TrimRoll;
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
int BoatNeutralNick = 0,BoatNeutralRoll = 0,BoatNeutralGier = 0;
int LastFlightNeutralNick = 0,LastFlightNeutralRoll = 0,LastFlightNeutralGier = 0;
int Mittelwert_AccNick, Mittelwert_AccRoll;
unsigned int NeutralAccX=0, NeutralAccY=0;
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
int NeutralAccZ = 0;
signed char NeutralAccZfine = 0;
unsigned char ControlHeading = 0;// in 2°
long IntegralNick = 0;
long IntegralRoll = 0;
long Integral_Gier = 0;
long Mess_IntegralNick = 0;
long Mess_IntegralRoll = 0;
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
long MittelIntegralNick,MittelIntegralRoll;
long SummeNick=0,SummeRoll=0;
volatile long Mess_Integral_Hoch = 0;
int KompassValue = -1;
int KompassSollWert = 0;
int NC_CompassSetpoint = -1;
//int KompassRichtung = 0;
char CalculateCompassTimer = 100;
unsigned char KompassFusion = 32;
unsigned int KompassSignalSchlecht = 50;
unsigned char MAX_GAS,MIN_GAS;
unsigned char HoehenReglerAktiv = 0;
unsigned char TrichterFlug = 0;
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
long ErsatzKompass;
int ErsatzKompassInGrad, CompassCorrected; // Kompasswert in Grad
int GierGyroFehler = 0;
char GyroFaktor,GyroFaktorGier;
char IntegralFaktor,IntegralFaktorGier;
int DiffNick,DiffRoll;
unsigned int StickGasHover = 127;
int HoverGasMin = 0, HoverGasMax = 1023;
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
//int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
volatile unsigned char SenderOkay = 0;
unsigned char ReceiverOkay = 0; // either RC or ExternalControl
char MotorenEin = 0,StartTrigger = 0;
long HoehenWert = 0;
long SollHoehe = 0;
signed int AltitudeSetpointTrimming = 0;
long FromNC_AltitudeSetpoint = 0;
unsigned char FromNC_AltitudeSpeed = 0;
unsigned char carefree_old = 50; // to make the Beep when switching
signed char WaypointTrimming = 0;
int CompassGierSetpoint = 0;
unsigned char CalibrationDone = 0;
char NeueKompassRichtungMerken = 0;
int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
//float Ki = FAKTOR_I;
int Ki = 10300 / 33;
unsigned char Looping_Nick = 0,Looping_Roll = 0;
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
 
unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250
unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250
unsigned char Parameter_GPS_Switch = 0; // Wert : 0-250
unsigned char Parameter_CareFree_Switch = 0; // Wert : 0-250
unsigned char Parameter_Autoland_Switch = 0; // Wert : 0-250
 
unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250
unsigned char Parameter_Hoehe_TiltCompensation = 100; // Wert : 0-250
unsigned char Parameter_Gyro_D = 8; // Wert : 0-250
unsigned char Parameter_Gyro_P = 150; // Wert : 10-250
unsigned char Parameter_Gyro_I = 150; // Wert : 0-250
unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250
unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250
unsigned char Parameter_Gier_P = 2; // Wert : 1-20
unsigned char Parameter_I_Faktor = 10; // Wert : 1-20
unsigned char Parameter_UserParam1 = 0;
unsigned char Parameter_UserParam2 = 0;
unsigned char Parameter_UserParam3 = 0;
unsigned char Parameter_UserParam4 = 0;
unsigned char Parameter_UserParam5 = 0;
unsigned char Parameter_UserParam6 = 0;
unsigned char Parameter_UserParam7 = 0;
unsigned char Parameter_UserParam8 = 0;
unsigned char Parameter_NickControl = 100;
unsigned char Parameter_ServoNickControl = 100;
unsigned char Parameter_ServoRollControl = 100;
unsigned char Parameter_ServoNickComp = 50;
unsigned char Parameter_ServoRollComp = 85;
unsigned char Parameter_LoopGasLimit = 70;
unsigned char Parameter_AchsKopplung1 = 90;
unsigned char Parameter_AchsKopplung2 = 65;
unsigned char Parameter_CouplingYawCorrection = 64;
//unsigned char Parameter_AchsGegenKopplung1 = 0;
unsigned char Parameter_DynamicStability = 100;
unsigned char Parameter_J16Bitmask; // for the J16 Output
unsigned char Parameter_J16Timing; // for the J16 Output
unsigned char Parameter_J17Bitmask; // for the J17 Output
unsigned char Parameter_J17Timing; // for the J17 Output
unsigned char Parameter_NaviGpsGain;
unsigned char Parameter_NaviGpsP;
unsigned char Parameter_NaviGpsI;
unsigned char Parameter_NaviGpsD;
unsigned char Parameter_NaviGpsA;
//unsigned char Parameter_NaviOperatingRadius;
unsigned char Parameter_NaviWindCorrection;
unsigned char Parameter_NaviSpeedCompensation;
unsigned char Parameter_ExternalControl;
unsigned char Parameter_GlobalConfig;
unsigned char Parameter_ExtraConfig;
unsigned char Parameter_MaximumAltitude;
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
unsigned char CareFree = 0;
const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps
 
int MaxStickNick = 0,MaxStickRoll = 0;
unsigned int modell_fliegt = 0;
volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0;
unsigned char FC_StatusFlags3 = 0;
long GIER_GRAD_FAKTOR = 1291;
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
signed int tmp_motorwert[MAX_MOTORS];
char VarioCharacter = ' ';
unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing
unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while
signed int Variance = 0;
signed int CosAttitude; // for projection of hoover gas
unsigned char ACC_AltitudeControl = 0;
unsigned char LowVoltageLandingActive = 0;
unsigned char LowVoltageHomeActive = 0;
signed int DriftNick = 0, DriftRoll = 0;
unsigned char ServoFailsafeActive = 0; // moves Servos into the FS-Position
unsigned char Partner_StatusFlags = 0, Partner_StatusFlags2 = 0,Partner_StatusFlags3 = 0;
signed char BaroExpandCnt = 0; // needed to detect a defctive baro-sensor
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
#define OPA_OFFSET_STEP 5
#else
#define OPA_OFFSET_STEP 10
#endif
 
#define MAX_DRIFT_NR 32
#define MAX_DRIFT_YAW 8
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Debugwerte zuordnen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
void CopyDebugValues(void)
{
DebugOut.Analog[0] = ToNaviCtrl.IntegralNick;//IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
DebugOut.Analog[1] = ToNaviCtrl.IntegralRoll;//IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
DebugOut.Analog[2] = Mittelwert_AccNick / 4;
DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
DebugOut.Analog[5] = HoehenWert/10;
DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512);
DebugOut.Analog[8] = KompassValue;
DebugOut.Analog[9] = UBat;
DebugOut.Analog[10] = ReceiverOkay;
DebugOut.Analog[11] = ErsatzKompassInGrad;
DebugOut.Analog[12] = Motor[0].SetPoint;
DebugOut.Analog[13] = Motor[1].SetPoint;
DebugOut.Analog[14] = Motor[2].SetPoint;
DebugOut.Analog[15] = Motor[3].SetPoint;
DebugOut.Analog[20] = ServoNickValue;
DebugOut.Analog[21] = HoverGas;
DebugOut.Analog[22] = Capacity.ActualCurrent;
DebugOut.Analog[23] = Capacity.UsedCapacity;
DebugOut.Analog[24] = SollHoehe/10;
// DebugOut.Analog[27] = KompassSollWert;
DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
DebugOut.Analog[30] = GPS_Nick;
DebugOut.Analog[31] = GPS_Roll;
if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe;
//DebugOut.Analog[16] = MinBlTemperture;
//DebugOut.Analog[17] = MaxBlTemperture;
//DebugOut.Analog[16] = Variance;
//DebugOut.Analog[17] = VarioMeter;
//DebugOut.Analog[16] = GasIsZeroCnt;
//DebugOut.Analog[18] = HoehenWertF;
//DebugOut.Analog[25] = Parameter_Hoehe_P;
//DebugOut.Analog[26] = Parameter_Luftdruck_D;
}
 
 
void Piep(unsigned char Anzahl, unsigned int dauer)
{
unsigned int wait = 0;
unsigned char update_spi = 12;
if(MotorenEin) return; //auf keinen Fall im Flug!
GRN_OFF;
while(Anzahl--)
{
beeptime = dauer;
wait = dauer;
while(beeptime || wait)
{
if(UpdateMotor)
{
UpdateMotor = 0;
if(!beeptime) wait--;
LIBFC_Polling();
update_spi--;
};
if(update_spi == 0) // 41Hz
{
if(SPI_StartTransmitPacket()) update_spi = 12;
else
if(BytegapSPI == 0) SPI_TransmitByte();
}
else if(BytegapSPI == 0) SPI_TransmitByte();
}
}
GRN_ON;
}
 
//############################################################################
// Messwerte beim Ermitteln der Nullage
void CalibrierMittelwert(void)
//############################################################################
{
// if(PlatinenVersion == 13) SucheGyroOffset();
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
ANALOG_OFF;
MesswertNick = AdWertNick;
MesswertRoll = AdWertRoll;
MesswertGier = AdWertGier;
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
// ADC einschalten
ANALOG_ON;
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
}
 
void StoreNeutralToEeprom(void)
{
BoatNeutralNick = AdNeutralNick;
BoatNeutralRoll = AdNeutralRoll;
BoatNeutralGier = AdNeutralGier;
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
 
SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick);
SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll);
SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier);
 
SetParamWord(EE_LAST_GYRO_NICK,(uint16_t)BoatNeutralNick);
SetParamWord(EE_LAST_GYRO_ROLL,(uint16_t)BoatNeutralRoll);
SetParamWord(EE_LAST_GYRO_YAW,(uint16_t)BoatNeutralGier);
}
 
void StoreLastDriftcompensation(void)
{
int last_nick,last_roll,last_yaw;
 
last_nick = AdNeutralNick;
last_roll = AdNeutralRoll;
last_yaw = AdNeutralGier;
 
if(last_nick > BoatNeutralNick + MAX_DRIFT_NR) last_yaw = BoatNeutralNick + MAX_DRIFT_NR;
if(last_nick < BoatNeutralNick - MAX_DRIFT_NR) last_yaw = BoatNeutralNick - MAX_DRIFT_NR;
if(last_roll > BoatNeutralRoll + MAX_DRIFT_NR) last_roll = BoatNeutralRoll + MAX_DRIFT_NR;
if(last_roll < BoatNeutralRoll - MAX_DRIFT_NR) last_roll = BoatNeutralRoll - MAX_DRIFT_NR;
if(last_yaw > BoatNeutralGier + MAX_DRIFT_YAW) last_yaw = BoatNeutralGier + MAX_DRIFT_YAW;
if(last_yaw < BoatNeutralGier - MAX_DRIFT_YAW) last_yaw = BoatNeutralGier - MAX_DRIFT_YAW;
 
SetParamWord(EE_LAST_GYRO_NICK,(uint16_t)last_nick);
SetParamWord(EE_LAST_GYRO_ROLL,(uint16_t)last_roll);
SetParamWord(EE_LAST_GYRO_YAW,(uint16_t)last_yaw);
}
 
 
//############################################################################
// Nullwerte ermitteln
// Parameter: 0 -> after switch on (ignore ACC-Z fault)
// Parameter: 1 -> before Start
// Parameter: 2 -> calibrate and store ACC
// Parameter: 3 -> use stored Gyro calibration Data from EEPROM (Boat-Mode)
unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess"
//############################################################################
{
unsigned char i, sucess = 1, lastgyrovalid = 1, boatvalid = 1;
unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0, barotest;
VersionInfo.HardwareError[0] = 0;
// HEF4017Reset_ON;
NeutralAccX = 0;
NeutralAccY = 0;
NeutralAccZ = 0;
NeutralAccZfine = 0;
 
AdNeutralNick = 0;
AdNeutralRoll = 0;
AdNeutralGier = 0;
 
Parameter_AchsKopplung1 = 0;
Parameter_AchsKopplung2 = 0;
 
ExpandBaro = 0;
if(AdjustmentMode == 3) FC_StatusFlags3 |= FC_STATUS3_BOAT;
// else FC_StatusFlags3 &= ~FC_STATUS3_BOAT; -> do not clear that
 
CalibrierMittelwert();
Delay_ms_Mess(100);
CalibrierMittelwert();
 
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750) || ExpandBaro) SucheLuftruckOffset();
}
barotest = MessLuftdruck;
#define NEUTRAL_FILTER 32
OCR0A += OPA_OFFSET_STEP;
OCR0B = 255 - OCR0A;
for(i=0; i<NEUTRAL_FILTER; i++)
{
Delay_ms_Mess(10);
gier_neutral += AdWertGier;
nick_neutral += AdWertNick;
roll_neutral += AdWertRoll;
acc_z_neutral += Aktuell_az;
}
if(MessLuftdruck < 1010 && MessLuftdruck > 20) BaroStep = barotest - MessLuftdruck;
OCR0A -= OPA_OFFSET_STEP;
OCR0B = 255 - OCR0A;
AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
//AdNeutralGier -= 20;
 
StartNeutralRoll = AdNeutralRoll;
StartNeutralNick = AdNeutralNick;
VersionInfo.HardwareError[1] &= ~FC_ERROR1_ACC_NOT_CAL;
if(AdjustmentMode == 2)
{
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
// Save ACC neutral settings to eeprom
StoreNeutralToEeprom();
}
else
{
// restore from eeprom
NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
// strange settings?
if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/)
{
printf("\r\nACC not calibrated!\r\n");
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
VersionInfo.HardwareError[1] |= FC_ERROR1_ACC_NOT_CAL;
sucess = 0;
}
 
// restore from eeprom
BoatNeutralNick = (int16_t)GetParamWord(PID_GYRO_NICK);
BoatNeutralRoll = (int16_t)GetParamWord(PID_GYRO_ROLL);
BoatNeutralGier = (int16_t)GetParamWord(PID_GYRO_YAW);
LastFlightNeutralNick = (int16_t)GetParamWord(EE_LAST_GYRO_NICK);
LastFlightNeutralRoll = (int16_t)GetParamWord(EE_LAST_GYRO_ROLL);
LastFlightNeutralGier = (int16_t)GetParamWord(EE_LAST_GYRO_YAW);
 
// last-Values valid?
if(((unsigned int) LastFlightNeutralNick > (600 * 16)) || ((unsigned int) LastFlightNeutralNick < (400 * 16)) || ((unsigned int) LastFlightNeutralRoll > (600 * 16)) || ((unsigned int) LastFlightNeutralRoll < (400 * 16)) || ((unsigned int) LastFlightNeutralGier > (600 * 2)) || ((unsigned int) LastFlightNeutralGier < (400 * 2)))
{
printf("\r\nlast Gyro calibration data not valid!\r\n");
lastgyrovalid = 0;
}
 
if(abs(BoatNeutralNick - LastFlightNeutralNick) > 200) LastFlightNeutralNick = BoatNeutralNick;
if(abs(BoatNeutralRoll - LastFlightNeutralRoll) > 200) LastFlightNeutralRoll = BoatNeutralRoll;
if(abs(BoatNeutralGier - LastFlightNeutralGier) > 50) LastFlightNeutralGier = BoatNeutralGier;
 
// Boat-Values valid?
if(((unsigned int) BoatNeutralNick > (600 * 16)) || ((unsigned int) BoatNeutralNick < (400 * 16)) || ((unsigned int) BoatNeutralRoll > (600 * 16)) || ((unsigned int) BoatNeutralRoll < (400 * 16)) || ((unsigned int) BoatNeutralGier > (600 * 2)) || ((unsigned int) BoatNeutralGier < (400 * 2)))
{
printf("\r\nGyro ACC calibration data not valid!\r\n");
sucess = 0;
FC_StatusFlags3 &= ~FC_STATUS3_BOAT;
boatvalid = 0;
}
else
{
if(FC_StatusFlags3 & FC_STATUS3_BOAT) // Read Gyro Data from eeprom
{
AdNeutralNick = BoatNeutralNick;
AdNeutralRoll = BoatNeutralRoll;
AdNeutralGier = BoatNeutralGier;
}
}
}
// ist it within the Boat-Values?
if(abs((AdNeutralGier - BoatNeutralGier) > MAX_DRIFT_YAW) || abs((AdNeutralNick - BoatNeutralNick) > MAX_DRIFT_NR) || abs((AdNeutralRoll - BoatNeutralRoll) > MAX_DRIFT_NR))
{
sucess = 0;
if(AdjustmentMode == 1) SpeakHoTT = SPEAK_ERR_CALIBARTION; // calibration before start
if(boatvalid)
{
AdNeutralNick = BoatNeutralNick;
AdNeutralRoll = BoatNeutralRoll;
AdNeutralGier = BoatNeutralGier;
}
}
 
// make average from these three values
if(lastgyrovalid && boatvalid)
{
AdNeutralGier = (BoatNeutralGier + LastFlightNeutralGier + AdNeutralGier) / 3;
AdNeutralNick = (BoatNeutralNick + LastFlightNeutralNick + AdNeutralNick) / 3;
AdNeutralRoll = (BoatNeutralRoll + LastFlightNeutralRoll + AdNeutralRoll) / 3;
if(AdjustmentMode == 0) printf("Gyro calibration EEPROM data valid\r\n");
}
 
EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
MesswertNick = 0;
MesswertRoll = 0;
MesswertGier = 0;
Delay_ms_Mess(200);
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
Mess_IntegralNick = IntegralNick;
Mess_IntegralRoll = IntegralRoll;
Mess_Integral_Gier = 0;
KompassSollWert = KompassValue;
NC_CompassSetpoint = -1;
KompassSignalSchlecht = 100;
Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
GierGyroFehler = 0;
LED_Init();
if(AdjustmentMode != 0) FC_StatusFlags |= FC_STATUS_CALIBRATE;
FromNaviCtrl_Value.Kalman_K = -1;
FromNaviCtrl_Value.Kalman_MaxDrift = 0;
FromNaviCtrl_Value.Kalman_MaxFusion = 32;
SenderOkay = 100;
if(ServoActive) DDRD |=0x80; // enable J7 -> Servo signal
else
{
CalculateServoSignals = 1;
CalcNickServoValue();
CalculateServo(1); // nick
CalculateServo(1); // roll
}
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
signed int tilt1, tilt2;
tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all
CosAttitude = c_cos_8192(tilt1);
NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512;
if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle
if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 30) || (NeutralAccZ > 682 + 35)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;};
#else
NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP);
EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
#endif
if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; };
if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; };
if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; };
if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; };
if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; };
if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; };
if(VersionInfo.HardwareError[0]) sucess = 0;
carefree_old = 70;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
LIBFC_HoTT_Clear();
ACC_AltitudeFusion(2); // initalisation
#endif
StartLuftdruck = LuftdruckKompensiert;
VarioMeter = 0;
SummenHoehe = 0; Mess_Integral_Hoch = 0;
DebugOut.Analog[28] = 0; // I2C-Counter
CalcExpandBaroStep();
if(FC_StatusFlags3 & FC_STATUS3_BOAT && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 4;
ShutterCounter = 0;
/*
//+++++++++++++++++++++++++++++++++++++++++++
//For testing the expandBaro at 30m
ExpandBaro -= 1;
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
OCR0B = 255 - OCR0A;
CalcExpandBaroStep();
//+++++++++++++++++++++++++++++++++++++++++++
*/
return(sucess);
}
 
 
//############################################################################
// Bearbeitet die Messwerte
void Mittelwert(void)
//############################################################################
{
static signed long tmpl,tmpl2,tmpl3,tmpl4;
static signed int oldNick, oldRoll, d2Roll, d2Nick;
signed long winkel_nick, winkel_roll;
MesswertGier = (signed int) AdNeutralGier - AdWertGier;
MesswertNick = (signed int) AdWertNickFilter / 8;
MesswertRoll = (signed int) AdWertRollFilter / 8;
RohMesswertNick = MesswertNick;
RohMesswertRoll = MesswertRoll;
 
// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++
Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L;
Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L;
NaviAccNick += AdWertAccNick;
NaviAccRoll += AdWertAccRoll;
NaviCntAcc++;
 
//++++++++++++++++++++++++++++++++++++++++++++++++
HoehenWert = HoehenWert_Mess;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
HoehenWertF = HoehenWertF_Mess;
#else
HoehenWertF = HoehenWert;
#endif
//++++++++++++++++++++++++++++++++++++++++++++++++
// ADC einschalten
ANALOG_ON;
AdReady = 0;
//++++++++++++++++++++++++++++++++++++++++++++++++
 
if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
else winkel_roll = Mess_IntegralRoll;
 
if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
else winkel_nick = Mess_IntegralNick;
 
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_Integral_Gier += MesswertGier;
ErsatzKompass += MesswertGier;
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll)
{
tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
tmpl3 *= Parameter_AchsKopplung2; //65
tmpl3 /= 4096L;
tmpl4 = (MesswertNick * winkel_roll) / 2048L;
tmpl4 *= Parameter_AchsKopplung2; //65
tmpl4 /= 4096L;
KopplungsteilNickRoll = tmpl3;
KopplungsteilRollNick = tmpl4;
tmpl4 -= tmpl3;
ErsatzKompass += tmpl4;
if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
 
tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
tmpl *= Parameter_AchsKopplung1; // 90
tmpl /= 4096L;
tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
tmpl2 *= Parameter_AchsKopplung1;
tmpl2 /= 4096L;
if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
//MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
}
else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
TrimRoll = tmpl - tmpl2 / 100L;
TrimNick = -tmpl2 + tmpl / 100L;
// Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++
if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag
if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll;
if(Mess_IntegralRoll > Umschlag180Roll)
{
Mess_IntegralRoll = -(Umschlag180Roll - 25000L);
}
if(Mess_IntegralRoll <-Umschlag180Roll)
{
Mess_IntegralRoll = (Umschlag180Roll - 25000L);
}
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick;
if(Mess_IntegralNick > Umschlag180Nick)
{
Mess_IntegralNick = -(Umschlag180Nick - 25000L);
}
if(Mess_IntegralNick <-Umschlag180Nick)
{
Mess_IntegralNick = (Umschlag180Nick - 25000L);
}
 
Integral_Gier = Mess_Integral_Gier;
IntegralNick = Mess_IntegralNick;
IntegralRoll = Mess_IntegralRoll;
 
 
#define D_LIMIT 128
 
MesswertNick = HiResNick / 8;
MesswertRoll = HiResRoll / 8;
 
if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000;
// if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; }
// else
{ if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; }
if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000;
// if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; }
// else
{ if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; }
 
if(Parameter_Gyro_D)
{
d2Nick = HiResNick - oldNick;
oldNick = (oldNick + HiResNick)/2;
if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
 
d2Roll = HiResRoll - oldRoll;
oldRoll = (oldRoll + HiResRoll)/2;
if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
 
MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
}
 
if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
 
if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
{
if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256);
else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256);
else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
}
}
 
//############################################################################
// Senden der Motorwerte per I2C-Bus
void SendMotorData(void)
//############################################################################
{
unsigned char i;
if(!MotorenEin)
{
FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY);
FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF;
for(i=0;i<MAX_MOTORS;i++)
{
if(!PC_MotortestActive) MotorTest[i] = 0;
Motor[i].SetPoint = MotorTest[i];
Motor[i].SetPointLowerBits = 0;
/*
Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution
Motor[i].SetPointLowerBits = MotorTest[i] % 4;
*/
}
if(PC_MotortestActive) PC_MotortestActive--;
}
else FC_StatusFlags |= FC_STATUS_MOTOR_RUN;
 
// ++++++++++++++++++++++++++++++++++++++++++
// ++++++++++++++++++++++++++++++++++++++++++
#ifdef REDUNDANT_FC_SLAVE
I2CTimeout = 100;
return; // don't send I2C-Data
#endif
 
#ifdef REDUNDANT_FC_MASTER
if(Parameter_UserParam7 > 150)
{
FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST;
// Make noise
if((BeepMuster == 0xffff)) { beeptime = 25000; BeepMuster = 0x0080; }
// Do not send I2C-Data
if((FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) || !(FC_StatusFlags |= FC_STATUS_MOTOR_RUN))
{
I2CTimeout = 100;
if(modell_fliegt != 0 && modell_fliegt < 100) modell_fliegt = 100; // ansonsten kann es vorkommen, dass die Master-FC auf Standgas bleibt
return; // don't send I2C-Data
}
}
#endif
if(I2C_TransferActive)
{
I2C_TransferActive = 0; // enable for the next time
}
else
{
// motor_write = 0;
I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
}
}
 
unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel
{
int tmp2;
if(ch == 0) return(0);
tmp2 = PPM_in[ch] + 127;
if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
return(tmp2);
}
 
//############################################################################
// Trägt ggf. das Poti als Parameter ein
void ParameterZuordnung(void)
//############################################################################
{
unsigned char tmp,i;
for(i=0;i<8;i++)
{
int tmp2;
tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i];
tmp2 = PPM_in[tmp] + 127;
if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
 
if(tmp == WP_EVENT_PPM_IN) Poti[i] = tmp2; // WaypointEvent channel -> no filter
else
if(tmp2 != Poti[i])
{
Poti[i] += (tmp2 - Poti[i]) / 4;
if(Poti[i] > tmp2) Poti[i]--;
else Poti[i]++;
}
}
CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255);
CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255);
if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} // Out1 (J16)
else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;}
else CHK_POTI_MM(Parameter_Servo3,EE_Parameter.Servo3, 24, 255);
 
if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;}
else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;} // Out2 (J17)
else CHK_POTI_MM(Parameter_Servo4,EE_Parameter.Servo4, 24, 255);
 
CHK_POTI_MM(Parameter_Servo5,EE_Parameter.Servo5, 24, 255);
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
CHK_POTI(Parameter_Hoehe_TiltCompensation,EE_Parameter.Hoehe_TiltCompensation);
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp);
CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp);
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude);
// if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude;
Parameter_GlobalConfig = EE_Parameter.GlobalConfig;
Parameter_ExtraConfig = EE_Parameter.ExtraConfig;
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
Ki = 10300 / (Parameter_I_Faktor + 1);
MAX_GAS = EE_Parameter.Gas_Max;
MIN_GAS = EE_Parameter.Gas_Min;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel);
Parameter_GPS_Switch = GetChannelValue(EE_Parameter.NaviGpsModeChannel);
Parameter_CareFree_Switch = GetChannelValue(EE_Parameter.CareFreeChannel);
Parameter_Autoland_Switch = GetChannelValue(EE_Parameter.StartLandChannel);
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
if(ExternalControl.Config & EC_VALID)
{
if(ExternalControl.Config & EC_IGNORE_RC_LOST) ReceiverOkay = 220;
if(ExternalControl.Config & EC_USE_SWITCH)
{
if(ExternalControl.Switches & EC2_AUTOLAND) Parameter_Autoland_Switch = 1;
else
if(ExternalControl.Switches & EC2_AUTOSTART) Parameter_Autoland_Switch = 250;
else Parameter_GPS_Switch = 128;
 
if(ExternalControl.Switches & EC2_PH) Parameter_GPS_Switch = 128;
else
if(ExternalControl.Switches & EC2_CH) Parameter_GPS_Switch = 250;
else Parameter_GPS_Switch = 0;
 
if(ExternalControl.Switches & EC2_CAREFREE) Parameter_CareFree_Switch = 250;
else Parameter_CareFree_Switch = 0;
if(ExternalControl.Switches & EC2_ALTITUDE) Parameter_HoehenSchalter = 250;
else Parameter_HoehenSchalter = 0;
}
}
if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) Parameter_GPS_Switch = 0;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(EE_Parameter.CareFreeChannel || (ExternalControl.Config & EC_USE_SWITCH))
{
CareFree = 1;
if(Parameter_CareFree_Switch < 64) CareFree = 0;
if(carefree_old != CareFree)
{
if(carefree_old < 3)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; }
else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; }
#else
if(CareFree) beeptime = 1500;
else beeptime = 200;
#endif
NeueKompassRichtungMerken = 5;
carefree_old = CareFree;
} else carefree_old--;
}
#ifndef REDUNDANT_FC_SLAVE
if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
#endif
}
else
{
CareFree = 0;
carefree_old = 10;
}
 
if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree) // ungültiger Kompasswert
{
if(BeepMuster == 0xffff) { beeptime = 15000; BeepMuster = 0xA400;};
CareFree = 0;
}
if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; } else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
}
 
void CalcStickGasHover(void)
{
if(!EE_Parameter.Hoehe_StickNeutralPoint)
{
StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning;
}
else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down
}
 
void ChannelAssingment(void)
{
cli();
ChannelNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
ChannelRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
ChannelYaw = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
ChannelGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ Analoge Steuerung per Seriell
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ExternalControl.Config & EC_VALID)
{
if(ExternalControl.Config & EC_IGNORE_RC_STICK) // do not add
{
ChannelNick = ExternalControl.Nick;
ChannelRoll = ExternalControl.Roll;
ChannelYaw = ExternalControl.Gier;
ChannelGas = ExternalControl.Gas;
}
else
{
ChannelNick += ExternalControl.Nick;
ChannelRoll += ExternalControl.Roll;
ChannelYaw += ExternalControl.Gier;
if(ExternalControl.Config & EC_GAS_ADD) ChannelGas += ExternalControl.Gas;
else
{
if(ExternalControl.Gas < ChannelGas) ChannelGas = ExternalControl.Gas; // the RC-Stick is the MAX value here
}
}
}
sei();
if(ChannelNick > 127) ChannelNick = 127; else if(ChannelNick < -127) ChannelNick = -127;
if(ChannelRoll > 127) ChannelRoll = 127; else if(ChannelRoll < -127) ChannelRoll = -127;
if(ChannelYaw > 127) ChannelYaw = 127; else if(ChannelYaw < -127) ChannelYaw = -127;
if(ChannelGas > 127) ChannelGas = 127; else if(ChannelGas < -127) ChannelGas = -127;
}
 
//############################################################################
//
void MotorRegler(void)
//############################################################################
{
int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
int GierMischanteil,GasMischanteil;
static long sollGier = 0,tmp_long,tmp_long2;
static unsigned int RcLostTimer, delay_Acc_neutral;
static unsigned char delay_neutral = 0;
static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
static signed char move_safety_switch = 0;
int IntegralNickMalFaktor,IntegralRollMalFaktor;
unsigned char i;
Mittelwert();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gaswert ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE)))
{
if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)
{
if(HoverGas && HoverGas < 150 * STICK_GAIN)
{
HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas
}
else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet
} else HooverGasEmergencyPercent = EE_Parameter.NotGas;
}
if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed
{
StickGas = 0; // Hold Gas down in that case
// ExternalControl.Gas = 0;
HooverGasEmergencyPercent = MIN_GAS;
}
GasMischanteil = StickGas;
if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Empfang schlecht
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ReceiverOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE))
{
ServoFailsafeActive = SERVO_FS_TIME;
if(RcLostTimer) RcLostTimer--;
else
{
MotorenEin = 0;
modell_fliegt = 0;
FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY);
}
ROT_ON;
if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken
{
GasMischanteil = HooverGasEmergencyPercent;
FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING;
}
else
{
MotorenEin = 0;
}
}
else
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Emfang gut
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ReceiverOkay > 140)// && 0)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
static unsigned int trigger = 1000;
static unsigned char old_switch = 100;
if((EE_Parameter.StartLandChannel || (ExternalControl.Config & EC_USE_SWITCH)) && EE_Parameter.LandingSpeed)
{
if(Parameter_Autoland_Switch > 180)
{
if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;}
FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING;
old_switch = 150;
}
else
if(Parameter_Autoland_Switch < 64)
{
if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;}
FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING;
old_switch = 50;
}
else // mittenstellung
{
FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING);
}
}
#endif
FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING;
RcLostTimer = EE_Parameter.NotGasZeit * 50;
if(GasMischanteil > 40 && MotorenEin)
{
if(modell_fliegt < 0xffff) modell_fliegt++;
}
if((modell_fliegt < 256))
{
SummeNick = 0;
SummeRoll = 0;
sollGier = 0;
Mess_Integral_Gier = 0;
FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
old_switch = 100;
#endif
}
else
{
FC_StatusFlags |= FC_STATUS_FLY;
if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART || FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl)
{
FromNC_AltitudeSpeed = 80;
FromNC_AltitudeSetpoint = 500;
SollHoehe = 500;
trigger = 1000;
if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_NEXT_WP;
/* if(StartTrigger != 2)
{
StartTrigger = 1;
if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35;
}
*/
}
// else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING);
#endif
if(HoehenWertF > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG))
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
trigger = 1000;
if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/*HoehenWertF + 100;*/}
else SpeakHoTT = SPEAK_RISING;
#endif
FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING);
}
SummeNick = 0;
SummeRoll = 0;
Mess_Integral_Gier = 0;
// sollGier = 0;
if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation
}
else // Flying mode
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' || VarioCharacter == '=') && ACC_AltitudeControl)
{
FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed;
FromNC_AltitudeSetpoint = -20000;
}
if(trigger < 1000)
{
trigger++;
SummeNick = 0;
SummeRoll = 0;
Mess_Integral_Gier = 0;
SollHoehe = HoehenWertF - 300;
if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+')
{
FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING;
FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state
}
}
else
if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/)
{
if((Aktuell_az/4 > EE_Parameter.LandingPulse) && (NeutralAccZ/4 > EE_Parameter.LandingPulse))
{
trigger = 0;
SpeakHoTT = SPEAK_LANDING;
};
}
#endif
}
} // end of: modell_fliegt > 256
if((ChannelGas > 80) && MotorenEin == 0 && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE))
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// auf Nullwerte kalibrieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ChannelYaw > 75) // Neutralwerte
{
if(++delay_neutral > 200) // nicht sofort
{
unsigned char setting = 0;
delay_neutral = 0;
modell_fliegt = 0;
if(ChannelNick > 70 || abs(ChannelRoll) > 70)
{
if(ChannelRoll > 70 && ChannelNick < 70 && ChannelNick > -70) setting = 1;
if(ChannelRoll > 70 && ChannelNick > 70) setting = 2;
if(ChannelRoll < 70 && ChannelNick > 70) setting = 3;
if(ChannelRoll <-70 && ChannelNick > 70) setting = 4;
if(ChannelRoll <-70 && ChannelNick < 70 && ChannelNick > -70) setting = 5;
if(setting) SetActiveParamSet(setting); // aktiven Datensatz merken
}
if(abs(ChannelRoll) < 30 && ChannelNick < -70)
{
WinkelOut.CalcState = 1; // Compass kalibrieren
CalibrationDone = 0;
beeptime = 1000;
}
else
{
ParamSet_ReadFromEEProm(ActiveParamSet);
LipoDetection(0);
LIBFC_ReceiverInit(EE_Parameter.Receiver);
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
}
if(!setting && ChannelRoll < -70 && ChannelNick < 70) CalibrationDone = SetNeutral(3); // Boat-Mode
// else
// if(!setting && ChannelYaw < -75 && abs(ChannelNick) < 70) CalibrationDone = SetNeutral(2); // store ACC values into EEPROM
else CalibrationDone = SetNeutral(1);
ServoActive = 1;
DDRD |=0x80; // enable J7 -> Servo signal
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR;
else
if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
else SpeakHoTT = SPEAK_CALIBRATE;
ShowSettingNameTime = 5; // for HoTT & Jeti
#endif
Piep(ActiveParamSet,120);
}
}
}
else
if(ChannelYaw < -75 && abs(ChannelRoll) < 16 && abs(ChannelRoll) < 16) // ACC calibrate
{
if(++delay_Acc_neutral > 500 * 5) // 5 sekunden
{
delay_Acc_neutral = 0;
CalibrationDone = SetNeutral(2); // store ACC values into EEPROM
ServoActive = 1;
DDRD |=0x80; // enable J7 -> Servo signal
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR;
else
if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
else SpeakHoTT = SPEAK_CALIBRATE;
ShowSettingNameTime = 5; // for HoTT & Jeti
#endif
Piep(ActiveParamSet,120);
}
}
else { delay_neutral = 0; delay_Acc_neutral = 0;};
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gas ist unten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ChannelGas < -100)
{
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100;
else
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100;
// Motoren Starten
if(!MotorenEin)
{
if(((((ChannelYaw < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0)))
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100)))
&& !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE))
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Einschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START;
StartLuftdruck = LuftdruckKompensiert;
HoehenWert = 0;
HoehenWert_Mess = 0;
GasIsZeroCnt = 600;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
HoehenWertF_Mess = 0;
#endif
SummenHoehe = 0;
if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0;
if(++delay_einschalten > 253)
{
if(FC_StatusFlags3 & FC_STATUS3_BOAT) { if((abs(MesswertGier) > 32*2 || abs(MesswertNick) > 20*3) || abs(MesswertRoll) > 20*3) CalibrationDone = 0; } // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich
else
if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich
delay_einschalten = 0;
 
if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode && !Partner_ErrorCode)
{
modell_fliegt = 1;
MotorenEin = 1;
sollGier = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier2 = 0;
Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
SummeNick = 0;
SummeRoll = 0;
// ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
NeueKompassRichtungMerken = 100; // 2 sekunden
NC_CompassSetpoint = -1;
NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home)
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_STARTING;
#endif
}
else
{
beeptime = 1500; // indicate missing calibration
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
#endif
}
}
}
else delay_einschalten = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Auschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
else // only if motors are running
{
// if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0))
if((((ChannelYaw > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0)))
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100)))
{
if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0)
{
delay_ausschalten = 0;
}
else
{
SummeNick = 0;
SummeRoll = 0;
StickNick = 0;
StickRoll = 0;
}
if(++delay_ausschalten > 250 || Partner_StatusFlags3 & FC_STATUS3_MOTORS_STOPPED_BY_RC) // nicht sofort oder wenn der Partner schon aus ist
{
FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors
Delete_Stoppflag_Timer = 2; // 1-2 seconds
if(!NC_ErrorCode && modell_fliegt > 60 * 500 && MotorenEin) StoreLastDriftcompensation();
MotorenEin = 0;
delay_ausschalten = 0;
modell_fliegt = 0;
FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING);
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_MK_OFF;
#endif
}
else
if(delay_ausschalten == 100) beeptime = 3500;
}
else delay_ausschalten = 0;
}
if(GasIsZeroCnt < 1000)
{
if(VarioMeter > -150) GasIsZeroCnt++;
else if(GasIsZeroCnt) GasIsZeroCnt--;
}
}
else // gas not at minimum
{
move_safety_switch = 0;
GasIsZeroCnt = 0;
}
}
else // Empfang zwischen 100 und 140 -> schlecht
{
if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost
{
if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed?
{
GasIsZeroCnt = 30000;
if(modell_fliegt > 1001) modell_fliegt = 1001;
}
}
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// neue Werte von der Funke
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
{
static int stick_nick,stick_roll;
unsigned char stick_p;
NewPpmData = 15; // wait max 30ms or when a new PPM-Frame arrives
ParameterZuordnung();
ChannelAssingment();
stick_p = EE_Parameter.Stick_P;
stick_nick = (stick_nick * 3 + ChannelNick * stick_p) / 4;
stick_roll = (stick_roll * 3 + ChannelRoll * stick_p) / 4;
cli();
stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
sei();
StickGas = ChannelGas + 127;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// CareFree und freie Wahl der vorderen Richtung
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(CareFree)
{
signed int nick, roll;
nick = stick_nick / 4;
roll = stick_roll / 4;
StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4);
StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4);
}
else
{
FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6];
FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
}
 
StickGier = -ChannelYaw;
if(StickGier > 4) StickGier -= 4; else
if(StickGier < -4) StickGier += 4; else StickGier = 0;
 
if(GasIsZeroCnt > 512) // About to switch - off
{
StickNick = StickNick/8;
StickRoll = StickRoll/8;
SummeNick = 0;
SummeRoll = 0;
}
else
if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger
{
StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16;
StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16;
}
StickNick -= GPS_Nick;
StickRoll -= GPS_Roll;
 
GyroFaktor = (Parameter_Gyro_P + 10.0);
IntegralFaktor = Parameter_Gyro_I;
GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0);
IntegralFaktorGier = Parameter_Gyro_Gier_I;
 
 
if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0;
 
if(abs(StickNick/STICK_GAIN) > MaxStickNick)
{
MaxStickNick = abs(StickNick)/STICK_GAIN;
if(MaxStickNick > 100) MaxStickNick = 100;
}
else MaxStickNick--;
if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
{
MaxStickRoll = abs(StickRoll)/STICK_GAIN;
if(MaxStickRoll > 100) MaxStickRoll = 100;
}
else MaxStickRoll--;
if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1;
else
{
{
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
}
}
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
else
{
if(Looping_Rechts) // Hysterese
{
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
}
}
 
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
else
{
if(Looping_Oben) // Hysterese
{
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
}
}
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
else
{
if(Looping_Unten) // Hysterese
{
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
}
}
 
if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0;
if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
} // Ende neue Funken-Werte
 
if(Looping_Roll || Looping_Nick)
{
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
TrichterFlug = 1;
}
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bei Empfangsausfall im Flug
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)
{
StickNick = -GPS_Nick;
StickRoll = -GPS_Roll;
StickGas = StickGasHover;
StickGier = 0;
Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER);
Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV;
Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP);
Parameter_HoehenSchalter = 200; // switch on
}
else
if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)
{
StickGier = 0;
StickNick = 0;
StickRoll = 0;
GyroFaktor = 90;
IntegralFaktor = 120;
GyroFaktorGier = 90;
IntegralFaktorGier = 120;
Looping_Roll = 0;
Looping_Nick = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Integrale auf ACC-Signal abgleichen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#define ABGLEICH_ANZAHL 256L
 
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren
MittelIntegralRoll += IntegralRoll;
if(Looping_Nick || Looping_Roll)
{
MittelIntegralNick = 0;
MittelIntegralRoll = 0;
ZaehlMessungen = 0;
LageKorrekturNick = 0;
LageKorrekturRoll = 0;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
{
long tmp_long, tmp_long2;
if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/)
{
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN));
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR));
tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
if((MaxStickNick > 64) || (MaxStickRoll > 64))
{
tmp_long /= 2;
tmp_long2 /= 2;
}
if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
}
else
{
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
tmp_long /= 16;
tmp_long2 /= 16;
if((MaxStickNick > 64) || (MaxStickRoll > 64))
{
tmp_long /= 3;
tmp_long2 /= 3;
}
if(abs(ChannelYaw) > 25)
{
tmp_long /= 3;
tmp_long2 /= 3;
}
KompassFusion = 25;
#define AUSGLEICH 32
if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH;
if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH;
if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH;
if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH;
}
 
Mess_IntegralNick -= tmp_long;
Mess_IntegralRoll -= tmp_long2;
DriftNick += tmp_long;
DriftRoll += tmp_long2;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ZaehlMessungen >= ABGLEICH_ANZAHL) //alle 512ms
{
// static int cnt = 0;
// static char last_n_p,last_n_n,last_r_p,last_r_n;
static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gyro-Drift ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(EE_Parameter.Driftkomp && abs(Mittelwert_AccNick) < 200*4 && abs(Mittelwert_AccRoll) < 200*4 && !TrichterFlug && abs(MesswertGier) < 32/* && (FC_StatusFlags & FC_STATUS_FLY)*/)
{
DriftNick -= DriftNick / (64 * (unsigned int) EE_Parameter.Driftkomp);
DriftRoll -= DriftRoll / (64 * (unsigned int) EE_Parameter.Driftkomp);
GierGyroFehler -= GierGyroFehler / (64 * (unsigned int) EE_Parameter.Driftkomp);
if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(ChannelYaw) > 25))
{
DriftNick /= 2;
DriftRoll /= 2;
GierGyroFehler = 0;
}
if(DriftNick > 3000) { DriftNick = 0; AdNeutralNick++;}
if(DriftNick <-3000) { DriftNick = 0; AdNeutralNick--;}
if(DriftRoll > 3000) { DriftRoll = 0; AdNeutralRoll++;}
if(DriftRoll <-3000) { DriftRoll = 0; AdNeutralRoll--;}
if(GierGyroFehler > 3500) { GierGyroFehler = 0; AdNeutralGier++; }
if(GierGyroFehler <-3500) { GierGyroFehler = 0; AdNeutralGier--; }
 
if(AdNeutralNick > BoatNeutralNick + MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralNick + MAX_DRIFT_NR;
if(AdNeutralNick < BoatNeutralNick - MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralNick - MAX_DRIFT_NR;
if(AdNeutralRoll > BoatNeutralRoll + MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralRoll + MAX_DRIFT_NR;
if(AdNeutralRoll < BoatNeutralRoll - MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralRoll - MAX_DRIFT_NR;
if(AdNeutralGier > BoatNeutralGier + MAX_DRIFT_YAW) AdNeutralGier = BoatNeutralGier + MAX_DRIFT_YAW;
if(AdNeutralGier < BoatNeutralGier - MAX_DRIFT_YAW) AdNeutralGier = BoatNeutralGier - MAX_DRIFT_YAW;
}
else
{
DriftNick = 0;
DriftRoll = 0;
GierGyroFehler = 0;
}
TrichterFlug = 0;
 
if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
MittelIntegralNick_Alt = MittelIntegralNick;
MittelIntegralRoll_Alt = MittelIntegralRoll;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
MittelIntegralNick = 0;
MittelIntegralRoll = 0;
ZaehlMessungen = 0;
} // ZaehlMessungen >= ABGLEICH_ANZAHL
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickGier) > 3) // war 15
{
// KompassSignalSchlecht = 1000;
if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX))
{
NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen
};
}
tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx²
tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4;
if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero
tmp_int += CompassGierSetpoint;
sollGier = tmp_int;
Mess_Integral_Gier -= tmp_int;
if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen
if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Kompass
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV))
{
if(CalculateCompassTimer-- == 1)
{
int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt
CalculateCompassTimer = 13; // falls keine Navi-Daten
// max. Korrekturwert schätzen
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
v = abs(IntegralRoll /512);
if(v > w) w = v; // grösste Neigung ermitteln
// korrektur = w / 4 + 1;
korrektur = w / 8 + 2;
ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR;
// Kompassfehlerwert bestimmen
fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180;
// GIER_GRAD_FAKTOR ist ca. 1200
// Kompasswert einloggen
if(NeueKompassRichtungMerken) KompassSollWert = ErsatzKompassInGrad;
 
if(KompassSignalSchlecht) KompassSignalSchlecht--;
else
if(w < 25)
{
GierGyroFehler += fehler;
if(NeueKompassRichtungMerken) NeueKompassRichtungMerken--;
}
// Kompass fusionieren
if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur;
// MK Gieren
if(!NeueKompassRichtungMerken)
{
r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180;
v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten
CompassGierSetpoint = v / 16;
}
else CompassGierSetpoint = 0;
} // CalculateCompassTimer
}
else CompassGierSetpoint = 0;
 
//DebugOut.Analog[16] = KompassFusion;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;};
 
if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
 
#define TRIM_MAX 200
if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
 
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
 
// Maximalwerte abfangen
#define MAX_SENSOR (4096)
if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR;
if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR;
if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR;
if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Undervoltage
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!(FC_StatusFlags & FC_STATUS_LOWBAT))
{
GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Auto-Landing
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
static unsigned char slower;
if(!slower--)
{
static unsigned int u_filter = 0;
if(!u_filter) u_filter = UBat;
if(UBat > u_filter) u_filter++; else
if(UBat < u_filter) u_filter--;
slower = 100; // 5Hz
if(u_filter < BattAutoLandingVoltage)
{
LowVoltageLandingActive = 10; // 2 sek
ServoFailsafeActive = SERVO_FS_TIME;
}
else if(u_filter > BattAutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--;
 
if(u_filter < BattComingHomeVoltage)
{
LowVoltageHomeActive = 25; // min. 5 sek
}
else if(u_filter > BattComingHomeVoltage + LipoCells && LowVoltageHomeActive) LowVoltageHomeActive--;
}
if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0)
{
FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed;
if(HoehenWert > 15*100) FromNC_AltitudeSpeed *= 2; // faster above 15m
FromNC_AltitudeSetpoint = -20000;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// send SPI pending bytes
if(BytegapSPI == 0) SPI_TransmitByte();
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Höhenregelung
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
GasMischanteil *= STICK_GAIN;
// if height control is activated
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung
{
#define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging
#define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging
 
int HCGas, GasReduction = 0;
static int HeightTrimming = 0; // rate for change of height setpoint
static int HeightDeviation = 0, FilterHCGas = 0;
static unsigned long HoverGasFilter = 0;
static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
// Expand the measurement
// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
if(!BaroExpandActive)
{
if(MessLuftdruck > 920)
{ // increase offset
if(OCR0A < (255 - OPA_OFFSET_STEP))
{
ExpandBaro -= 1;
BaroExpandCnt -= 50;
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
OCR0B = 255 - OCR0A;
beeptime = 300;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl) BaroExpandActive = 50;
else
#endif
BaroExpandActive = 350;
CalcExpandBaroStep();
}
else
{
BaroAtLowerLimit = 1;
}
}
// measurement of air pressure close to lower limit and
else
if(MessLuftdruck < 100)
{ // decrease offset
if(OCR0A > OPA_OFFSET_STEP)
{
ExpandBaro += 1;
BaroExpandCnt += 50; // is decere
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
OCR0B = 255 - OCR0A;
beeptime = 300;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl) BaroExpandActive = 50;
else
#endif
BaroExpandActive = 350;
CalcExpandBaroStep();
}
else
{
BaroAtUpperLimit = 1;
}
}
else
{
BaroAtUpperLimit = 0;
BaroAtLowerLimit = 0;
}
}
else // delay, because of expanding the Baro-Range
{
// now clear the D-values
VarioMeter = 0;
cli();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init
else SummenHoehe = HoehenWert * SM_FILTER;
#else
SummenHoehe = HoehenWert * SM_FILTER;
#endif
sei();
BaroExpandActive--;
if(abs(BaroExpandCnt) > 75) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; // defective Baro-Sensor detected
}
// if height control is activated by an rc channel
if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert
{ // check if parameter is less than activation threshold
if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position
{ //height control not active
if(!delay--)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF;
#endif
HoehenReglerAktiv = 0; // disable height control
SollHoehe = HoehenWert; // update SetPoint with current reading
delay = 1;
}
}
else
if(Parameter_HoehenSchalter > 70)
{ //height control is activated
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON;
#endif
delay = 200;
HoehenReglerAktiv = 1; // enable height control
}
}
else // no switchable height control
{
SollHoehe = (/*(int16_t) ExternHoehenValue + */(int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung;
HoehenReglerAktiv = 1;
}
// calculate cos of nick and roll angle used for projection of the vertical hoover gas
tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
tmp_int = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
tmp_int = (tmp_int * Parameter_Hoehe_TiltCompensation) / 100;
LIMIT_MAX(tmp_int, 60); // limit effective attitude angle
CosAttitude = c_cos_8192(tmp_int); // cos of actual attitude
VarioCharacter = ' ';
AltitudeSetpointTrimming = 0;
if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
{
// Holger original version
// start of height control algorithm
// the height control is only an attenuation of the actual gas stick.
// I.e. it will work only if the gas stick is higher than the hover gas
// and the hover height will be allways larger than height setpoint.
FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL;
if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert)
{ // old version
HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
HeightTrimming = 0;
AltitudeSetpointTrimming = 0;
// set both flags to indicate no vario mode
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
}
else
{
// alternative height control
// PD-Control with respect to hoover point
// the thrust loss out of horizontal attitude is compensated
// the setpoint will be fine adjusted with the gas stick position
if(/*1 || */FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying
{ // gas stick is above hoover point
if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
{
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)
{
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
SollHoehe = HoehenWertF; // update setpoint to current heigth
}
// Limit the maximum Altitude
if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude))
{
AltitudeSetpointTrimming = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(!SpeakHoTT && HoehenWert/95 > Parameter_MaximumAltitude) SpeakHoTT = SPEAK_MAX_ALTITUD;
#endif
VarioCharacter = '=';
}
else
{
if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP;
AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
if(LowVoltageLandingActive) AltitudeSetpointTrimming /= 3; // only 33% rising
VarioCharacter = '+';
}
WaypointTrimming = 0;
} // gas stick is below hoover point
else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) // Minus
{
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP || (HeightDeviation < -300))
{
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
SollHoehe = HoehenWertF; // update setpoint to current heigth
}
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
VarioCharacter = '-';
WaypointTrimming = 0;
}
else // Gas Stick in Hover Range
{
VarioCharacter = '=';
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen
{
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP;
AltitudeSetpointTrimming = FromNC_AltitudeSpeed;
//HeightTrimming += FromNC_AltitudeSpeed;
WaypointTrimming = 10;
VarioCharacter = '^';
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising
{
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
SollHoehe = HoehenWertF; // update setpoint to current heigth
}
}
else
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken
{
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
AltitudeSetpointTrimming = -FromNC_AltitudeSpeed;
//HeightTrimming -= FromNC_AltitudeSpeed;
WaypointTrimming = -10;
VarioCharacter = 'v';
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking
{
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
SollHoehe = HoehenWertF; // update setpoint to current heigth
}
}
else
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN))
{
if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied
else WaypointTrimming = 0;
FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
HeightTrimming = 0;
if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
if(!StartTrigger && HoehenWert > 50)
{
StartTrigger = 1;
}
}
}
// Trim height set point
HeightTrimming += AltitudeSetpointTrimming;
if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz
{
if(WaypointTrimming)
{
if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
else SollHoehe += WaypointTrimming;
}
else
{
if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
}
HeightTrimming = 0;
LIMIT_MIN_MAX(HoehenWertF, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-1500), (HoehenWertF+1500)); // max. 15m Unterschied
if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
//update hoover gas stick value when setpoint is shifted
if(FromNC_AltitudeSpeed == 0) CalcStickGasHover();
/*
if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)
{
StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning;
if(StickGasHover < 70) StickGasHover = 70;
else if(StickGasHover > 175) StickGasHover = 175;
}
*/
}
if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active
} //if FCFlags & MKFCFLAG_FLY
else
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
ACC_AltitudeFusion(1); // init the ACC and Altitude fusion
#endif
SollHoehe = HoehenWertF - 2000;
 
if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
else StickGasHover = 127;
HoverGas = GasMischanteil;
VarioCharacter = '.';
}
HCGas = HoverGas; // take hover gas (neutral point)
}
if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT))
{
if(!ACC_AltitudeControl)
{
// from this point the Heigth Control Algorithm is identical for both versions
if(BaroExpandActive) // baro range expanding active
{
HCGas = HoverGas; // hover while expanding baro adc range
HeightDeviation = 0;
} // EOF // baro range expanding active
else // valid data from air pressure sensor
{
// ------------------------- P-Part ----------------------------
tmp_long = (HoehenWertF - SollHoehe); // positive when too high
LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t
HeightDeviation = (int)(tmp_long); // positive when too high
tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense
GasReduction = tmp_long;
// ------------------------- D-Part 1: Vario Meter ----------------------------
tmp_int = VarioMeter / 8;
LIMIT_MIN_MAX(tmp_int, -127, 128);
tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter
LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN);
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint
else
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode
GasReduction += tmp_int;
} // EOF no baro range expanding
// ------------------------ D-Part 2: ACC-Z Integral ------------------------
if(Parameter_Hoehe_ACC_Wirkung)
{
tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
GasReduction += tmp_long;
}
/* // ------------------------ D-Part 3: GpsZ ----------------------------------
tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L;
LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
GasReduction += tmp_int;
*/
GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value
 
// ------------------------ ----------------------------------
HCGas -= GasReduction;
// limit deviation from hoover point within the target region
if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero
{
unsigned int tmp;
tmp = abs(HeightDeviation);
if(tmp <= 60)
{
LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point
}
else
{
tmp = (tmp - 60) / 32;
if(tmp > 15) tmp = 15;
if(HeightDeviation > 0)
{
tmp = (HoverGasMin * (16 - tmp)) / 16;
LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point
}
else
{
tmp = (HoverGasMax * (tmp + 16)) / 16;
LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point
}
}
}
// strech control output by inverse attitude projection 1/cos
// + 1/cos(angle) ++++++++++++++++++++++++++
tmp_long2 = (int32_t)HCGas;
tmp_long2 *= 8192L;
tmp_long2 /= CosAttitude;
HCGas = (int16_t)tmp_long2;
// update height control gas averaging
FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
// limit height control gas pd-control output
LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
// set GasMischanteil to HeightControlGasFilter
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
{ // old version
LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
GasMischanteil = FilterHCGas;
}
else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode
}
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
else // ACC-Altitude control
{
// from this point the Heigth Control Algorithm is identical for both versions
if(BaroExpandActive) // baro range expanding active
{
HCGas = HoverGas; // hover while expanding baro adc range
HeightDeviation = 0;
} // EOF // baro range expanding active
else // valid data from air pressure sensor
{
// ------------------------- P-Part ----------------------------
tmp_long = (HoehenWertF - SollHoehe); // positive when too high
LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t
HeightDeviation = (int)(tmp_long); // positive when too high
tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense
GasReduction = tmp_long;
// ------------------------ D-Part: ACC-Z Integral ------------------------
tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256;
// ------------------------- D-Part: Vario Meter ----------------------------
if(WaypointTrimming) {
Variance = AltitudeSetpointTrimming * 8;
} else {
Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32;
}
tmp_long -= (long)Variance;
tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter
LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN);
GasReduction += tmp_long;
} // EOF no baro range expanding
HCGas -= GasReduction;
LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point
// strech control output by inverse attitude projection 1/cos
// + 1/cos(angle) ++++++++++++++++++++++++++
tmp_long2 = (int32_t)HCGas;
tmp_long2 *= 8192L;
tmp_long2 /= CosAttitude;
HCGas = (int16_t)tmp_long2;
// update height control gas averaging
FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
// limit height control gas pd-control output
int min;
if(GasIsZeroCnt > 400 || (FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)) min = EE_Parameter.Gas_Min; else min = EE_Parameter.Hoehe_MinGas;
LIMIT_MIN_MAX(FilterHCGas, min * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN)
// set GasMischanteil to HeightControlGasFilter
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
{ // old version
LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
GasMischanteil = FilterHCGas;
}
else GasMischanteil = FilterHCGas;
} // end of ACC-Altitude control
#endif
}
}// EOF height control active
else // HC not active
{
//update hoover gas stick value when HC is not active
CalcStickGasHover();
/* if(!EE_Parameter.Hoehe_StickNeutralPoint)
{
StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning;
}
else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down
*/
FilterHCGas = GasMischanteil;
// set both flags to indicate no vario mode
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL;
}
// Hover gas estimation by averaging gas control output on small z-velocities
// this is done only if height contol option is selected in global config and aircraft is flying
if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING))
{
//if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert
if(StartTrigger == 1) StartTrigger = 2;
tmp_long2 = (int32_t)GasMischanteil; // take current thrust
tmp_long2 *= CosAttitude; // apply attitude projection
tmp_long2 /= 8192;
// average vertical projected thrust
if(modell_fliegt < 4000) // the first 8 seconds
{ // reduce the time constant of averaging by factor of 4 to get much faster a stable value
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L);
HoverGasFilter += 16L * tmp_long2;
}
if(modell_fliegt < 8000) // the first 16 seconds
{ // reduce the time constant of averaging by factor of 2 to get much faster a stable value
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L);
HoverGasFilter += 4L * tmp_long2;
}
else //later
if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending)
{
HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE;
HoverGasFilter += tmp_long2;
}
HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE);
if(EE_Parameter.Hoehe_HoverBand)
{
int16_t band;
band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
HoverGasMin = HoverGas - band;
HoverGasMax = HoverGas + band;
}
else
{ // no limit
HoverGasMin = 0;
HoverGasMax = 1023;
}
}
else
{
StartTrigger = 0;
HoverGasFilter = 0;
HoverGas = 0;
}
}// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL
else
{
// set undefined state to indicate vario off
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
} // EOF no height control
 
// Limits the maximum gas in case of "Out of Range emergency landing"
if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING)
{
if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN;
SollHoehe = HoehenWertF; // update setpoint to current heigth
}
// limit gas to parameter setting
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(TouchDownTimer > 9) GasMischanteil = 1; // gas runter
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// all BL-Ctrl connected?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#ifndef REDUNDANT_FC_SLAVE
if(MissingMotor || Capacity.MinOfMaxPWM < 254 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors
if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase
{
modell_fliegt = 1;
GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR;
#endif
}
#else // ab hier : Slave
if(IamMaster == SLAVE)
{
if(Partner_StatusFlags3 & FC_STATUS3_MOTORS_STOPPED_BY_RC)
{
MotorenEin = 0;
modell_fliegt = 0;
FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY);
SpeakHoTT = SPEAK_MK_OFF;
}
}
#endif
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// send SPI pending bytes
if(BytegapSPI == 0) SPI_TransmitByte();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Mischer und PI-Regler
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DebugOut.Analog[7] = GasMischanteil; // achtung: Muss auf [7] bleiben wegen SPI.C
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gier-Anteil
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier
#define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren
if(GasMischanteil > MIN_GIERGAS)
{
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
}
else
{
if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2;
if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
}
tmp_int = MAX_GAS*STICK_GAIN;
if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Nick-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffNick = MesswertNick - StickNick; // Differenz bestimmen
if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
else SummeNick += DiffNick; // I-Anteil bei HH
if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L);
if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
 
if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick
else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern
pd_ergebnis_nick += SummeNick / Ki;
 
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int;
if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Roll-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen
if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
else SummeRoll += DiffRoll; // I-Anteil bei HH
if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L);
if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
 
if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll
else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern
pd_ergebnis_roll += SummeRoll / Ki;
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int;
if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// send SPI pending bytes
if(BytegapSPI == 0) SPI_TransmitByte();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Emergency switch-off
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(NCParachute)
{
MAX_GAS = 1;
if(!beeptime) { beeptime = 10000; BeepMuster = 0x1300; }
if(NCParachute == (KM_BIT_SLOW | KM_BIT_OFF))
{
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_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING);
SpeakHoTT = SPEAK_MK_OFF;
}
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Universal Mixer
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
for(i=0; i<MAX_MOTORS; i++)
{
signed int tmp_int;
if(Mixer.Motor[i][0] > 0)
{
// Gas
if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
// Nick
if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick;
else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick;
else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
// Roll
if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll;
else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll;
else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
// Gier
if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
#ifdef REDUNDANT_FC_SLAVE
tmp_int = (tmp_motorwert[i] + tmp_int) / 2;
#else
if(Motor[i].Version & MOTOR_STATE_FAST_MODE || tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen
else
{ // BL-Ctrl 1.0 or 2.0
if(EE_Parameter.MotorSmooth == 0)
{
tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
}
else // 1 means tmp_int = tmp_int;
if(EE_Parameter.MotorSmooth > 1)
{
// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.
tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth);
}
}
#endif
LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
Motor[i].SetPoint = tmp_int / 4;
Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
tmp_motorwert[i] = tmp_int;
}
else
{
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
}
}
#if (defined(REDUNDANT_FC_MASTER) || defined(REDUNDANT_FC_SLAVE))
if(Parameter_UserParam6 > 230) // Motor1-Test
{
Motor[0].SetPoint = 0;
FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST;
}
else
if(Parameter_UserParam7 <= 150) // I2C-Test
{
FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_TEST;
}
#endif
}
//DebugOut.Analog[]
/tags/V2.18a/fc.h
0,0 → 1,180
/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
//#define GIER_GRAD_FAKTOR 1160L
extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
#define STICK_GAIN 4
#define ACC_AMPLIFY 6
#define HEIGHT_CONTROL_STICKTHRESHOLD 15
#define SERVO_FS_TIME 10 // in Seconds
 
// FC_StatusFlags
#define FC_STATUS_MOTOR_RUN 0x01
#define FC_STATUS_FLY 0x02
#define FC_STATUS_CALIBRATE 0x04
#define FC_STATUS_START 0x08
#define FC_STATUS_EMERGENCY_LANDING 0x10
#define FC_STATUS_LOWBAT 0x20
#define FC_STATUS_VARIO_TRIM_UP 0x40
#define FC_STATUS_VARIO_TRIM_DOWN 0x80
 
// FC_StatusFlags2
#define FC_STATUS2_CAREFREE 0x01
#define FC_STATUS2_ALTITUDE_CONTROL 0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
#define FC_STATUS2_OUT1_ACTIVE 0x08
#define FC_STATUS2_OUT2_ACTIVE 0x10
#define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground
#define FC_STATUS2_AUTO_STARTING 0x40
#define FC_STATUS2_AUTO_LANDING 0x80
 
// FC_StatusFlags3
#define FC_STATUS3_REDUNDANCE_AKTIVE 0x01
#define FC_STATUS3_BOAT 0x02
#define FC_STATUS3_REDUNDANCE_ERROR 0x04
#define FC_STATUS3_REDUNDANCE_TEST 0x08
#define FC_STATUS3_NOT_CALIBRATED 0x10
#define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20
 
//NC_To_FC_Flags
#define NC_TO_FC_FLYING_RANGE 0x01
#define NC_TO_FC_EMERGENCY_LANDING 0x02 // Forces a landing
#define NC_TO_FC_AUTOSTART 0x04
#define NC_TO_FC_FAILSAFE_LANDING 0x08 // moves Servos into FS-Position
#define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors
#define NC_TO_FC_SWITCHOFF_IF_LANDED 0x20 // switch off if MK is on the ground and doesn't further sink
#define NC_TO_FC_OUTSIDE_FLYZONE 0x40 // for the Beep-Signal
 
extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
extern unsigned char FC_StatusFlags3;
extern unsigned char Partner_StatusFlags, Partner_StatusFlags2,Partner_StatusFlags3;
extern void ParameterZuordnung(void);
extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel
extern void ChannelAssingment(void);
extern void StoreNeutralToEeprom(void);
 
#define Poti1 Poti[0]
#define Poti2 Poti[1]
#define Poti3 Poti[2]
#define Poti4 Poti[3]
#define Poti5 Poti[4]
#define Poti6 Poti[5]
#define Poti7 Poti[6]
#define Poti8 Poti[7]
 
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
 
#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
 
extern unsigned char Sekunde,Minute;
extern unsigned int BaroExpandActive;
extern long IntegralNick;//,IntegralNick2;
extern long IntegralRoll;//,IntegralRoll2;
//extern int IntegralNick,IntegralNick2;
//extern int IntegralRoll,IntegralRoll2;
extern unsigned char Poti[9];
 
extern long Mess_IntegralNick;//,Mess_IntegralNick2;
extern long Mess_IntegralRoll;//,Mess_IntegralRoll2;
extern long IntegralAccNick,IntegralAccRoll;
extern long SummeNick,SummeRoll;
extern volatile long Mess_Integral_Hoch;
extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
extern int KompassValue;
extern int KompassSollWert,NC_CompassSetpoint;
extern int KompassRichtung;
extern char CalculateCompassTimer;
extern unsigned char KompassFusion;
extern unsigned char ControlHeading;
extern int TrimNick, TrimRoll;
extern long ErsatzKompass;
extern int ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern long FromNC_AltitudeSetpoint;
extern unsigned char FromNC_AltitudeSpeed;
extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250
extern unsigned char CareFree;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier;
extern unsigned int NeutralAccX, NeutralAccY;
extern unsigned char HoehenReglerAktiv;
extern int NeutralAccZ;
extern signed char NeutralAccZfine;
extern long Umschlag180Nick, Umschlag180Roll;
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
extern unsigned int modell_fliegt;
extern void MotorRegler(void);
extern void SendMotorData(void);
//void CalibrierMittelwert(void);
//void Mittelwert(void);
extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess"
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
extern unsigned char ACC_AltitudeControl;
extern signed int CosAttitude; // for projection of hoover gas
 
extern unsigned char h,m,s;
extern int StickNick,StickRoll,StickGier,StickGas;
extern volatile unsigned char Timeout ;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern int DiffNick,DiffRoll;
//extern int Poti1, Poti2, Poti3, Poti4;
extern volatile unsigned char SenderOkay;
unsigned char ReceiverOkay;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern unsigned char CalibrationDone;
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
extern signed int AltitudeSetpointTrimming;
extern signed char WaypointTrimming;
extern int HoverGas;
extern unsigned char Parameter_Luftdruck_D;
//extern unsigned char Parameter_MaxHoehe;
extern unsigned char Parameter_Hoehe_P;
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
extern unsigned char Parameter_KompassWirkung;
extern unsigned char Parameter_Gyro_P;
extern unsigned char Parameter_Gyro_I;
extern unsigned char Parameter_Gier_P;
extern unsigned char Parameter_ServoNickControl;
extern unsigned char Parameter_ServoRollControl;
extern unsigned char Parameter_ServoNickComp;
extern unsigned char Parameter_ServoRollComp;
extern unsigned char Parameter_AchsKopplung1;
extern unsigned char Parameter_AchsKopplung2;
extern unsigned char Parameter_ExternalControl;
//extern unsigned char Parameter_AchsGegenKopplung1;
extern unsigned char Parameter_J16Bitmask; // for the J16 Output
extern unsigned char Parameter_J16Timing; // for the J16 Output
extern unsigned char Parameter_J17Bitmask; // for the J17 Output
extern unsigned char Parameter_J17Timing; // for the J17 Output
extern unsigned char Parameter_GlobalConfig;
extern unsigned char Parameter_ExtraConfig;
extern signed char MixerTable[MAX_MOTORS][4];
extern const signed char sintab[31];
extern unsigned char LowVoltageLandingActive;
extern unsigned char LowVoltageHomeActive;
extern unsigned char Parameter_MaximumAltitude;
extern char NeueKompassRichtungMerken;
extern unsigned char ServoFailsafeActive;
extern unsigned char Parameter_HoehenSchalter;
extern unsigned char Parameter_GPS_Switch;
extern unsigned char Parameter_CareFree_Switch;
extern unsigned char Parameter_Autoland_Switch;
extern signed char BaroExpandCnt;
 
#endif //_FC_H
 
/tags/V2.18a/flight.pnproj
0,0 → 1,0
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="jeti.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="spi.h"></File><File path="spi.c"></File><File path="led.h"></File><File path="led.c"></File><File path="fc.c"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="isqrt.S"></File><File path="Spektrum.c"></File><File path="Spektrum.h"></File><File path="eeprom.h"></File><File path="eeprom.c"></File><File path="libfc.h"></File><File path="debug.c"></File><File path="debug.h"></File><File path="hottmenu.c"></File><File path="hottmenu.h"></File></Project>
/tags/V2.18a/flight.pnps
0,0 → 1,0
<pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd>
/tags/V2.18a/gps.h
0,0 → 1,3
extern signed int GPS_Nick;
extern signed int GPS_Roll;
extern unsigned char GPS_Aid_StickMultiplikator;
/tags/V2.18a/hottmenu.c
0,0 → 1,1695
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "libfc.h"
#include "printf_P.h"
#include "main.h"
#include "spi.h"
#include "capacity.h"
 
unsigned char NaviData_WaypointIndex = 0;
unsigned char NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0, ToNC_Load_WP_List = 0, NaviData_MaxWpListIndex = 0;
unsigned char ToNC_Load_SingePoint = 0, ToNC_Store_SingePoint = 0, Show_Load_Time = 0, Show_Load_Value = 0, Show_Store_Time = 0, Show_Store_Value = 0;
char WPL_Name[10];// = {" \0"};
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 
#define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}
#define HoTT_printfxy(x,y,format, args...) { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}
#define HoTT_printfxy_INV(x,y,format, args...) { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}
#define HoTT_printfxy_BLINK(x,y,format, args...) { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}
#define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}
#define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}
 
#define VOICE_MINIMALE_EINGANSSPANNUNG 16
#define VOICE_BEEP 5
#define HoTT_GRAD 96
#define HoTT_LINKS 123
#define HoTT_RECHTS 124
#define HoTT_OBEN 125
#define HoTT_UNTEN 126
 
#define HOTT_KEY_RIGHT 1
#define HOTT_KEY_DOWN 2
#define HOTT_KEY_UP 4
#define HOTT_KEY_SET 6
#define HOTT_KEY_LEFT 8
 
#define VARIO_ZERO 30000
unsigned int NaviData_TargetDistance = 0;
 
unsigned char MaxBlTemperture = 0;
unsigned char MinBlTemperture = 0;
unsigned char HottestBl = 0;
 
GPSPacket_t GPSPacket;
VarioPacket_t VarioPacket;
ASCIIPacket_t ASCIIPacket;
ElectricAirPacket_t ElectricAirPacket;
HoTTGeneral_t HoTTGeneral;
unsigned char SpeakHoTT = SPEAK_MIKROKOPTER;
unsigned char ToNC_SpeakHoTT = 0, ShowSettingNameTime = 0, ShowCmpsCalibrateTime = 0;
int HoTTVarioMeter = 0;
const char PROGMEM MIKROKOPTER[] = {" MikroKopter "};
const char PROGMEM UNDERVOLTAGE[] = {" !! LiPo voltage !! "};
const char PROGMEM LANDING[] = {" !! LANDING !! "};
const char PROGMEM SIMULATION[] = {" SIMULATION active "};
const char PROGMEM BOAT_MODE[] = {" Boat Mode "};
const char PROGMEM STORE[] = {" Store Position SP1 "};
const char PROGMEM LOAD[] = {" Load Position SP1 "};
const char PROGMEM FLYZONE[] = {" Flyzone: points "};
const char PROGMEM SETTING[] = {"Set :"};
 
const char PROGMEM CALIBRATE_TEXT[6][21] =
{
//0123456789123456
"Finished \0", // 0
"Compass Calibration \0", // 1
"1:Rotate Nick & Roll\0", // 2
"2: idle \0", // 3
"3:Rotate Nick & Roll\0", // 4
"4:Stored \0", // 5
};
 
const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] =
{
//0123456789123456
"No Error \0", // 0
"Not compatible \0", // 1
"MK3Mag not compa\0", // 2
"No FC communicat\0", // 3
"Compass communic\0", // 4
"GPS communicatio\0", // 5
"compass value \0", // 6
"RC Signal lost \0", // 7
"FC spi rx error \0", // 8
"No NC communicat\0", // 9
"FC Nick Gyro \0", // 10
"FC Roll Gyro \0", // 11
"FC Yaw Gyro \0", // 12
"FC Nick ACC \0", // 13
"FC Roll ACC \0", // 14
"FC Z-ACC \0", // 15
"Pressure sensor \0", // 16
"I2C FC->BL-Ctrl \0", // 17
"Bl Missing \0", // 18
"Mixer Error \0", // 19
"Carefree Error \0", // 20
"GPS Fix lost \0", // 21
"Magnet Error \0", // 22
"Motor restart \0", // 23
"BL Limitation \0", // 24
"GPS Range \0", // 25
"No SD-Card \0", // 26
"SD-Logging error\0", // 27
"Flying range! \0", // 28
"Max Altitude! \0", // 29
"No GPS fix \0", // 30
"compass not cal.\0", // 31
"BL-Selftest \0", // 32
"no ext. compass \0", // 33
"compass sensor \0", // 34
"Failsafe postion\0", // 35
"No Redundancy! \0", // 36
"Redundancy test \0", // 37
"GPS Update Rate \0", // 38
"Canbus Error \0", // 39
"5V RC-Supply \0", // 40
"Power-Supply \0", // 41
"ACC not calibr. \0", // 42
"Parachute! \0", // 43
"Outside Flyzone \0", // 44
"No Flyzone \0", // 45
"ERR:Calibration \0", // 46
};
 
 
const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] =
{ // 1 -> only in flight 0 -> also on ground
//0123456789123456
{0,0},// "No Error \0", // 0
{SPEAK_ERROR,0}, // "Not compatible \0", // 1
{SPEAK_ERROR,0}, // "MK3Mag not compa\0", // 2
{SPEAK_ERR_NAVI,1}, // "No FC communicat\0", // 3
{SPEAK_ERR_COMPASS,1}, // "MK3Mag communica\0", // 4
{SPEAK_ERR_GPS,0}, // "GPS communicatio\0", // 5
{SPEAK_ERR_COMPASS,1}, // "compass value \0", // 6
{SPEAK_ERR_RECEICER,0},// "RC Signal lost \0", // 7
{SPEAK_ERR_NAVI,0}, // "FC spi rx error \0", // 8
{SPEAK_ERR_NAVI,0}, // "No NC communicat\0", // 9
{SPEAK_ERR_SENSOR,0}, // "FC Nick Gyro \0", // 10
{SPEAK_ERR_SENSOR,0}, // "FC Roll Gyro \0", // 11
{SPEAK_ERR_SENSOR,0}, // "FC Yaw Gyro \0", // 12
{SPEAK_ERR_SENSOR,0}, // "FC Nick ACC \0", // 13
{SPEAK_ERR_SENSOR,0}, // "FC Roll ACC \0", // 14
{SPEAK_ERR_SENSOR,0}, // "FC Z-ACC \0", // 15
{SPEAK_ERR_SENSOR,0}, // "Pressure sensor \0", // 16
{SPEAK_ERR_DATABUS,1}, // "I2C FC->BL-Ctrl \0", // 17
{SPEAK_ERR_DATABUS,1}, // "Bl Missing \0", // 18
{SPEAK_ERROR,0}, // "Mixer Error \0", // 19
{SPEAK_CF_OFF,1}, // "Carefree Error \0", // 20
{SPEAK_GPS_FIX,1}, // "GPS Fix lost \0", // 21
{SPEAK_ERR_COMPASS,0}, // "Magnet Error \0", // 22
{SPEAK_ERR_MOTOR,1}, // "Motor restart \0", // 23
{SPEAK_MAX_TEMPERAT,1},// "BL Limitation \0", // 24
{SPEAK_MAX_RANGE,1}, // "GPS Range \0", // 25
{SPEAK_ERROR,1}, // "No SD-Card \0", // 26
{SPEAK_ERROR,1}, // "SD-Logging error\0", // 27
{SPEAK_MAX_RANGE,1}, // "Flying range! \0", // 28
{SPEAK_MAX_ALTITUD,1}, // "Max Altitude! \0" // 29
{SPEAK_GPS_FIX,1}, // "No GPS fix \0" // 30
{SPEAK_ERR_CALIBARTION,0},// "compass not cal." // 31
{SPEAK_ERR_MOTOR,0}, // "BL-Selftest \0" // 32
{SPEAK_ERR_COMPASS,0}, // "no ext. compass" // 33
{SPEAK_ERR_COMPASS,0}, // "compass sensor" // 34
{SPEAK_ERROR,1}, // "Failsafe postion0", // 35
{SPEAK_ERROR,0}, // "No Redundancy!", // 36
{0,0}, // "Redundancy test", // 37
{SPEAK_ERR_GPS,0}, // "GPS Update Rate", // 38
{SPEAK_ERR_DATABUS,0}, // "Canbus Error! // 39
{SPEAK_RECEIV_VOLT,0}, // "5V Supply" // 40
{SPEAK_UNDERVOLTAGE,0},// "Power Supply" // 41
{SPEAK_ERR_SENSOR,0}, // "ACC not calibr. ", // 42
{SPEAK_MK_OFF,0}, // "Parachute", // 43
{SPEAK_MAX_RANGE,0}, // "Outside Area", // 44
{SPEAK_ERROR,0}, // "No Flyzone", // 45
{0,0} // "Err:Calibration" // 46 (achtung: hier nicht "SPEAK_ERR_CALIBARTION" einsetzen)
 
};
 
/*
//------------------------------------------------------------------------------------------
// HoTT-Plus
//------------------------------------------------------------------------------------------
char dummy=0;
const Parameter_List_t Parameter_List[] =
{ //offset,min,max,name,variable
{127, 0, 247,"SP1", (unsigned char *) &PPM_in[13] },
{127, 0, 247,"SP2", (unsigned char *) &PPM_in[14] },
{127, 0, 247,"SP3", (unsigned char *) &PPM_in[15] },
{127, 0, 247,"SP4", (unsigned char *) &PPM_in[16] },
{ 0, 0, 247,"HD ", (unsigned char *) &EE_Parameter.Luftdruck_D },
{ 0, 0, 247,"HP ", (unsigned char *) &EE_Parameter.Hoehe_P },
{ 0, 0, 247,"HA ", (unsigned char *) &EE_Parameter.Hoehe_ACC_Wirkung },
{ 0, 0, 247,"HM ", (unsigned char *) &EE_Parameter.Hoehe_MinGas },
{ 0, 0, 247,"HV ", (unsigned char *) &EE_Parameter.Hoehe_HoverBand },
{ 0, 0, 247,"HG ", (unsigned char *) &EE_Parameter.Hoehe_Verstaerkung },
{ 0, 0, 247,"NG ", (unsigned char *) &EE_Parameter.NotGas },
{ 0, 0, 247,"StP", (unsigned char *) &EE_Parameter.Stick_P },
{ 0, 0, 247,"StD", (unsigned char *) &EE_Parameter.Stick_D },
{ 0, 0, 247,"SGP", (unsigned char *) &EE_Parameter.StickGier_P },
{ 0, 0, 247,"DrC", (unsigned char *) &EE_Parameter.Driftkomp },
{ 0, 0, 247,"GYP", (unsigned char *) &EE_Parameter.Gyro_P },
{ 0, 0, 247,"GYD", (unsigned char *) &EE_Parameter.Gyro_D },
{ 0, 0, 247,"GYI", (unsigned char *) &EE_Parameter.Gyro_I },
{ 0, 0, 247,"MaI", (unsigned char *) &EE_Parameter.I_Faktor },
{ 0, 0, 247,"GGP", (unsigned char *) &EE_Parameter.Gyro_Gier_P },
{ 0, 0, 247,"GGI", (unsigned char *) &EE_Parameter.Gyro_Gier_I },
{ 0, 0, 15,"GSt", (unsigned char *) &EE_Parameter.Gyro_Stability },
{ 0, 0, 247,"DSt", (unsigned char *) &EE_Parameter.DynamicStability },
{ 0, 0, 247,"NGG", (unsigned char *) &EE_Parameter.NaviGpsGain },
{ 0, 0, 247,"NWC", (unsigned char *) &EE_Parameter.NaviWindCorrection },
{ 0, 0, 247,"NSC", (unsigned char *) &EE_Parameter.NaviAccCompensation },
{ 0, 0, 247,"NAL", (unsigned char *) &EE_Parameter.NaviAngleLimitation },
{ 0, 0, 247,"NP ", (unsigned char *) &EE_Parameter.NaviGpsP },
{ 0, 0, 247,"ND ", (unsigned char *) &EE_Parameter.NaviGpsI },
{ 0, 0, 247,"NI ", (unsigned char *) &EE_Parameter.NaviGpsD },
{ 0, 0, 247,"LGL", (unsigned char *) &EE_Parameter.LoopGasLimit },
{ 0, 0, 247,"LHy", (unsigned char *) &EE_Parameter.LoopHysterese },
{ 0, 0, 247,"LTh", (unsigned char *) &EE_Parameter.LoopThreshold },
{ 0, 0, 0," ", (unsigned char *) &dummy },
{ 0, 0, 247,"FGP", (unsigned char *) &EE_Parameter.AchsKopplung1},
{ 0, 0, 247,"FNR", (unsigned char *) &EE_Parameter.AchsKopplung2},
{ 0, 0, 247,"CYC", (unsigned char *) &EE_Parameter.CouplingYawCorrection},
{ 0, 0, 247,"MSH", (unsigned char *) &EE_Parameter.MotorSmooth},
{ 0, 0, 247,"NCT", (unsigned char *) &EE_Parameter.ServoNickControl },
{ 0, 0, 247,"NCP", (unsigned char *) &EE_Parameter.ServoNickComp },
{ 0, 0, 247,"RCT", (unsigned char *) &EE_Parameter.ServoRollControl },
{ 0, 0, 247,"RCP", (unsigned char *) &EE_Parameter.ServoRollComp }
};
unsigned char settingdest = 0;
//------------------------------------------------------------------------------------------
// HoTT-Plus
//------------------------------------------------------------------------------------------
*/
void GetHottestBl(void)
{
static unsigned char search = 0,tmp_max,tmp_min,who;
if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;}
else
if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature;
if(++search >= MAX_MOTORS)
{
search = 0;
if(tmp_min != 255) MinBlTemperture = tmp_min; else MinBlTemperture = 0;
MaxBlTemperture = tmp_max;
HottestBl = who;
tmp_min = 255;
tmp_max = 0;
who = 0;
}
}
 
//---------------------------------------------------------------
void Hott_ClearLine(unsigned char line)
{
HoTT_printfxy(0,line," ");
}
//---------------------------------------------------------------
 
 
unsigned char HoTT_Waring(void)
{
unsigned char status = 0;
static char old_status = 0;
static int repeat;
//if(Parameter_UserParam1) SpeakHoTT = Parameter_UserParam1;
ToNC_SpeakHoTT = SpeakHoTT;
if(FC_StatusFlags & FC_STATUS_LOWBAT)
{
if(LowVoltageLandingActive && (EE_Parameter.Receiver == RECEIVER_HOTT)) status = SPEAK_LANDING;
else status = VOICE_MINIMALE_EINGANSSPANNUNG; // Jeti hat kein wort: "LANDEN"
if(SpeakHoTT && old_status == VOICE_MINIMALE_EINGANSSPANNUNG) status = SpeakHoTT; // das soll auch noch durch kommen
}
else
if(NC_ErrorCode && NC_ErrorCode < MAX_ERR_NUMBER) // Fehlercodes
{
if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]);
}
if(!status) // Sprachansagen
{
// if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0; // is the voice wanted?
if(!(EE_Parameter.GlobalConfig3 & CFG3_SPEAK_ALL)) SpeakHoTT = 0; // is the voice wanted?
else status = SpeakHoTT;
}
else ToNC_SpeakHoTT = status;
 
if(old_status == status) // Gleichen Fehler nur alle 4 sek bringen
{
if(!CheckDelay(repeat)) return(0);
repeat = SetDelay(4000);
}
else repeat = SetDelay(2000);
 
if(status)
{
if(status == SpeakHoTT) SpeakHoTT = 0;
}
old_status = status;
return(status);
}
 
//---------------------------------------------------------------
void NC_Fills_HoTT_Telemety(void)
{
unsigned char *ptr = NULL;
unsigned char max = 0,i,z;
switch(FromNaviCtrl.Param.Byte[11])
{
case HOTT_VARIO_PACKET_ID:
ptr = (unsigned char *) &VarioPacket;
max = sizeof(VarioPacket);
break;
case HOTT_GPS_PACKET_ID:
ptr = (unsigned char *) &GPSPacket;
max = sizeof(GPSPacket);
break;
case HOTT_ELECTRIC_AIR_PACKET_ID:
ptr = (unsigned char *) &ElectricAirPacket;
max = sizeof(ElectricAirPacket);
break;
case HOTT_GENERAL_PACKET_ID:
ptr = (unsigned char *) &HoTTGeneral;
max = sizeof(HoTTGeneral);
break;
case JETI_GPS_PACKET_ID1:
ptr = (unsigned char *) &JetiExData[14].Value;
max = sizeof(JetiExData[14].Value);
break;
case JETI_GPS_PACKET_ID2:
ptr = (unsigned char *) &JetiExData[15].Value;
max = sizeof(JetiExData[15].Value);
break;
case HOTT_WPL_NAME:
ptr = (unsigned char *) WPL_Name;
max = sizeof(WPL_Name)-1;
break;
 
}
z = FromNaviCtrl.Param.Byte[0]; // Data allocation
 
for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++)
{
if(z >= max) break;
ptr[z] = FromNaviCtrl.Param.Byte[2+i];
z++;
}
}
 
unsigned int BuildHoTT_Vario(void)
{
unsigned int tmp = VARIO_ZERO;
if(VarioCharacter == '+' || VarioCharacter == '-')
{
tmp = VARIO_ZERO + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3;
if(tmp < VARIO_ZERO && tmp > VARIO_ZERO - 50) tmp = VARIO_ZERO - 50; // weil es sonst erst bei < 0,5m/sek piept
}
else
if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY))
{
tmp = VARIO_ZERO + HoTTVarioMeter;
if(tmp > VARIO_ZERO)
{
if(tmp < VARIO_ZERO + 100) tmp = VARIO_ZERO;
else tmp -= 100;
}
if(tmp < VARIO_ZERO)
{
if(tmp > VARIO_ZERO - 100) tmp = VARIO_ZERO;
else tmp += 100;
}
}
else
if(VarioCharacter == '^') tmp = VARIO_ZERO + FromNC_AltitudeSpeed * 10;
else
if(VarioCharacter == 'v') tmp = VARIO_ZERO - FromNC_AltitudeSpeed * 10;
return(tmp);
}
 
void BuildHottStatusText(void)
{
unsigned char i;
if(NC_ErrorCode)
{
VarioPacket.Text[0] = NC_ErrorCode/10 + '0';
VarioPacket.Text[1] = NC_ErrorCode%10 + '0';
VarioPacket.Text[2] = ':';
for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]);
VarioPacket.Text[19] = ' ';
VarioPacket.Text[20] = ' ';
}
else
if(Partner_ErrorCode)
{
if(IamMaster == SLAVE)
{
VarioPacket.Text[0] = 'M';
VarioPacket.Text[1] = 'A';
}
else
{
VarioPacket.Text[0] = 'S';
VarioPacket.Text[1] = 'L';
}
VarioPacket.Text[2] = Partner_ErrorCode/10 + '0';
VarioPacket.Text[3] = Partner_ErrorCode%10 + '0';
VarioPacket.Text[4] = ':';
for(i=0; i<16;i++) VarioPacket.Text[i+5] = pgm_read_byte(&NC_ERROR_TEXT[Partner_ErrorCode][i]);
}
else
if(ShowCmpsCalibrateTime)
{
for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&CALIBRATE_TEXT[WinkelOut.CalcState][i]);
}
else
if(LowVoltageLandingActive) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LANDING[i]); // no Error
else
if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error
else
if(ShowSettingNameTime) // no Error
{
for(i=0; i<sizeof(SETTING);i++) VarioPacket.Text[i] = pgm_read_byte(&SETTING[i]);
VarioPacket.Text[4] = '0' + ActiveParamSet;
for(i=0; i<sizeof(EE_Parameter.Name);i++) VarioPacket.Text[i+7] = EE_Parameter.Name[i]; // no Error
if(FC_StatusFlags3 & FC_STATUS3_BOAT)
{
VarioPacket.Text[17] = 'B';
VarioPacket.Text[18] = 'O';
VarioPacket.Text[19] = 'A';
VarioPacket.Text[20] = 'T';
}
else
{
VarioPacket.Text[18] = ' ';
VarioPacket.Text[19] = ' ';
VarioPacket.Text[20] = ' ';
}
}
else
if(Show_Store_Time)
{
for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&STORE[i]); // no Error and not calibrated
if(Show_Store_Value < 10) VarioPacket.Text[18] = Show_Store_Value + '0';
else
{
VarioPacket.Text[18] = Show_Store_Value/10 + '0';
VarioPacket.Text[19] = Show_Store_Value%10 + '0';
}
}
else
if(Show_Load_Time)
{
for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LOAD[i]); // no Error and not calibrated
if(Show_Load_Value < 10) VarioPacket.Text[17] = Show_Load_Value + '0';
else
{
VarioPacket.Text[17] = Show_Load_Value/10 + '0';
VarioPacket.Text[18] = Show_Load_Value%10 + '0';
}
}
else
if(NaviData_WaypointNumber)
{
unsigned int tmp_int;
unsigned char tmp;
VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P';
VarioPacket.Text[2] = ' ';
VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10;
VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10;
VarioPacket.Text[5] = '/';
VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10;
VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10;
VarioPacket.Text[8] = ' ';
tmp_int = NaviData_TargetDistance;
if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;}
else VarioPacket.Text[9] = ' ';
if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;}
else VarioPacket.Text[10] = ' ';
VarioPacket.Text[11] = '0'+(tmp_int) / 10;
VarioPacket.Text[12] = '0'+(tmp_int) % 10;
VarioPacket.Text[13] = 'm';
VarioPacket.Text[14] = ' ';
tmp = NaviData_TargetHoldTime;
if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' ';
VarioPacket.Text[16] = '0'+(tmp) / 10;
VarioPacket.Text[17] = '0'+(tmp) % 10;
VarioPacket.Text[18] = 's';
VarioPacket.Text[19] = ' ';
VarioPacket.Text[20] = ' ';
if(FlyzonePointCnt >= 3) VarioPacket.Text[20] = 'F';
}
else if(FlyzonePointCnt)
{
for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&FLYZONE[i]);
if(FlyzonePointCnt >=10) VarioPacket.Text[9] = '0'+(FlyzonePointCnt) / 10;
VarioPacket.Text[10] = '0'+(FlyzonePointCnt) % 10;
}
else
if(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)
{
for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&SIMULATION[i]);
}
else
if(!CalibrationDone)
{
if(OEM_String[0] == 0xff) for(i=0; i<17;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i+2]); // no Error and not calibrated
else for(i=0; i<16;i++) VarioPacket.Text[i] = OEM_String[i]; // no Error and not calibrated
VarioPacket.Text[16] = '0'+VERSION_MAJOR;
VarioPacket.Text[17] = '.';
VarioPacket.Text[18] = '0'+VERSION_MINOR/10;
VarioPacket.Text[19] = '0'+VERSION_MINOR%10;
VarioPacket.Text[20] = 'a'+VERSION_PATCH;
}
else
{
if(FC_StatusFlags3 & FC_STATUS3_BOAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&BOAT_MODE[i]); // no Error
else
{
if(OEM_String[0] == 0xff)
{
for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error
}
else
{
VarioPacket.Text[0] = ' ';
VarioPacket.Text[1] = ' ';
VarioPacket.Text[2] = ' ';
for(i=0; i<16;i++) VarioPacket.Text[i+3] = OEM_String[i]; // no Error and not calibrated
VarioPacket.Text[20] = ' ';
}
}
if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) VarioPacket.Text[0] = 'R';
}
}
 
//---------------------------------------------------------------
unsigned char HoTT_Telemety(unsigned char packet_request)
{
static unsigned char SpeechMessage = 0;
//Debug("rqst: %02X",packet_request);
switch(packet_request)
{
case HOTT_VARIO_PACKET_ID:
 
if(GPSPacket.WarnBeep == SpeechMessage) SpeechMessage = HoTT_Waring(); // Achtung: das ist richtig hier, damit der Varioton schon vorher abgestellt wird
 
VarioPacket.Altitude = HoehenWert/100 + 500;
if(!SpeechMessage) VarioPacket.m_sec = BuildHoTT_Vario(); else VarioPacket.m_sec = VARIO_ZERO;
VarioPacket.m_3sec = VarioPacket.m_sec;
VarioPacket.m_10sec = VarioPacket.m_sec;
if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude;
if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude;
VarioPacket.WarnBeep = 0;//HoTT_Waring();
HoTT_DataPointer = (unsigned char *) &VarioPacket;
VarioPacket.FreeCharacters[0] = VarioCharacter;
if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' ';
BuildHottStatusText();
// VarioPacket.FreeCharacters[2] = ' ';
return(sizeof(VarioPacket));
break;
 
case HOTT_GPS_PACKET_ID:
GPSPacket.Altitude = HoehenWert/100 + 500;
// GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC
// GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC
// GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC
GPSPacket.WarnBeep = SpeechMessage;
if(!GPSPacket.WarnBeep) GPSPacket.m_sec = BuildHoTT_Vario(); else GPSPacket.m_sec = VARIO_ZERO;
GPSPacket.m_3sec = 120;
GPSPacket.NumOfSats = GPSInfo.NumOfSats;
if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D';
else
if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' ';
else GPSPacket.SatFix = '!';
HoTT_DataPointer = (unsigned char *) &GPSPacket;
GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter;
GPSPacket.FreeCharacters[1] = CamCtrlCharacter;
GPSPacket.FreeCharacters[2] = GPSPacket.SatFix;
GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230;
return(sizeof(GPSPacket));
break;
case HOTT_ELECTRIC_AIR_PACKET_ID:
GetHottestBl();
ElectricAirPacket.Altitude = HoehenWert/100 + 500;
ElectricAirPacket.Battery1 = UBat;
ElectricAirPacket.Battery2 = UBat;
ElectricAirPacket.VoltageCell1 = CompassCorrected / 2;
ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1;
ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2;
ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20;
ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6;
ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7;
if(!SpeechMessage) ElectricAirPacket.m_sec = BuildHoTT_Vario(); else ElectricAirPacket.m_sec = VARIO_ZERO;
ElectricAirPacket.m_3sec = 120;
ElectricAirPacket.InputVoltage = UBat;
ElectricAirPacket.Temperature1 = MinBlTemperture + 20;
ElectricAirPacket.Temperature2 = MaxBlTemperture + 20;
ElectricAirPacket.Capacity = Capacity.UsedCapacity/10;
ElectricAirPacket.WarnBeep = 0;//HoTT_Waring();
//ElectricAirPacket.WarnBeep = SpeechMessage;
ElectricAirPacket.Current = Capacity.ActualCurrent;
HoTT_DataPointer = (unsigned char *) &ElectricAirPacket;
ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60;
ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60;
return(sizeof(ElectricAirPacket));
break;
case HOTT_GENERAL_PACKET_ID:
GetHottestBl();
HoTTGeneral.Rpm = GPSInfo.HomeDistance/100;
HoTTGeneral.VoltageCell1 = CompassCorrected / 2;
HoTTGeneral.VoltageCell2 = KompassValue / 2;
//HoTTGeneral.VoltageCell3 = Magnetstaerke -> macht NC
//HoTTGeneral.VoltageCell4 = Inclinition -> macht NC
HoTTGeneral.VoltageCell5 = DebugOut.Analog[28]; // I2C ErrorCounter
HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2;
if(UBat > BattLowVoltageWarning + 2) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 2)) * 3;
else HoTTGeneral.FuelPercent = 0;
if(HoTTGeneral.FuelPercent > 100) HoTTGeneral.FuelPercent = 100;
HoTTGeneral.FuelCapacity = NC_ErrorCode;//HoehenWert/100; // Oelpegel
// if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0;
HoTTGeneral.Altitude = HoehenWert/100 + 500;
HoTTGeneral.Battery1 = UBat;
HoTTGeneral.Battery2 = UBat;
if(!SpeechMessage) HoTTGeneral.m_sec = BuildHoTT_Vario(); else HoTTGeneral.m_sec = VARIO_ZERO;
HoTTGeneral.m_3sec = 120 + SpeechMessage;
HoTTGeneral.InputVoltage = UBat;
HoTTGeneral.Temperature1 = MinBlTemperture + 20;
HoTTGeneral.Temperature2 = MaxBlTemperture + 20;
HoTTGeneral.Capacity = Capacity.UsedCapacity/10;
HoTTGeneral.WarnBeep = 0;
HoTTGeneral.Current = Capacity.ActualCurrent;
//HoTTGeneral.ErrorNumber = HoTTErrorCode();
HoTT_DataPointer = (unsigned char *) &HoTTGeneral;
return(sizeof(HoTTGeneral));
break;
default: return(0);
}
}
 
//---------------------------------------------------------------
void HoTT_Menu(void)
{
static unsigned char line, page = 0,show_current = 0,show_other = 0, show_poti = 0,hyterese = 1;
HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8;
static int delay;
 
// if(HottKeyboard) {beeptime = 1000;};
switch(page)
{
case 0:
switch(line++)
{
case 0:
if(FC_StatusFlags & FC_STATUS_LOWBAT)
HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10)
else
HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10)
 
if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
{
if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter)
else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100))
}
else HoTT_printfxy(10,0,"ALT:---- ");
break;
case 1:
if(FC_StatusFlags & FC_STATUS_LOWBAT)
HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60)
else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60);
HoTT_printfxy(10,1,"DIR: %3d%c",CompassCorrected, HoTT_GRAD);
if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," ");
break;
case 2:
if(FC_StatusFlags & FC_STATUS_LOWBAT)
HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity)
else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity);
HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
break;
case 3:
HoTT_printfxy(9,0,":");
HoTT_printfxy(9,1,":");
HoTT_printfxy(9,2,":");
if(FromNC_Laser_cm) HoTT_printfxy(0,3,"---------:LSR:%2d.%02dm ",FromNC_Laser_cm/100,FromNC_Laser_cm%100)
else HoTT_printfxy(0,3,"---------+-----------");
 
HoTT_printfxy(0,6,"---------------------");
break;
case 4:
if(NaviDataOkay)
{
HoTT_printfxy(9,4,":");
HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats);
HoTT_printfxy(10,4,"DIST:%3dm %c",GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter);
switch (GPSInfo.SatFix)
{
case SATFIX_3D:
if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ")
else HoTT_printfxy(7,4,"3D");
break;
default:
HoTT_printfxy_BLINK(7,4,"!!");
break;
}
}
else
{
Hott_ClearLine(4);
}
break;
case 5:
if(NaviDataOkay)
{
switch(show_other)
{
case 1:
HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField);
HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic);
break;
case 2:
Hott_ClearLine(5);
if(TrigLogging_CountExternal) HoTT_printfxy(0,5,"HotShoe:%4u ",TrigLogging_CountExternal-1)
else HoTT_printfxy(0,5,"No HotShoe");
break;
default:
HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, CamCtrlCharacter);
break;
}
}
else Hott_ClearLine(5);
break;
case 6:
break;
case 7:
BuildHottStatusText();
for(unsigned char i = 0; i<21; i++) ASCIIPacket.Text[7*21 + i] = VarioPacket.Text[i];
break;
case 8: //ASCIIPacket.WarnBeep = HoTT_Waring();
// ASCIIPacket.WarnBeep = Parameter_UserParam1;
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == HOTT_KEY_DOWN) { LIBFC_HoTT_Clear(); page = 5; line = 0;}
else
if(HottKeyboard == HOTT_KEY_SET) { if(show_other >= 2) show_other = 0; else show_other++;}
else
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;};
HottKeyboard = 0;
break;
default: line = 0;
break;
}
break;
case 1:
switch(line++)
{
case 0:
if(FC_StatusFlags & FC_STATUS_LOWBAT)
HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity)
else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity);
break;
case 1:
HoTT_printfxy(0,1,"DIR:%3d%c",CompassCorrected, HoTT_GRAD);
if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
{
if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100))
else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100))
}
else HoTT_printfxy(10,1,"ALT:---- ");
HoTT_printfxy(20,1,"%c",VarioCharacter);
break;
case 2:
if(NaviDataOkay)
{
HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter);
}
else
{
Hott_ClearLine(2);
}
break;
case 3:
HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower);
if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," ");
break;
case 4:
if(NaviDataOkay)
{
HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats);
switch (GPSInfo.SatFix)
{
case SATFIX_3D:
HoTT_printfxy(16,4," 3D ");
break;
//case SATFIX_2D:
//case SATFIX_NONE:
default:
HoTT_printfxy_BLINK(16,4,"NOFIX");
break;
}
if(GPSInfo.Flags & FLAG_DIFFSOLN)
{
HoTT_printfxy(16,4,"DGPS ");
}
}
else
{ //012345678901234567890
HoTT_printfxy(0,4," No NaviCtrl ");
}
break;
case 5:
if(show_current)
{
// HoTT_printfxy(0,5,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[0].Current/10,Motor[0].Current%10,Motor[1].Current/10,Motor[1].Current%10,Motor[2].Current/10,Motor[2].Current%10,Motor[3].Current/10,Motor[3].Current%10);
HoTT_printfxy(0,5,"%2i.%i %2i.%i %2i.%i %2i.%iA", BL3_Current(0)/10,BL3_Current(0)%10,BL3_Current(1)/10,BL3_Current(1)%10,BL3_Current(2)/10,BL3_Current(2)%10,BL3_Current(3)/10,BL3_Current(3)%10);
}
else
{
HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD);
}
break;
case 6:
if(show_current)
{
if(RequiredMotors == 4) Hott_ClearLine(6);
else
// if(RequiredMotors == 6) HoTT_printfxy(0,6,"%2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10)
if(RequiredMotors == 6) HoTT_printfxy(0,6,"%2i.%i %2i.%iA", BL3_Current(4)/10,BL3_Current(4)%10, BL3_Current(5)/10,BL3_Current(5)%10)
else
// if(RequiredMotors > 6) HoTT_printfxy(0,6,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10,Motor[6].Current/10,Motor[6].Current%10,Motor[7].Current/10,Motor[7].Current%10);
if(RequiredMotors > 6) HoTT_printfxy(0,6,"%2i.%i %2i.%i %2i.%i %2i.%iA", BL3_Current(4)/10,BL3_Current(4)%10,BL3_Current(5)/10,BL3_Current(5)%10,BL3_Current(6)/10,BL3_Current(6)%10,BL3_Current(7)/10,BL3_Current(7)%10,BL3_Current(8)/10,BL3_Current(8)%10);
}
else
{
if(RequiredMotors == 4) Hott_ClearLine(6);
else
if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD)
else
if(RequiredMotors > 6) HoTT_printfxy(0,6,"%3i %3i %3i %3i%cC", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature,HoTT_GRAD);
}
break;
case 7:
BuildHottStatusText();
for(unsigned char i = 0; i<21; i++) ASCIIPacket.Text[7*21 + i] = VarioPacket.Text[i];
break;
case 8: // ASCIIPacket.WarnBeep = HoTT_Waring();
// ASCIIPacket.WarnBeep = Parameter_UserParam1;
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);}
else
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
else
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}
//if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard);
HottKeyboard = 0;
break;
default: line = 0;
break;
}
break;
case 2:
switch(line++)
{
case 0:
HoTT_printfxy_INV(0,0,"Setting:%u %s ",ActiveParamSet,EE_Parameter.Name);
break;
case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name);
break;
case 2: HoTT_printfxy(0,2,"ALT:");
if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
{
if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter)
else
{
if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) ");
if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter)
else HoTT_printf("VARIO", Parameter_HoehenSchalter);
}
}
else
HoTT_printf("DISABLED");
break;
case 3: HoTT_printfxy(0,3,"CF:");
if(!EE_Parameter.CareFreeChannel) HoTT_printf("DISABLED")
else
{
if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)");
if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH");
}
break;
case 4: HoTT_printfxy(0,4,"GPS:");
if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED")
else
{
if(Parameter_GPS_Switch < 50) HoTT_printf("(FREE)")
else
if(Parameter_GPS_Switch >= 180) HoTT_printf("(HOME)")
else
if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ")
else HoTT_printf("(HOLD)")
}
if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime)
 
break;
case 5: HoTT_printfxy(0,5,"HOME ALT:");
if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD ");
break;
case 6:
if(!show_poti)
{
HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",ChannelNick,ChannelRoll, Parameter_ServoNickControl);
HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",ChannelGas+127,ChannelYaw);
}
else
{
HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3);
HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6);
}
break;
case 7: //HoTT_printfxy(0,6,"WARNINGS:");
if(HoTTBlink)
{
LIBFC_HoTT_SetPos(6 * 21);
if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! ");
if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! ");
if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! ");
}
break;
case 8: //ASCIIPacket.WarnBeep = HoTT_Waring();
break;
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);}
else
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
else
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;};
HottKeyboard = 0;
break;
default: line = 0;
break;
}
break;
case 3:
switch(line++)
{
static unsigned char load_waypoint_tmp2 = 1, changed2;
case 0:
HoTT_printfxy(0,0,"Load Waypoints");
HoTT_printfxy(0,1,"(Relative Positions)");
// HoTT_printfxy(0,1,"(Absolute)");
break;
case 1:
if(FlyzonePointCnt) HoTT_printfxy(0,5,"Flyzone:%2d points",FlyzonePointCnt) else Hott_ClearLine(5);
if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)
else HoTT_printfxy(0,6,"No WPs active ")
break;
case 2:
HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10)
HoTT_printfxy(11,7,"%s",WPL_Name)
case 3:
case 4:
case 5:
if(load_waypoint_tmp2)
{
if(changed2 && HoTTBlink) HoTT_printfxy(10,3," ")
else HoTT_printfxy(10,3,"%2i ",load_waypoint_tmp2);
HoTT_printfxy(0,3,"Load list:")
}
else
{
HoTT_printfxy(0,3,"Load list: -- ");
}
if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ")
else
{
if(GPSInfo.SatFix == SATFIX_3D)
{
if(changed2 && load_waypoint_tmp2) HoTT_printfxy(0,4,"(Set -> Load)")
else HoTT_printfxy(0,4," ");
if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp2) ToNC_Load_WP_List = load_waypoint_tmp2 | 128; changed2 = 0;}
} else HoTT_printfxy(0,4,"!No GPS-Fix! ");
}
if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp2 < NaviData_MaxWpListIndex) { changed2 = 1; load_waypoint_tmp2++;HoTTBlink = 0;}
if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp2 > 1) { changed2 = 1; load_waypoint_tmp2--;HoTTBlink = 0;};
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;};
HottKeyboard = 0;
break;
default: line = 0;
break;
}
break;
case 4:
switch(line++)
{
static unsigned char load_waypoint_tmp = 1, changed;
case 0:
HoTT_printfxy(0,0,"Load Waypoints");
HoTT_printfxy(0,1,"(Fixed Positions)");
break;
case 1:
if(FlyzonePointCnt) HoTT_printfxy(0,5,"Flyzone:%2d points",FlyzonePointCnt) else Hott_ClearLine(5);
if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)
else HoTT_printfxy(0,6,"No WPs active ")
break;
case 2:
HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10)
HoTT_printfxy(11,7,"%s",WPL_Name)
case 3:
case 4:
case 5:
HoTT_printfxy(0,3,"Load list:")
if(load_waypoint_tmp)
{
if(changed && HoTTBlink) HoTT_printfxy(10,3," ")
else HoTT_printfxy(10,3,"%2d (FIX)",load_waypoint_tmp);
}
else
{
HoTT_printfxy(10,3," --")
}
if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ")
else
{
if(changed && load_waypoint_tmp) HoTT_printfxy(0,4,"(Set -> Load)")
else HoTT_printfxy(0,4," ");
}
if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { changed = 1; load_waypoint_tmp++; HoTTBlink = 0;}
if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp > 1) { changed = 1; load_waypoint_tmp--; HoTTBlink = 0;};
if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp) ToNC_Load_WP_List = load_waypoint_tmp; changed = 0;}
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;};
HottKeyboard = 0;
break;
default: line = 0;
break;
}
break;
case 5:
switch(line++)
{
static unsigned char wp_tmp, changed;
case 0:
HoTT_printfxy(0,0,"Store single Position");
// HoTT_printfxy(0,1,"(Fixed Positions)");
break;
case 1:
HoTT_printfxy(0,2," %2i.%1iV ",UBat/10, UBat%10)
HoTT_printfxy(0,3," %2i:%02i ",FlugSekunden/60,FlugSekunden%60);
// HoTT_printfxy(0,4,"Dist:%3dm",NaviData_TargetDistance)
break;
case 2:
HoTT_printfxy(11,2,"ALT:%4im", (int16_t)(HoehenWert/100))
HoTT_printfxy(11,3,"DIR: %3d%c",CompassCorrected, HoTT_GRAD);
HoTT_printfxy(11,4,"Cam: %3i",Parameter_ServoNickControl);
break;
case 3:
case 4:
case 5:
HoTT_printfxy(0,6,"Store point:")
if(wp_tmp)
{
if(changed && HoTTBlink) HoTT_printfxy(13,6," ")
else HoTT_printfxy(13,6,"%2d ",wp_tmp);
}
else
{
HoTT_printfxy(13,6,"--")
}
if(GPSInfo.SatFix == SATFIX_3D)
{
if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,7,"No SD-Card ")
else
{
if(changed && wp_tmp) HoTT_printfxy(0,7,"(Set -> Store)")
else Hott_ClearLine(7);
}
if(HottKeyboard == HOTT_KEY_SET) { if(wp_tmp) ToNC_Store_SingePoint = wp_tmp; changed = 0;}
}
else HoTT_printfxy(0,7,"!No GPS-Fix! ");
if(HottKeyboard == HOTT_KEY_UP && wp_tmp < NaviData_MaxWpListIndex) { changed = 1; wp_tmp++; HoTTBlink = 0;}
if(HottKeyboard == HOTT_KEY_DOWN && wp_tmp > 1) { changed = 1; wp_tmp--; HoTTBlink = 0;};
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;};
HottKeyboard = 0;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bedienung per Taster am Sender
if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) //
{
hyterese = 2;
if(CheckDelay(delay)) { wp_tmp = 0; hyterese = 1;}
}
else
if(PPM_in[EE_Parameter.MenuKeyChannel] < -50)
{
delay = SetDelay(2500);
if(hyterese == 2 && (wp_tmp < NaviData_MaxWpListIndex))
{
wp_tmp++;
ToNC_Store_SingePoint = wp_tmp;
changed = 0;
}
hyterese = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
break;
default: line = 0;
break;
}
break;
case 6:
switch(line++)
{
static unsigned char wp_tmp, changed;
case 0:
HoTT_printfxy(0,0,"Load single Position");
// HoTT_printfxy(0,1,"(Fixed Positions)");
break;
case 1:
HoTT_printfxy(0,2," %2i.%1iV ",UBat/10, UBat%10)
HoTT_printfxy(0,3," %2i:%02i ",FlugSekunden/60,FlugSekunden%60);
// HoTT_printfxy(0,4,"Dist:%3dm",NaviData_TargetDistance)
if(NaviData_WaypointNumber) HoTT_printfxy(0,5,"WP:%2d/%d Dist:%3dm ",NaviData_WaypointIndex,NaviData_WaypointNumber,NaviData_TargetDistance)
else Hott_ClearLine(5);
break;
case 2:
if(FromNC_AltitudeSpeed)
HoTT_printfxy(8,2,"ALT:%4i/%im ", (int16_t)(HoehenWert/100),(int16_t)(FromNC_AltitudeSetpoint/100))
else
HoTT_printfxy(8,2,"ALT:%4im ",(int16_t)(HoehenWert/100))
HoTT_printfxy(8,3,"DIR: %3d%c",CompassCorrected, HoTT_GRAD);
HoTT_printfxy(8,4,"Cam: %3i",Parameter_ServoNickControl);
break;
// HoTT_printfxy(11,7,"%s",WPL_Name)
case 3:
case 4:
case 5:
HoTT_printfxy(0,6,"load point:")
if(wp_tmp)
{
if(changed && HoTTBlink) HoTT_printfxy(11,6," ")
else HoTT_printfxy(11,6,"%2d",wp_tmp);
}
else
{
HoTT_printfxy(11,6,"--")
}
if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,7,"No SD-Card ")
else
{
if(changed && wp_tmp) HoTT_printfxy(0,7,"(Set -> Load)")
else
{
Hott_ClearLine(7);
if(NaviData_WaypointNumber) HoTT_printfxy(0,7,"%s",WPL_Name);
}
}
if(HottKeyboard == HOTT_KEY_UP && wp_tmp < NaviData_MaxWpListIndex) { changed = 1; wp_tmp++; HoTTBlink = 0;}
if(HottKeyboard == HOTT_KEY_DOWN && wp_tmp > 1) { changed = 1; wp_tmp--; HoTTBlink = 0;};
if(HottKeyboard == HOTT_KEY_SET) { if(wp_tmp) ToNC_Load_SingePoint = wp_tmp; changed = 0;}
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;};
HottKeyboard = 0;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bedienung per Taster am Sender
if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) //
{
hyterese = 2;
if(CheckDelay(delay)) { wp_tmp = 0; hyterese = 1;}
}
else
if(PPM_in[EE_Parameter.MenuKeyChannel] < -50)
{
delay = SetDelay(2500);
if(hyterese == 2 && (wp_tmp < NaviData_MaxWpListIndex))
{
wp_tmp++;
ToNC_Load_SingePoint = wp_tmp;
changed = 0;
}
hyterese = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
break;
default: line = 0;
break;
}
break;
case 7:
switch(line++)
{
static unsigned char i=0,test=0,set=0;
case 0: HoTT_printfxy(0,0,"Motortest / Setpoints");break;
case 1: //HoTT_printfxy(0,1,"Motor Setpoint Strom ");
case 2:
case 3:
case 4: i=((line-2)*2)+1;
if(MotorenEin)
{
HoTT_printfxy(0,line,"M%i=%2i%2i.%iA M%i=%2i%2i.%iA",i,Motor[i-1].SetPoint,Motor[i-1].Current/10,Motor[i-1].Current%10,i+1,Motor[i].SetPoint,Motor[i].Current/10,Motor[i].Current%10);
}
else
{
HoTT_printfxy(0,line,"M%i=%2i%2i.%iA M%i=%2i%2i.%iA",i,MotorTest[i-1],Motor[i-1].Current/10,Motor[i-1].Current%10,i+1,MotorTest[i],Motor[i].Current/10,Motor[i].Current%10);
}
break;
case 5: if(test)
{
HoTT_printfxy(0,6,"!!!Motortest Aktiv!!!");
}
case 6: if(test)
{
PC_MotortestActive = 254;
HoTT_printfxy(0,7,"Motor %i",test);
MotorTest[test-1]=set;
}
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == HOTT_KEY_RIGHT)
{
if(test)
{
set=0;
MotorTest[test-1]=set;
if(test<8) test++;
}
else
{
LIBFC_HoTT_Clear();
page--;
line=0;
}
}
else
if(HottKeyboard == HOTT_KEY_LEFT)
{
if(test)
{
set=0;
MotorTest[test-1]=set;
if(test>1) test--;
}
else
{
LIBFC_HoTT_Clear();
page++;
line = 0;
}
}
else
if((HottKeyboard == HOTT_KEY_UP) && (set <98 ) && test) set+=2;//GESCHW
else
if((HottKeyboard == HOTT_KEY_DOWN) && (set >0 ) && test) set-=2;
else
if((HottKeyboard == HOTT_KEY_SET) && !MotorenEin)
{
if(test) test = 0; else test = 1;
set=0;
Hott_ClearLine(6); Hott_ClearLine(7);
}
HottKeyboard = 0;
break;
default: line = 0;
break;
//HoTT_printfxy(10 ,line,"I");
//line++;
}
break;
case 8:
switch(line++)
{
#define MD_OFF 1
#define MD_CAL 2
#define MD_SAV 3
static unsigned char mode=MD_OFF,cursor=MD_OFF;
 
case 0: HoTT_printfxy(0,0,"ACC calibration");break;
case 1: HoTT_printfxy(0,2,"ACC: N:%3i R:%3i ",NeutralAccX,NeutralAccY);
case 2: HoTT_printfxy(0,3,"Stick: (%i/%i) ",ChannelNick,ChannelRoll);
case 3: if(ChannelNick || ChannelRoll) HoTT_printfxy(7,3,"!!");
break;
case 4: HoTT_printfxy(2,4,"Off");break;
case 5: HoTT_printfxy(2,5,"Calibrate");break;
case 6: HoTT_printfxy(2,6,"Save ");
if(mode == MD_SAV && cursor == MD_SAV)
{
HoTT_printfxy(7,6,"(SET)");
}
else if((mode == MD_CAL) && !((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-')))
{
HoTT_printfxy(2,6,"Swich GPS off!");
}
break;
case 7:
case 8: HoTT_printfxy(0,cursor+3,">");break;
case 9: HoTT_printfxy(1,mode+3,"*");break;
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == HOTT_KEY_RIGHT)
{
switch(mode)
{
case MD_OFF: LIBFC_HoTT_Clear();
page--; // leave menu
line = 0;
break;
case MD_CAL: NeutralAccY++;
break;
case MD_SAV: break;
default: mode=MD_OFF;break;
}
}
else
if(HottKeyboard == HOTT_KEY_LEFT)
{
switch(mode)
{
case MD_OFF: LIBFC_HoTT_Clear();
page++; // leave menu
line = 0;
break;
case MD_CAL: NeutralAccY--;
break;
case MD_SAV: break;
default: mode=MD_OFF;
break;
}
}
else
if(HottKeyboard == HOTT_KEY_UP)
{
switch(mode)
{
case MD_CAL: NeutralAccX++;
break;
case MD_OFF:
case MD_SAV: if(cursor>1) {HoTT_printfxy(0,cursor+3," ");cursor--;}
HoTT_printfxy(2,6," ");
break;
default: mode=MD_OFF;
break;
}
}
else
if(HottKeyboard == HOTT_KEY_DOWN)
{
switch(mode)
{
case MD_CAL: NeutralAccX--;
break;
case MD_SAV:
case MD_OFF: if(cursor<MD_SAV) {HoTT_printfxy(0,cursor+3," ");cursor++;}
break;
default: mode=MD_OFF;
break;
}
}
else
if(HottKeyboard == HOTT_KEY_SET)
{
switch(mode)
{
case MD_OFF: HoTT_printfxy(1,mode+3," ");
mode = cursor;
if(mode == MD_CAL && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude
break;
case MD_CAL: HoTT_printfxy(1,mode+3," ");
mode = MD_OFF;
break;
case MD_SAV:
Hott_ClearLine(7);
if(cursor == MD_SAV)
{
if(!MotorenEin)
{
/* BoatNeutralNick = AdNeutralNick;
BoatNeutralRoll = AdNeutralRoll;
BoatNeutralGier = AdNeutralGier;
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick);
SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll);
SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier);
*/
StoreNeutralToEeprom();
HoTT_printfxy(7,6," okay ");
HoTT_printfxy(1,mode+3," ");
mode = MD_OFF;
}
else
{
HoTT_printfxy(0,7,"Motors running!!!");
mode = MD_OFF;
}
}
else
{
HoTT_printfxy(1,mode+3," ");
mode=cursor;
}
break;
default: mode=MD_OFF;
break;
}
}
HottKeyboard = 0;
break;
default: line = 0;
break;
//HoTT_printfxy(10 ,line,"I");
//line++;
}
break;
/*
//------------------------------------------------------------------------------------------
// HoTT-Plus
//------------------------------------------------------------------------------------------
case 9:
switch(line++)
{
case 0: HoTT_printfxy(0,0,"I2C Schwerpunkt GAS");
break;
case 1: HoTT_printfxy(0,1,"I2C%3i%3i%3i%3i",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK, Motor[2].State & MOTOR_STATE_ERROR_MASK, Motor[3].State & MOTOR_STATE_ERROR_MASK);
break;
case 2: HoTT_printfxy(0,2," %3i%3i%3i%3i",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK, Motor[6].State & MOTOR_STATE_ERROR_MASK, Motor[7].State & MOTOR_STATE_ERROR_MASK);
break;
case 3: { //0123456789ABCDEF
int r=0;
int n=0;
int g=0;
n=SummeNick >> 9;
r=SummeRoll >> 9;
g=Mess_Integral_Gier >> 9;
 
HoTT_printfxy(0,5,"%3iN %3iR %3iG",n ,r ,g);
}
 
break;
case 4: { //0123456789ABCDEF
HoTT_printfxy(0,4,"+ ^ + <");
}
break;
case 5: { //0123456789ABCDEF
HoTT_printfxy(0,6,"- v - >");
}
break;
case 6: HoTT_printfxy(0,7,"%3i=HG/4 %3i=Gas",HoverGas/4,StickGas);
 
break;
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}
else
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
HottKeyboard = 0;
break;
default: line = 0;
break;
}
break;
//---------------------------------------------------------------------------------------------------
case 10:
{
static signed char i=0,j=0,Changepos=0;
if(line==9)
{
line=0;
if(HottKeyboard == HOTT_KEY_SET ) { if(Changepos) Changepos = 0; else Changepos = 1;}
else
if(Changepos)
{
unsigned char temp=0;
temp=(Changepos+j)-1;
if((HottKeyboard == HOTT_KEY_RIGHT) && !((unsigned char)(*Parameter_List[temp].Variable + Parameter_List[temp].offset) >= Parameter_List[temp].max )) {*Parameter_List[temp].Variable += 1;}
else
if((HottKeyboard == HOTT_KEY_LEFT) && !((unsigned char)(*Parameter_List[temp].Variable + Parameter_List[temp].offset) <= Parameter_List[temp].min )) {*Parameter_List[temp].Variable -= 1;}
else
if(HottKeyboard == HOTT_KEY_UP )
{
Changepos--;
line = Changepos/2;
if(Changepos< 1 ) {Changepos=16;}
}
else
if(HottKeyboard == HOTT_KEY_DOWN)
{
Changepos++;
line = Changepos/2;
if(Changepos >= 17 ) {Changepos=1;}
}
}
else
{
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}
else
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
else
if(HottKeyboard == HOTT_KEY_UP )
{
j-=16;
line = 0;
if(j< 0 ) {j=0;}
}
else
if(HottKeyboard == HOTT_KEY_DOWN)
{
LIBFC_HoTT_Clear();
j+=16;
line = 0;
if(j+14> MAXPARAM ) {j=MAXPARAM-15;}
}
}
Debug("line=%i Changepos=%i j=%i Key=%i",line,Changepos,j,HottKeyboard);
HottKeyboard = 0;
}
HoTT_printfxy(10 ,line,"I");
i=(line*2)+(j);
if(Changepos==(line*2)+1)
{
HoTT_printfxy(0 ,line,">%3i=%-5.5s%",(unsigned char)(*Parameter_List[i ].Variable + Parameter_List[i ].offset),&Parameter_List[i ].name);
}
else
{
HoTT_printfxy(0 ,line," %3i=%-5.5s%",(unsigned char)(*Parameter_List[i ].Variable + Parameter_List[i ].offset),&Parameter_List[i ].name);
}
if(Changepos==(line*2)+2)
{
HoTT_printfxy(11,line,">%3i=%-5.5s%",(unsigned char)(*Parameter_List[i+1].Variable + Parameter_List[i+1].offset),&Parameter_List[i+1].name);
}
else
{
HoTT_printfxy(11,line," %3i=%-5.5s%",(unsigned char)(*Parameter_List[i+1].Variable + Parameter_List[i+1].offset),&Parameter_List[i+1].name);
}
 
line++;
}
break;
case 11:
switch(line++)
{
case 0: HoTT_printfxy(0,0,"Setting speichern");
break;
case 1: HoTT_printfxy(0,1,"Setting%1i= %-11.11s",GetActiveParamSet(),EE_Parameter.Name);
break; //123456789012345678901
case 2: HoTT_printfxy(0,2,"Speichern nach Set %i",settingdest);
break;
case 3: HoTT_printfxy(0,4,"\"SET\" zum speichern");
break;
case 4: HoTT_printfxy(0,5,"^ v zum auswaehlen");
break;
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}
else
if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;}
else
if((HottKeyboard == HOTT_KEY_UP) & (settingdest <5 )) settingdest++;
else
if((HottKeyboard == HOTT_KEY_DOWN) & (settingdest >1 )) settingdest--;
else
if((HottKeyboard == HOTT_KEY_SET) && !MotorenEin)
{
ParamSet_WriteToEEProm(settingdest);
//JetiBeep = jetibeepcode[GetActiveParamSet()-1];
Piep(GetActiveParamSet(),120);
HoTT_printfxy(0,7,"Gespeichert!");
}
HottKeyboard = 0;
break;
default: line = 0;
break;
}
break;
//------------------------------------------------------------------------------------------
// HoTT-Plus
//------------------------------------------------------------------------------------------
*/
default: page = 0;
break;
}
}
 
#endif
 
 
/tags/V2.18a/hottmenu.h
0,0 → 1,317
#ifndef _HOTTMENU_H
#define _HOTTMENU_H
 
extern unsigned char NaviData_WaypointIndex;
extern unsigned char NaviData_WaypointNumber, NaviData_TargetHoldTime,ToNC_Load_WP_List,NaviData_MaxWpListIndex;
extern unsigned char ToNC_Load_SingePoint, ToNC_Store_SingePoint, Show_Load_Time, Show_Store_Time, Show_Load_Value, Show_Store_Value;
 
extern char WPL_Name[10];
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 
#define SPEAK_ERR_CALIBARTION 1
#define SPEAK_ERR_RECEICER 2
#define SPEAK_ERR_DATABUS 3
#define SPEAK_ERR_NAVI 4
#define SPEAK_ERROR 5
#define SPEAK_ERR_COMPASS 6
#define SPEAK_ERR_SENSOR 7
#define SPEAK_ERR_GPS 8
#define SPEAK_ERR_MOTOR 9
#define SPEAK_MAX_TEMPERAT 10 // ->Motor Überlastung
#define SPEAK_ALTI_REACHED 11 // ?
#define SPEAK_WP_REACHED 12
#define SPEAK_NEXT_WP 13
#define SPEAK_LANDING 14
#define SPEAK_GPS_FIX 15
#define SPEAK_UNDERVOLTAGE 16
#define SPEAK_GPS_HOLD 17
#define SPEAK_GPS_HOME 18
#define SPEAK_GPS_OFF 19
#define SPEAK_BEEP 20
#define SPEAK_MIKROKOPTER 21
#define SPEAK_CAPACITY 22 // ?
#define SPEAK_CF_OFF 23
#define SPEAK_CALIBRATE 24
#define SPEAK_MAX_RANGE 25
#define SPEAK_MAX_ALTITUD 26
 
#define SPEAK_20M 37 // ?
#define SPEAK_MK_OFF 38
#define SPEAK_ALTITUDE_ON 39
#define SPEAK_ALTITUDE_OFF 40
#define SPEAK_100M 41
#define SPEAK_RECEIV_VOLT 42
#define SPEAK_CF_ON 46
#define SPEAK_SINKING 47
#define SPEAK_RISING 48
#define SPEAK_HOLDING 49 // ?
#define SPEAK_GPS_ON 50
#define SPEAK_FOLLWING 51 // ?
#define SPEAK_STARTING 52
// Achtung: wenn > 53 -> JETI_CODE[53] anpassen
/*
1 Fehler: Kalibration
2 Fehler: Empfang
3 Fehler: Datenbus
4 Fehler: Navi
5 Fehler
6 Fehler: Kompass
7 Fehler: Sensor
8 Fehler: GPS
9 Fehler: Motor
10 Fehler: Überlastung
11 Höhe erreicht
12 Wegpunkt erreicht
13 Nächster Wegpunkt
14 Landen
15 GPS Fix
16 Unterspannung
17 GPS Halten
18 GPS Home
19 GPS Aus
20 * Beep
21 MikroKopter
22 Kapazität
23 Carefree aus
24 Kalibriere
25 Maximale Entfernung
26 Maximale Höhe
 
27 * Warnung
28 * Failsafe aktiv
29 * Failsafe aus
30 * Redundanz aktiv
31 * Redundanz aus
32 * Starte Wegpunkt
33 * Fehler: Überstrom
34 * Fehler: Übertemperatur
35 * Fehler: Failsafe
36 * Fehler: Redundanz
 
37 Zwanzig Meter
38 MikroKopter aus
39 Höhe Ein
40 Höhe Aus
41 Einhundert meter
42 * Verbindung hergestellt
43 * Verbindung unterbrochen
44
45
46 Carefree ein
47 Sinken
48 Steigen
49 Halten
50 GPS ein
51 Folgen
52 Starten
 
//fehlt:
//"Warnung"
//"Failsafe"
//"ERR:Redundanz ?"
*/
 
#define MAX_ERR_NUMBER (46+1)
extern const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17];
extern unsigned int NaviData_TargetDistance;
extern unsigned char MaxBlTemperture;
extern unsigned char MinBlTemperture;
extern unsigned char HottestBl;
 
extern unsigned char HottKeyboard,HoTT_RequestedSensor;
extern unsigned char HottUpdate(unsigned char key);
extern unsigned char SpeakHoTT,ShowSettingNameTime, ShowCmpsCalibrateTime;
extern unsigned char ToNC_SpeakHoTT;
extern volatile unsigned char *HoTT_DataPointer;
 
extern void CreateHoTT_Menu(void);
extern void LIBFC_HoTT_Putchar(char);
extern void LIBFC_HoTT_Putchar_INV(char); // print Invers
extern void LIBFC_HoTT_Putchar_BLINK(char);
extern void LIBFC_HoTT_SetPos(unsigned char);
extern void LIBFC_HoTT_Clear(void);
extern void NC_Fills_HoTT_Telemety(void);
extern void HoTT_Menu(void);
extern unsigned char HoTT_Telemety(unsigned char);
extern unsigned char HoTT_Waring(void);
extern volatile unsigned char HoTTBlink;
extern void GetHottestBl(void);
 
typedef struct
{
unsigned char StartByte; // 0x7C
unsigned char Packet_ID; // HOTT_GENERAL_PACKET_ID
unsigned char WarnBeep; // 3 Anzahl der Töne 0..36
unsigned char SensorID; // 4 0xD0
unsigned char InverseStatus1; // 5
unsigned char InverseStatus2; // 6
unsigned char VoltageCell1; // 7 208 = 4,16V (Voltage * 50 = Wert)
unsigned char VoltageCell2; // 8 209 = 4,18V
unsigned char VoltageCell3; // 9
unsigned char VoltageCell4; // 10
unsigned char VoltageCell5; // 11
unsigned char VoltageCell6; // 12
unsigned int Battery1; // 13+14 51 = 5,1V
unsigned int Battery2; // 15+16 51 = 5,1V
unsigned char Temperature1; // 17 44 = 24°C, 0 = -20°C
unsigned char Temperature2; // 18 44 = 24°C, 0 = -20°C
unsigned char FuelPercent; // 19
signed int FuelCapacity; // 20+21
unsigned int Rpm; // 22+23
signed int Altitude; // 24+25
unsigned int m_sec; // 26+27 3000 = 0
unsigned char m_3sec; // 28 120 = 0
unsigned int Current; // 29+30 1 = 0.1A
unsigned int InputVoltage; // 31+32 66 = 6,6V
unsigned int Capacity; // 33+34 1 = 10mAh
unsigned int Speed; // 35+36
unsigned char LowestCellVoltage; // 37
unsigned char LowestCellNumber; // 38
unsigned int Rpm2; // 39+40
unsigned char ErrorNumber; // 41
unsigned char Pressure; // 42 in 0,1bar 20=2,0bar
unsigned char Version; // 43
unsigned char EndByte; // 0x7D
} HoTTGeneral_t;
 
typedef struct
{
unsigned char StartByte; // 0x7C
unsigned char Packet_ID; // HOTT_ELECTRIC_AIR_PACKET_ID
unsigned char WarnBeep; // Anzahl der Töne 0..36
unsigned char SensorID; // 4 0xE0
unsigned char InverseStatus1; // 5
unsigned char InverseStatus2; // 6
unsigned char VoltageCell1; // 7 208 = 4,16V (Voltage * 50 = Wert)
unsigned char VoltageCell2; // 209 = 4,18V
unsigned char VoltageCell3; //
unsigned char VoltageCell4; //
unsigned char VoltageCell5; //
unsigned char VoltageCell6; //
unsigned char VoltageCell7; //
unsigned char VoltageCell8; //
unsigned char VoltageCell9; //
unsigned char VoltageCell10; //
unsigned char VoltageCell11; //
unsigned char VoltageCell12; //
unsigned char VoltageCell13; //
unsigned char VoltageCell14; // 20
unsigned int Battery1; // 21+22 51 = 5,1V
unsigned int Battery2; // 23+24 51 = 5,1V
unsigned char Temperature1; // 25 44 = 24°C, 0 = -20°C
unsigned char Temperature2; // 26 44 = 24°C, 0 = -20°C
signed int Altitude; // 27+28
unsigned int Current; // 29+30 1 = 0.1A
unsigned int InputVoltage; // 31+32 66 = 6,6V
unsigned int Capacity; // 33+34 1 = 10mAh
unsigned int m_sec; // 35+36 30000 = 0
unsigned char m_3sec; // 37 120 = 0
unsigned int Rpm; // 38+39
unsigned char FlightTimeMinutes; // 40
unsigned char FlightTimeSeconds; // 41
unsigned char Speed; // 42 1=2km
unsigned char Version; // 43 0x00
unsigned char EndByte; // 0x7D
} ElectricAirPacket_t;
 
 
typedef struct
{
unsigned char StartByte; // 0x7C
unsigned char Packet_ID; // 0x89 - Vario ID
unsigned char WarnBeep; //3 // Anzahl der Töne 0..36
unsigned char SensorID; // 0x90
unsigned char InverseStatus;
signed int Altitude; //6+7 // 500 = 0m
signed int MaxAltitude; //8+9 // 500 = 0m
signed int MinAltitude; //10+11 // 500 = 0m
unsigned int m_sec; //12+13 // 3000 = 0
unsigned int m_3sec; //14+15
unsigned int m_10sec; //26+17
char Text[21]; //18-38
char FreeCharacters[3]; // 39-41
unsigned char NullByte; // 42 0x00
unsigned char Version; // 43
unsigned char EndByte; // 0x7D
} VarioPacket_t;
 
typedef struct
{
unsigned char StartByte; //0 // 0x7C
unsigned char Packet_ID; //1 // 0x8A - GPS ID
unsigned char WarnBeep; //2 // Anzahl der Töne 0..36
unsigned char SensorID; // 4 0xA0
unsigned char InverseStatus1; // 5
unsigned char InverseStatus2; // 6
unsigned char Heading; //7 // 1 = 2°
unsigned int Speed; //8+9 // in km/h
unsigned char Lat_North; //10
unsigned char Lat_G; //11
unsigned char Lat_M; //12
unsigned char Lat_Sek1; //13
unsigned char Lat_Sek2; //14
unsigned char Lon_East; //15
unsigned char Lon_G; //16
unsigned char Lon_M; //17
unsigned char Lon_Sek1; //18
unsigned char Lon_Sek2; //19
unsigned int Distance; //20+21 // 9000 = 0m
signed int Altitude; //22+23 // 500 = 0m
unsigned int m_sec; //24+25 // 3000 = 0
unsigned char m_3sec; //26 120 = 0
unsigned char NumOfSats; //27
unsigned char SatFix; //28
unsigned char HomeDirection; // 29
unsigned char AngleX; // 30
unsigned char AngleY; // 31
unsigned char AngleZ; // 32
signed int GyroX; //33+34
signed int GyroY; //35+36
signed int GyroZ; //37+38
unsigned char Vibration; // 39
char FreeCharacters[3]; // 40-42
unsigned char Version; // 43
unsigned char EndByte; // 0x7D
} GPSPacket_t;
 
typedef struct
{
unsigned char StartByte; // 0x7B
unsigned char Packet_ID; //
unsigned char WarnBeep; // Anzahl der Töne 0..36
char Text[8*21];
unsigned char EndByte; // 0x7D
} ASCIIPacket_t;
 
 
 
extern GPSPacket_t GPSPacket;
extern VarioPacket_t VarioPacket;
extern ASCIIPacket_t ASCIIPacket;
extern ElectricAirPacket_t ElectricAirPacket;
extern HoTTGeneral_t HoTTGeneral;
 
#define HOTT_VARIO_PACKET_ID 0x89
#define HOTT_GPS_PACKET_ID 0x8A
#define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E
#define HOTT_GENERAL_PACKET_ID 0x8D
#define JETI_GPS_PACKET_ID1 0x01
#define JETI_GPS_PACKET_ID2 0x02
#define HOTT_WPL_NAME 0x03
 
//---------------------------------------------------------------------------------------------------
typedef struct{
char offset;
unsigned char min;
unsigned char max;
char name[4];
unsigned char *Variable;
} Parameter_List_t;
 
#define MAXPARAM 41 //Muss eine ungerade Zahl sein
extern const Parameter_List_t Parameter_List[];
//---------------------------------------------------------------------------------------------------
 
#endif
#endif
 
/tags/V2.18a/isqrt.S
0,0 → 1,203
;-----------------------------------------------------------------------------;
; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008
; http://elm-chan.org/docs/avrlib/sqrt32.S
;-----------------------------------------------------------------------------;
; uint16_t isqrt32 (uint32_t n);
; uint8_t isqrt16 (uint16_t n);
; uint16_t ihypot (int16_t x, int16_t y);
 
;-----------------------------------------------------------------------------:
; 32bit integer squareroot
;-----------------------------------------------------------------------------;
; uint16_t isqrt32 (
; uint32_t n
; );
;
; Return Value:
; Squareroot of n.
;
; Size = 53 words
; Clock = 532..548 cycles
; Stack = 0 byte
 
.global isqrt32
.func isqrt32
 
isqrt32:
clr r0
clr r18
clr r19
clr r20
ldi r21, 1
clr r27
clr r30
clr r31
ldi r26, 16
1: lsl r22
rol r23
rol r24
rol r25
rol r0
rol r18
rol r19
rol r20
lsl r22
rol r23
rol r24
rol r25
rol r0
rol r18
rol r19
rol r20
brpl 2f
add r0, r21
adc r18, r27
adc r19, r30
adc r20, r31
rjmp 3f
2: sub r0, r21
sbc r18, r27
sbc r19, r30
sbc r20, r31
3: lsl r21
rol r27
rol r30
andi r21, 0b11111000
ori r21, 0b00000101
sbrc r20, 7
subi r21, 2
dec r26
brne 1b
lsr r30
ror r27
ror r21
lsr r30
ror r27
ror r21
mov r24, r21
mov r25, r27
ret
.endfunc
 
 
 
;-----------------------------------------------------------------------------:
; 16bit integer squareroot
;-----------------------------------------------------------------------------;
; uint8_t isqrt16 (
; uint16_t n
; );
;
; Return Value:
; Squareroot of n.
;
; Size = 33 words
; Clock = 181..189 cycles
; Stack = 0 byte
 
.global isqrt16
.func isqrt16
 
isqrt16:
clr r18
clr r19
ldi r20, 1
clr r21
ldi r22, 8
1: lsl r24
rol r25
rol r18
rol r19
lsl r24
rol r25
rol r18
rol r19
brpl 2f
add r18, r20
adc r19, r21
rjmp 3f
2: sub r18, r20
sbc r19, r21
3: lsl r20
rol r21
andi r20, 0b11111000
ori r20, 0b00000101
sbrc r19, 7
subi r20, 2
dec r22
brne 1b
lsr r21
ror r20
lsr r21
ror r20
mov r24, r20
ret
.endfunc
 
 
 
;-----------------------------------------------------------------------------:
; 16bit integer hypot (megaAVR is required)
;-----------------------------------------------------------------------------;
; uint16_t ihypot (
; int16_t x,
; int16_t y
; );
;
; Return Value:
; Squareroot of (x*x + y*y)
;
; Size = 42 words
; Clock = 581..597 cycles
; Stack = 0 byte
 
.global ihypot
.func ihypot
 
ihypot:
clr r26
sbrs r25, 7
rjmp 1f
com r24
com r25
adc r24, r26
adc r25, r26
1: sbrs r23, 7
rjmp 2f
com r22
com r23
adc r22, r26
adc r23, r26
2: mul r22, r22
movw r18, r0
mul r23, r23
movw r20, r0
mul r22, r23
add r19, r0
adc r20, r1
adc r21, r26
add r19, r0
adc r20, r1
adc r21, r26
mul r24, r24
movw r30, r0
mul r25, r25
add r18, r30
adc r19, r31
adc r20, r0
adc r21, r1
mul r24, r25
add r19, r0
adc r20, r1
adc r21, r26
add r19, r0
adc r20, r1
adc r21, r26
movw r24, r20
movw r22, r18
clr r1
rjmp isqrt32
.endfunc
 
 
 
/tags/V2.18a/isqrt.h
0,0 → 1,11
#ifndef _ISQRT_H
#define _ISQRT_H
 
#include <inttypes.h>
 
// coded in assembler file
extern uint16_t isqrt32(uint32_t n);
extern uint8_t isqrt16(uint16_t n);
extern uint16_t ihypot(int16_t x, int16_t y);
 
#endif // _ISQRT_H
/tags/V2.18a/jeti_ex.c
0,0 → 1,145
#include "libfc.h"
#include "printf_P.h"
#include "main.h"
#include "spi.h"
#include "capacity.h"
#include "jeti_ex.h"
#include "hottmenu.h"
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 
const char PROGMEM JETI_CODE[53] =
{
0, // 0
'O', // SPEAK_ERR_CALIBARTION 1
'P', // SPEAK_ERR_RECEICER 2
'Q', // SPEAK_ERR_DATABUS 3
'R', // SPEAK_ERR_NAVI 4
'S', // SPEAK_ERROR 5
'T', // SPEAK_ERR_COMPASS 6
'S', // SPEAK_ERR_SENSOR 7
'V', // SPEAK_ERR_GPS 8
'W', // SPEAK_ERR_MOTOR 9
'H', // SPEAK_MAX_TEMPERAT 10
0, // SPEAK_ALTI_REACHED 11
'X', // SPEAK_WP_REACHED 12
'Y', // SPEAK_NEXT_WP 13
0, // SPEAK_LANDING 14
'Z', // SPEAK_GPS_FIX 15
'U', // SPEAK_UNDERVOLTAGE 16
'E', // SPEAK_GPS_HOLD 17
'F', // SPEAK_GPS_HOME 18
'G', // SPEAK_GPS_OFF 19
'H', // SPEAK_BEEP 20
'A', // SPEAK_MIKROKOPTER 21
0, // SPEAK_CAPACITY 22
'I', // SPEAK_CF_OFF 23
'B', // SPEAK_CALIBRATE 24
'J', // SPEAK_MAX_RANGE 25
'J', // SPEAK_MAX_ALTITUD 26
0, // 27
0, // 28
0, // 29
0, // 30
0, // 31
0, // 32
0, // 33
0, // 34
0, // 35
0, // 36
0, // SPEAK_20M 37
'D', // SPEAK_MK_OFF 38
'L', // SPEAK_ALTITUDE_ON 39
'M', // SPEAK_ALTITUDE_OFF 40
0, // SPEAK_100M 41
'S', // SPEAK_RECEIV_VOLT 42
0, // 43
0, // 44
0, // 45
'N', // SPEAK_CF_ON 46
0, // SPEAK_SINKING 47
0, // SPEAK_RISING 48
0, // SPEAK_HOLDING 49
'K', // SPEAK_GPS_ON 50 // ?
0, // SPEAK_FOLLWING 51
'C' // SPEAK_STARTING 52
};
 
 
JetiExPacket_t JetiExData[JETI_EX_PARAMETER_COUNT + 1] = // Parameter count + DeviceName (ID0)
{
// Label[10] unit[3], data type, Data , position of decimal point
// "1234567890", "123",
// { "-=.M_K.=-" , " ", 1, 0 , 0 }, // first one is device name // datatype 1 = -8192...8192
{ "MK " , " ", 1, 0 , 0 }, // first one is device name // datatype 1 = -8192...8192
{ "Voltage " , "V ", 1, 0 , 1 }, // ID 1
{ "Current " , "A ", 1, 0 , 1 }, // ID 2
{ "Capacity " , "Ah ", 1, 0 , 2 }, // ID 3
{ "Altitude " , "m ", 1, 0 , 0 }, // ID 4
{ "Compass " , "° ", 1, 0 , 0 }, // ID 5
{ "Sats " , " ", 1, 0 , 0 }, // ID 6
{ "Speed " , "m/s", 1, 0 , 0 }, // ID 7
{ "Distance " , "m ", 1, 0 , 0 }, // ID 8
{ "Home-Dir " , "° ", 1, 0 , 0 }, // ID 9
{ "max.Temp. " , "°C ", 1, 0 , 0 }, // ID 10
{ "Magn.field" , "% ", 1, 0 , 0 }, // ID 11
{ "Vario " , " ", 1, 0 , 0 }, // ID 12
{ "ErrorCode " , " ", 1, 0 , 0 }, // ID 13
{ "Latitude " , " ", 9, 0 , 0 }, // ID 14 special data type for coordinates Import: fixed position in list ID 14 - DO NOT MOVE !!!
{ "Longitude " , " ", 9, 0 , 0 }, // ID 15 special data type for coordinates Import: fixed position in list ID 15 - DO NOT MOVE !!!
};
 
 
void BuildJeti_Vario(void)
{
signed int tmp = 0;
static signed int JetiVarioMeter = 0;
JetiVarioMeter = (JetiVarioMeter * 3 + VarioMeter) / 4;
 
if(VarioCharacter == '+')
{
tmp = (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 32 + 5;
}
else
if(VarioCharacter == '-')
{
tmp = (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 32 - 5;
}
else
if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY))
{
tmp = (JetiVarioMeter/32);
}
else
if(VarioCharacter == '^') tmp = FromNC_AltitudeSpeed;
else
if(VarioCharacter == 'v') tmp = tmp - FromNC_AltitudeSpeed;
 
JetiExData[12].Value = tmp;
}
 
 
// --------------------------------------------------------------------------------------------------
void JetiEX_Update(void)
{
 
GetHottestBl();
JetiExData[1].Value = UBat;
JetiExData[2].Value = Capacity.ActualCurrent;
JetiExData[3].Value = Capacity.UsedCapacity / 10;
JetiExData[4].Value = HoehenWert / 100;
JetiExData[5].Value = KompassValue;
JetiExData[6].Value = GPSInfo.NumOfSats;
JetiExData[7].Value = GPSInfo.Speed;
JetiExData[8].Value = GPSInfo.HomeDistance / 10;
JetiExData[9].Value = GPSInfo.HomeBearing;
JetiExData[10].Value = MaxBlTemperture;
JetiExData[11].Value = EarthMagneticField;
// JetiExData[12].Value = Vario; // wird in BuildJeti_Vario() gemacht
JetiExData[13].Value = NC_ErrorCode;
//JetiExData[14].Value = 53 * 0x10000 + 23467; // GPS-Latitude (macht NC_Fills_HoTT_Telemety() )
//JetiExData[15].Value = 7 * 0x10000 + 23467; // GPS-Longitude (macht NC_Fills_HoTT_Telemety() )
}
#endif
/tags/V2.18a/jeti_ex.h
0,0 → 1,37
#ifndef _JETI_EX_H
#define _JETI_EX_H
 
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
extern void BuildJeti_Vario(void);
 
// define here how many Jeti EX parameters should be transmitted (max. = 15)
//
#define JETI_EX_PARAMETER_COUNT 15
//
// -------------------------------------------------------------------------
 
extern const char PROGMEM JETI_CODE[53];
typedef struct
{
char Label[10];
char Unit[3];
unsigned char DataType;
long Value;
unsigned char DecimalPointPos;
} JetiExPacket_t;
extern JetiExPacket_t JetiExData[];
extern void JetiEX_Update(void);
 
 
 
#if (JETI_EX_PARAMETER_COUNT > 15)
#error "ERROR: Too many Jeti EX parameters (max. allowed 15)"
#endif
 
#endif
#endif //_JETI_EX_H
/tags/V2.18a/jetimenu.c
0,0 → 1,626
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "jetimenu.h"
#include "libfc.h"
#include "printf_P.h"
#include "main.h"
#include "spi.h"
#include "capacity.h"
#include "hottmenu.h"
 
#define JETIBOX_KEY_RIGHT 0x1F
#define JETIBOX_KEY_UP 0x2F
#define JETIBOX_KEY_DOWN 0x4F
#define JETIBOX_KEY_LEFT 0x8F
#define JETIBOX_KEY_NONE 0x0F
#define JETIBOX_KEY_UNDEF 0x00
 
#define JetiBox_printfxy(x,y,format, args...) { LIBFC_JetiBox_SetPos(y * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);}
#define JetiBox_printf(format, args...) { _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);}
 
unsigned char JumpToMenu = 0xff;
 
// -----------------------------------------------------------
// the menu functions
// -----------------------------------------------------------
void Menu_Status(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
JetiBox_printfxy(0,0,"%2i.%1iV",UBat/10, UBat%10);
if(NaviDataOkay)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(CamCtrlCharacter != ' ')
{
if(GPSInfo.HomeDistance < 1000*10)
JetiBox_printfxy(4,0," %3d%c%c%4dm%c",CompassCorrected, 0xDF,CamCtrlCharacter, GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter) // 'V' weg lassen
else
JetiBox_printfxy(4,0," %3d%c%c %4d%c",CompassCorrected, 0xDF,CamCtrlCharacter, GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter); // 'V' und 'm' weg lassen
}
else
#endif
JetiBox_printfxy(6,0,"%3d%c%4dm%c",CompassCorrected, 0xDF, GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter);
}
else
{
JetiBox_printfxy(6,0,"Status ");
}
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(NC_ErrorCode)
{
static unsigned int timer;
static char toggle = 1;
if(CheckDelay(timer)) { if(toggle) toggle = 0; else toggle = 1; timer = SetDelay(1500);};
if(toggle)
{
LIBFC_JetiBox_SetPos(0);
_printf_P(&LIBFC_JetiBox_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);
}
else
{
JetiBox_printfxy(6,0,"ERROR: %2d ",NC_ErrorCode);
// if(MotorenEin) JetiBeep = 'O';
}
}
else
if(Partner_ErrorCode)
{
static unsigned int timer;
static char toggle = 1;
if(CheckDelay(timer)) { if(toggle) toggle = 0; else toggle = 1; timer = SetDelay(1500);};
if(toggle)
{
LIBFC_JetiBox_SetPos(0);
_printf_P(&LIBFC_JetiBox_Putchar, NC_ERROR_TEXT[Partner_ErrorCode] , 0);
}
else
{
if(IamMaster == SLAVE) JetiBox_printfxy(6,0,"MA-ERR:%2d ",Partner_ErrorCode)
else JetiBox_printfxy(6,0,"SL-ERR:%2d ",Partner_ErrorCode);
// if(MotorenEin) JetiBeep = 'O';
}
}
else
if(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)
{
JetiBox_printfxy(6,0,"SIMULATION");
}
else
if(ShowSettingNameTime)
{
LIBFC_JetiBox_Clear();
JetiBox_printfxy(0,0,"Set%d:%s",ActiveParamSet,EE_Parameter.Name);
if(FC_StatusFlags3 & FC_STATUS3_BOAT) JetiBox_printfxy(0,1,"(Boat-Mode)");
return; // nichts weiter ausgeben
}
 
#else
if(NC_ErrorCode) { JetiBox_printfxy(6,0,"ERROR: %2d ",NC_ErrorCode); if(MotorenEin) JetiBeep = 'S';};
#endif
JetiBox_printfxy(0,1,"%4i %2i:%02i",Capacity.UsedCapacity,FlugSekunden/60,FlugSekunden%60);
if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
{
JetiBox_printfxy(10,1,"%4im%c", (int16_t)(HoehenWert/100),VarioCharacter);
}
if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) JetiBox_printfxy(10,1,"R");
 
#endif
}
 
 
void Menu_Temperature(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature);
JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature);
if(RequiredMotors <= 4)
{
JetiBox_printfxy(0,1,"Temperatures ");
}
else
if(RequiredMotors <= 6)
{
JetiBox_printfxy(8,1,"\%cC ",0xdf);
}
 
#endif
}
 
void Menu_Battery(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
JetiBox_printfxy(0,0,"%2i.%1iV %3i.%1iA", UBat/10, UBat%10, Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
JetiBox_printfxy(0,1,"%4iW %6imAh",Capacity.ActualPower, Capacity.UsedCapacity);
#endif
}
 
void Magnet_Values(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
JetiBox_printfxy(0,0,"Magnet:%3i%% %3i%c",EarthMagneticField, KompassValue,0xDF);
JetiBox_printfxy(0,1,"Incli.:%3i%c (%i) ",EarthMagneticInclination, 0xDF,EarthMagneticInclinationTheoretic);
#endif
}
 
 
void Menu_WPL_A1(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
JetiBox_printfxy(0,0,"Load Waypoints");
JetiBox_printfxy(0,1,"(Fixed) ");
#endif
}
 
void Menu_WPL_R1(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
JetiBox_printfxy(0,0,"Load Waypoints");
JetiBox_printfxy(0,1,"(Relative) ");
#endif
}
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
void Menu_POINT_LD(uint8_t key)
{ //0123456789ABCDEF
JetiBox_printfxy(0,0,"Load singl.Point");
// JetiBox_printfxy(0,1,"(Fixed) ");
}
#endif
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
void Menu_POINT_SV(uint8_t key)
{ //0123456789ABCDEF
JetiBox_printfxy(0,0,"Save singl.Point");
// JetiBox_printfxy(0,1,"(Relative) ");
}
 
void Menu_AccCal_Ask(uint8_t key)
{ //0123456789ABCDEF
JetiBox_printfxy(0,0,"ACC calibration");
// JetiBox_printfxy(0,1,"(Relative) ");
}
 
void Menu_AccCal(uint8_t key)
{
static unsigned char changed = 0;
//0123456789ABCDEF
JetiBox_printfxy(0,0,"ACC calibration");
 
if((FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-')))
{
if(!EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude
JetiBox_printfxy(0,0,"ACC N=%3i R=%3i",NeutralAccX,NeutralAccY);
if(ChannelNick || ChannelRoll)
JetiBox_printfxy(0,1,"Stick! (%i/%i)",ChannelNick,ChannelRoll)
else //0123456789ABCDEF
if(changed) JetiBox_printfxy(0,1,"land to save ")
else JetiBox_printfxy(0,1,"use keys now ")
if(key== JETIBOX_KEY_UP ) {NeutralAccX++;JetiBeep=130; changed = 1;}
if(key== JETIBOX_KEY_DOWN ) {NeutralAccX--;JetiBeep=130; changed = 1;}
if(key== JETIBOX_KEY_RIGHT ) {NeutralAccY++;JetiBeep=130; changed = 1;}
if(key== JETIBOX_KEY_LEFT) {NeutralAccY--;JetiBeep=130; changed = 1;}
}
else
{
if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) // motors are off
{
if(key == JETIBOX_KEY_LEFT) { JumpToMenu = 0; changed = 0; }// Exit
 
if(changed == 0) JetiBox_printfxy(0,1,"Fly with GPS off")
else
if(changed == 1)
{
JetiBox_printfxy(0,1," save -->")
if(key== JETIBOX_KEY_RIGHT)
{
StoreNeutralToEeprom();
JetiBeep = 130;
changed = 2;
}
}
else
if(changed == 2)
{
JetiBox_printfxy(0,1," values stored ");
}
} //0123456789ABCDEF
else JetiBox_printfxy(0,1,"switch GPS off ")
}
// JetiBox_printfxy(0,1,"(Relative) ");
}
#endif
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
void Menu_POINT_SV2(uint8_t key)
{ //0123456789ABCDEF
static unsigned char load_waypoint_tmp = 0, changed, hyterese = 1;
static int delay;
// if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"Relative WPs ")
// else JetiBox_printfxy(0,0,"Rel:%s",WPL_Name);
JetiBox_printfxy(0,0,"Save Point:");
if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")
else
if(GPSInfo.SatFix != SATFIX_3D) JetiBox_printfxy(0,1,"no GPS-Fix")
else
{
if(load_waypoint_tmp) JetiBox_printfxy(11,0,"%2d",load_waypoint_tmp)
else JetiBox_printfxy(11,0,"--");
 
// if(NaviData_WaypointNumber) JetiBox_printfxy(8,1,"%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)
// else JetiBox_printfxy(8,1,"--/--")
JetiBox_printfxy(0,1,"Dir:%3d Alt:%3dm",CompassCorrected,(int16_t)(HoehenWert/100))
 
if(changed) JetiBox_printfxy(14,0,"->")
else JetiBox_printfxy(14,0," ");
 
if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}
if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }
 
if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)
{
ToNC_Store_SingePoint = load_waypoint_tmp;
changed = 0;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bedienung per Taster am Sender
if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) //
{
hyterese = 2;
if(CheckDelay(delay)) { load_waypoint_tmp = 0; hyterese = 1;}
}
else
if(PPM_in[EE_Parameter.MenuKeyChannel] < -50)
{
delay = SetDelay(2500);
if(hyterese == 2 && (load_waypoint_tmp < NaviData_MaxWpListIndex))
{
load_waypoint_tmp++;
ToNC_Store_SingePoint = load_waypoint_tmp;
changed = 0;
// JetiBeep = 'A'; // "MikroKopter"
}
hyterese = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
}
}
#endif
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
void Menu_POINT_LD2(uint8_t key)
{ //0123456789ABCDEF
static unsigned char load_waypoint_tmp = 0, changed, hyterese = 1;
static int delay;
// if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"FIX Waypoints")
// else JetiBox_printfxy(0,0,"FIX:%s",WPL_Name);
JetiBox_printfxy(0,0,"Load Point")
 
if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")
else
{
if(load_waypoint_tmp) JetiBox_printfxy(11,0,"%2d",load_waypoint_tmp)
else JetiBox_printfxy(11,0,"--");
 
if(NaviData_WaypointNumber) JetiBox_printfxy(0,1,"Dist:%3d Alt:%3d ",NaviData_TargetDistance,(int16_t)(FromNC_AltitudeSetpoint/100))
else JetiBox_printfxy(8,1," ");
if(changed) JetiBox_printfxy(14,0,"->")
else JetiBox_printfxy(14,0," ");
 
if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}
if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }
 
if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)
{
ToNC_Load_SingePoint = load_waypoint_tmp;
changed = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bedienung per Taster am Sender
if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) //
{
hyterese = 2;
if(CheckDelay(delay)) { load_waypoint_tmp = 0; hyterese = 1;}
}
else
if(PPM_in[EE_Parameter.MenuKeyChannel] < -50)
{
delay = SetDelay(2500);
if(hyterese == 2 && (load_waypoint_tmp < NaviData_MaxWpListIndex))
{
load_waypoint_tmp++;
ToNC_Load_SingePoint = load_waypoint_tmp;
changed = 0;
// JetiBeep = 'A'; // "MikroKopter"
}
hyterese = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
}
}
#endif
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
void Menu_ShowWpInfo(uint8_t key)
{ //0123456789ABCDEF
if(!NaviData_WaypointNumber)
{
JetiBox_printfxy(0,0,"No active");
JetiBox_printfxy(0,1,"Waypoint");
}
else
{
JetiBox_printfxy(0,0,"WP:%2d/%02d",NaviData_WaypointIndex,NaviData_WaypointNumber);
if(NaviData_WaypointNumber)
{
if(NaviData_TargetDistance < 100) JetiBox_printfxy(9,0,"Dst:%2dm ",NaviData_TargetDistance)
else JetiBox_printfxy(9,0,"D:%3dm ",NaviData_TargetDistance);
if(FromNC_AltitudeSpeed) JetiBox_printfxy(0,1,"%2ds Alt:%2i(%02i)m ",NaviData_TargetHoldTime,(int16_t)(HoehenWert/100),(int16_t)(FromNC_AltitudeSetpoint/100))
else JetiBox_printfxy(0,1,"%2ds Alt:%2im ",NaviData_TargetHoldTime,(int16_t)(HoehenWert/100))
}
else
{
JetiBox_printfxy(8,1," ");
}
}
}
#endif
 
 
 
void Menu_WPL_A2(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
static unsigned char load_waypoint_tmp = 1, changed;
if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"FIX Waypoints")
else JetiBox_printfxy(0,0,"FIX:%s",WPL_Name);
 
if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")
else
{
JetiBox_printfxy(0,1,"#%2d WP:",load_waypoint_tmp);
if(NaviData_WaypointNumber) JetiBox_printfxy(8,1,"%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)
else JetiBox_printfxy(8,1,"--/--")
if(changed) JetiBox_printfxy(14,1,"->")
else JetiBox_printfxy(14,1," ");
 
if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}
if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }
 
if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)
{
ToNC_Load_WP_List = load_waypoint_tmp;
changed = 0;
}
}
#endif
}
 
void Menu_WPL_R2(uint8_t key)
{ //0123456789ABCDEF
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
static unsigned char load_waypoint_tmp = 1, changed;
 
if(WPL_Name[0] == 0) JetiBox_printfxy(0,0,"Relative WPs ")
else JetiBox_printfxy(0,0,"Rel:%s",WPL_Name);
 
if(NaviData_MaxWpListIndex == 0) JetiBox_printfxy(0,1,"no SD-Card")
else
if(GPSInfo.SatFix != SATFIX_3D) JetiBox_printfxy(0,1,"no GPS-Fix")
else
{
JetiBox_printfxy(0,1,"#%2d WPs:",load_waypoint_tmp);
if(NaviData_WaypointNumber) JetiBox_printfxy(8,1,"%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber)
else JetiBox_printfxy(8,1,"--/--")
 
if(changed) JetiBox_printfxy(14,1,"->")
else JetiBox_printfxy(14,1," ");
 
if(key == JETIBOX_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { load_waypoint_tmp++; changed = 1;}
if(key == JETIBOX_KEY_DOWN && load_waypoint_tmp > 1) { load_waypoint_tmp--; changed = 1; }
 
if(key == JETIBOX_KEY_RIGHT && load_waypoint_tmp)
{
ToNC_Load_WP_List = load_waypoint_tmp | 0x80;
changed = 0;
}
}
#endif
}
 
 
 
void Menu_PosInfo(uint8_t key)
{
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
if(NaviDataOkay)
{
JetiBox_printfxy(0,0,"%2um/s Sat:%d ",GPSInfo.Speed,GPSInfo.NumOfSats);
switch (GPSInfo.SatFix)
{
case SATFIX_3D:
JetiBox_printfxy(12,0," 3D");
break;
// case SATFIX_2D:
// case SATFIX_NONE:
default:
JetiBox_printfxy(12,0,"NoFx");
break;
}
if(GPSInfo.Flags & FLAG_DIFFSOLN)
{
JetiBox_printfxy(12,0,"DGPS");
}
JetiBox_printfxy(0,1,"Home:%3dm %3d%c %c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF,NC_GPS_ModeCharacter);
}
else
{ //0123456789ABCDEF
JetiBox_printfxy(2,0,"No NaviCtrl!");
}
#endif
}
 
 
// -----------------------------------------------------------
// the menu topology
// -----------------------------------------------------------
typedef void (*pFctMenu) (uint8_t); // the menu item handler function pointer
 
typedef struct{
int8_t left;
int8_t right;
int8_t up;
int8_t down;
pFctMenu pHandler;
} MENU_ENTRY;
 
 
// the menu navigation structure
/* |
3 - 0 - 1 - 2 - 3 - 0
*/
 
const MENU_ENTRY JetiBox_Menu[] PROGMEM=
{ // l r u d pHandler
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
#define ACC_CAL 13
{9, 1, 0, 0, &Menu_Status }, // 0
{0, 2, 1, 1, &Menu_Temperature }, // 1
{1, 3, 2, 2, &Menu_Battery }, // 2
{2, 4, 3, 3, &Menu_PosInfo }, // 3
{3, 5, 4, 4, &Menu_ShowWpInfo},// 4
{4, 6, 5,11, &Menu_WPL_A1 }, // 5
{5, 7, 6,12, &Menu_WPL_R1 }, // 6
{6, 8, 7,13, &Menu_POINT_LD}, // 7
{7, 9, 8,14, &Menu_POINT_SV}, // 8
{8,10, 9, 9, &Magnet_Values }, // 9
{9, 0, 9,15, &Menu_AccCal_Ask},// 10
 
{5,11,11,11, &Menu_WPL_A2 }, // 11
{6,12,12,12, &Menu_WPL_R2 }, // 12
{7,13,13,13, &Menu_POINT_LD2}, // 13
{8,14,14,14, &Menu_POINT_SV2}, // 14
 
{15,15,15,15, &Menu_AccCal}, // 15
#else
{6, 1, 0, 0, &Menu_Status }, // 0
{0, 2, 1, 1, &Menu_Temperature }, // 1
{1, 3, 2, 2, &Menu_Battery }, // 2
{2, 4, 3, 3, &Menu_PosInfo }, // 3
{3, 5, 7, 7, &Menu_WPL_A1 }, // 4
{4, 6, 8, 8, &Menu_WPL_R1 }, // 5
{5, 0, 6, 6, &Magnet_Values }, // 6
 
{4, 7, 7, 7, &Menu_WPL_A2 }, // 7
{5, 8, 8, 8, &Menu_WPL_R2 }, // 8
#endif
#endif
};
 
// -----------------------------------------------------------
// Update display buffer
// -----------------------------------------------------------
unsigned char JetiBox_Update(unsigned char key)
{
#if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP)
static uint8_t item = 0, last_item = 0; // the menu item
static uint8_t updateDelay = 1 , last_key;
// navigate within the menu by key action
last_item = item;
switch(key)
{
case JETIBOX_KEY_LEFT:
//if (item == 0) return (1); // switch back to jeti expander menu
// else
item = pgm_read_byte(&JetiBox_Menu[item].left); //trigger to left menu item
break;
case JETIBOX_KEY_RIGHT:
item = pgm_read_byte(&JetiBox_Menu[item].right); //trigger to right menu item
break;
case JETIBOX_KEY_UP:
item = pgm_read_byte(&JetiBox_Menu[item].up); //trigger to up menu item
break;
case JETIBOX_KEY_DOWN:
item = pgm_read_byte(&JetiBox_Menu[item].down); //trigger to down menu item
break;
default:
break;
}
if(JumpToMenu != 0xff) { item = JumpToMenu; JumpToMenu = 0xff;};
// if the menu item has been changed, do not pass the key to the item handler
// to avoid jumping over to items
if(item != last_item) key = JETIBOX_KEY_UNDEF;
 
// if((updateDelay++ & 0x01) || (key != last_key))
if((updateDelay++ & 0x01) || (key != JETIBOX_KEY_NONE))
{
last_key = key;
LIBFC_JetiBox_Clear();
//execute menu item handler
((pFctMenu)(pgm_read_word(&(JetiBox_Menu[item].pHandler))))(key);
}
#endif
return (0);
}
 
/tags/V2.18a/jetimenu.h
0,0 → 1,6
#ifndef _JETIMENU_H
#define _JETIMENU_H
 
extern unsigned char JetiBox_Update(unsigned char key);
 
#endif //_JETIMENU_H
/tags/V2.18a/led.c
0,0 → 1,144
#include <inttypes.h>
#include "main.h"
 
uint16_t LED1_Timing = 0;
uint16_t LED2_Timing = 0;
unsigned char J16Blinkcount = 0, J16Mask = 1;
unsigned char J17Blinkcount = 0, J17Mask = 1;
unsigned char NC_Wait_for_LED = 0; // signal to NC: Wait for the LAD PAtter before switching to the next WP
unsigned int ShutterCounter = 0;
unsigned char Out1ChangedFlag = 0; // can be 0 or 0x80
// initializes the LED control outputs J16, J17
void LED_Init(void)
{
// set PC2 & PC3 as output (control of J16 & J17)
DDRC |= (1<<DDC2)|(1<<DDC3);
J16_OFF;
J17_OFF;
J16Blinkcount = 0; J16Mask = 128;
J17Blinkcount = 0; J17Mask = 128;
}
 
// called in UpdateMotors() every 2ms
void LED_Update(void)
{
static char delay = 0, last_portC = 0;
static unsigned char J16Bitmask = 0;
static unsigned char J17Bitmask = 0;
static unsigned char J16Warn = 0, J17Warn = 0;
static unsigned char from_nc = 0; // Copy for the timing
 
if(!NC_Wait_for_LED) from_nc = (unsigned char) PPM_in[WP_EVENT_PPM_IN] + 127;
 
if(!delay--) // 20ms Intervall
{
J16Bitmask = EE_Parameter.J16Bitmask;
J17Bitmask = EE_Parameter.J17Bitmask;
delay = 9;
if(FC_StatusFlags & (FC_STATUS_LOWBAT | FC_STATUS_EMERGENCY_LANDING) || (VersionInfo.HardwareError[1] & FC_ERROR1_I2C) || !ReceiverOkay)
{
if(EE_Parameter.WARN_J16_Bitmask)
{
if(!J16Warn) J16Blinkcount = 4;
J16Warn = 1;
}
if(EE_Parameter.WARN_J17_Bitmask)
{
if(!J17Warn) J17Blinkcount = 4;
J17Warn = 1;
}
}
else
{
J16Warn = 0;
J17Warn = 0;
}
//DebugOut.Analog[29] = EE_Parameter.GlobalConfig3;
// Output 1
if(!J16Warn)
{
if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK1) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED1) J16_ON; else J16_OFF;}
else
if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing > 220)) {if(J16Bitmask & 128) J16_OFF; else J16_ON; J16Mask = 1; NC_Wait_for_LED = 0;} // Manual overwrite
else
if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing == 5)) {if(J16Bitmask & 128) J16_ON; else J16_OFF; J16Mask = 1; NC_Wait_for_LED = 0;} // Manual overwrite
else
if(!J16Blinkcount--)
{
if(EE_Parameter.GlobalConfig3 & CFG3_USE_NC_FOR_OUT1)
{
J16Blinkcount = from_nc / 2;
if(!from_nc) { NC_Wait_for_LED = 0; if(J16Bitmask & 128) J16_ON; else J16_OFF; J16Mask = 0; } // Ausschalten
else
{
NC_Wait_for_LED = 1;
if(J16Mask == 0)
{
from_nc = FromNC_WP_EventChannel_New;
J16Mask = 64;
if(J16Bitmask & 128) J16_ON; else J16_OFF; // Ausschalten
}
else
{
if(J16Mask & J16Bitmask) J16_ON; else J16_OFF;
J16Mask /= 2;
if(J16Mask == 0x01) FromNC_WP_EventChannel_New = 0; // Last Bit -> Refresh the value by NC now
}
}
}
else
{
J16Blinkcount = Parameter_J16Timing / 2;
if(J16Mask == 1) { from_nc = 0; J16Mask = 64; } else J16Mask /= 2;
if(J16Mask & J16Bitmask) J16_ON; else J16_OFF;
NC_Wait_for_LED = 0;
}
}
}
else // warning case
if(!J16Blinkcount--)
{
J16Blinkcount = 10-1;
if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2;
if(J16Mask & EE_Parameter.WARN_J16_Bitmask) J16_ON; else J16_OFF;
}
// Output 2
 
if(!J17Warn)
{
if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK2) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED2) J17_ON; else J17_OFF;}
else
if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing > 220)) {if(J17Bitmask & 128) J17_OFF; else J17_ON; J17Mask = 1;}
else
if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing == 5)) {if(J17Bitmask & 128) J17_ON; else J17_OFF; J17Mask = 1;}
else
if(!J17Blinkcount--)
{
J17Blinkcount = Parameter_J17Timing / 2;
if(J17Mask == 1) J17Mask = 64; else J17Mask /= 2;
if(J17Mask & J17Bitmask) J17_ON; else J17_OFF;
}
}
else // warning case
if(!J17Blinkcount--)
{
J17Blinkcount = 10-1;
if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2;
if(J17Mask & EE_Parameter.WARN_J17_Bitmask) J17_ON; else J17_OFF;
}
 
 
if(PORTC & (1<<PORTC2)) // output is on
{
if(!(last_portC & (1<<PORTC2)))
{
Out1ChangedFlag = 0x80;// this Flag marks a changed Out1;
ShutterCounter++; // count if output swiched to high
}
FC_StatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; //else FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) -> wird in der SPI zurück gesetzt
}
if(PORTC & (1<<PORTC3)) FC_StatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; else FC_StatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; // Out2 (J17)
last_portC = PORTC;
}
}
 
/tags/V2.18a/led.h
0,0 → 1,14
#include <avr/io.h>
 
#define J16_ON PORTC |= (1<<PORTC2)
#define J16_OFF PORTC &= ~(1<<PORTC2)
#define J16_TOGGLE PORTC ^= (1<<PORTC2)
#define J17_ON PORTC |= (1<<PORTC3)
#define J17_OFF PORTC &= ~(1<<PORTC3)
#define J17_TOGGLE PORTC ^= (1<<PORTC3)
 
extern void LED_Init(void);
extern void LED_Update(void);
extern unsigned char NC_Wait_for_LED;
extern unsigned int ShutterCounter;
extern unsigned char Out1ChangedFlag; // can be 0 or 0x80
/tags/V2.18a/libfc.h
0,0 → 1,25
#ifndef _LIBFC_H
#define _LIBFC_H
 
#define CPU_UNKNOWN 0
#define CPU_ATMEGA644 1
#define CPU_ATMEGA644P 2
#define CPU_ATMEGA1284 3
#define CPU_ATMEGA1284P 4
 
extern void LIBFC_Init(unsigned char);
extern void LIBFC_Polling(void);
extern void LIBFC_ReceiverInit(unsigned char rtype);
 
extern void LIBFC_JetiBox_Putchar(char c);
extern void LIBFC_JetiBox_SetPos(unsigned char index);
extern void LIBFC_JetiBox_Clear(void);
extern void LIBFC_CheckSettings(void);
extern unsigned char LIBFC_GetCPUType(void);
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
extern long ACC_AltitudeFusion(unsigned char init);
unsigned char LIBFC_Get_HW_Version(unsigned char vers);
#endif
 
#endif //_LIBFC_H
/tags/V2.18a/libfc1284.a
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svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/tags/V2.18a/libfc644.a
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
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Added: svn:mime-type
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/tags/V2.18a/main.c
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[]
 
 
/tags/V2.18a/main.h
0,0 → 1,108
#ifndef _MAIN_H
#define _MAIN_H
 
//#define REDUNDANT_FC_SLAVE
//#define REDUNDANT_FC_MASTER
//#define NO_RECEIVER
 
//#define DEBUG // use to activate debug output to MK-Tool: use Debug(text);
//#define ACT_S3D_SUMMENSIGNAL
//#define UserParameter8_FAILSAFE
//#define RECEIVER_SPEKTRUM_DX7EXP
//#define RECEIVER_SPEKTRUM_DX8EXP
 
// neue Hardware
//#define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB &=~0x01; else PORTB |= 0x01;}
//#define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB |= 0x01; else PORTB &=~0x01;}
 
#define ROT_OFF {PORTB &=~0x01;}
#define ROT_ON {PORTB |= 0x01;}
 
#define ROT_FLASH PORTB ^= 0x01
//#define GRN_OFF {if((PlatinenVersion < 12) || PlatinenVersion == 25) PORTB &=~0x02; else PORTB |= 0x02;}
//#define GRN_ON {if((PlatinenVersion < 12) || PlatinenVersion == 25) PORTB |= 0x02; else PORTB &=~0x02;}
#define GRN_OFF {if(PlatinenVersion >= 25) PORTB &=~0x02; else PORTB |= 0x02;}
#define GRN_ON {if(PlatinenVersion >= 25) PORTB |= 0x02; else PORTB &=~0x02;}
#define GRN_FLASH PORTB ^= 0x02
 
#define SYSCLK F_CPU
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#define J3High PORTD |= 0x20
#define J3Low PORTD &= ~0x20
#define J4High PORTD |= 0x10
#define J4Low PORTD &= ~0x10
#define J5High PORTD |= 0x08
#define J5Low PORTD &= ~0x08
#define UART_MUX_TO_BL PORTD |= 0x10
#define UART_MUX_TO_UPDATE PORTD &= ~0x10
 
extern unsigned char BattLowVoltageWarning;
extern unsigned char BattAutoLandingVoltage, BattComingHomeVoltage;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern unsigned char PlatinenVersion;
extern unsigned char FoundMotors,DisableRcOffBeeping;
extern unsigned char JetiBeep;
void LipoDetection(unsigned char print);
extern unsigned int FlugMinuten,FlugMinutenGesamt,FlugSekunden;
extern void PrintLine(void); // "================================="
extern unsigned char ActiveParamSet;
extern unsigned int BL3_Current(unsigned char who); // in 0,1A
extern unsigned char LipoCells;
extern unsigned char Delete_Stoppflag_Timer;
extern void InitSerialPoti(void);
extern unsigned char TouchDownTimer;
unsigned char OEM_String[17];
 
#define NOTHING 0
#define MASTER 1
#define SLAVE 2
extern unsigned char IamMaster;
 
 
#include <avr/pgmspace.h>
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 
#endif
 
#include <stdlib.h>
#include <string.h>
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/eeprom.h>
#include <avr/boot.h>
#include <avr/wdt.h>
 
#include "old_macros.h"
 
#include "printf_P.h"
#include "timer0.h"
#include "uart.h"
#include "analog.h"
#include "twimaster.h"
#include "menu.h"
#include "rc.h"
#include "fc.h"
#include "gps.h"
#include "spi.h"
#include "led.h"
#include "spektrum.h"
#include "capacity.h"
#include "eeprom.h"
#include "libfc.h"
#include "hottmenu.h"
#include "debug.h"
#include "sbus.h"
#include "jeti_ex.h"
#include "M-Link.h"
 
#endif //_MAIN_H
 
 
 
 
 
 
/tags/V2.18a/makefile
0,0 → 1,496
#--------------------------------------------------------------------
# MCU name
MCU = atmega1284p
#MCU = atmega644p
F_CPU = 20000000
#-------------------------------------------------------------------
VERSION_MAJOR = 2
VERSION_MINOR = 17
VERSION_PATCH = 3
VERSION_SERIAL_MAJOR = 11 # Serial Protocol to KopterTool -> do not change!
VERSION_SERIAL_MINOR = 0 # Serial Protocol
NC_SPI_COMPATIBLE = 85 # Navi-Kompatibilität
LIB_FC_COMPATIBLE = 8 # Library
#-------------------------------------------------------------------
# ATMEGA644: 63487 is maximum
#-------------------------------------------------------------------
# 0 a
# 1 b
# 2 c
# 3 d
# 4 e
# 5 f
# 6 g
# 7 h
# 8 i
# 9 j
# 10 k
# 11 L
#-------------------------------------------------------------------
 
# get SVN revision
REV := $(shell sh -c "cat .svn/entries | sed -n '4p'")
 
ifeq ($(MCU), atmega1284p)
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
HEX_NAME = MEGA1284P
LIBFC_EXT = 1284
endif
 
ifeq ($(MCU), atmega644p)
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
HEX_NAME = MEGA644
LIBFC_EXT = 644
endif
 
ifeq ($(F_CPU), 16000000)
QUARZ = 16MHZ
endif
 
ifeq ($(F_CPU), 20000000)
QUARZ = 20MHZ
endif
 
 
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
 
# Target file name (without extension).
 
ifeq ($(VERSION_PATCH), 0)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 1)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 2)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 3)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 4)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 5)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 6)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 7)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 8)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 9)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 10)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 11)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 12)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 13)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 14)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 15)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 16)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 17)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 18)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 19)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 20)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 21)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)v_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 22)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)w_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 23)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)x_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 24)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)y_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 25)
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)z_SVN$(REV)
endif
 
 
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
#OPT = 2
 
##########################################################################################################
# List C source files here. (C dependencies are automatically generated.)
SRC = main.c uart.c timer0.c analog.c menu.c eeprom.c
SRC += twimaster.c rc.c fc.c GPS.c spi.c led.c Spektrum.c
SRC += mymath.c jetimenu.c capacity.c debug.c
SRC += hottmenu.c sbus.c user_receiver.c M-Link.c
SRC += jeti_ex.c
##########################################################################################################
 
 
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = isqrt.S
 
 
 
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS =
 
 
# Optional compiler flags.
# -g: generate debugging information (for GDB, or for COFF conversion)
# -O*: optimization level
# -f...: tuning, see gcc manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create assembler listing
CFLAGS = -O$(OPT) -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=$(<:%.c=%.lst) $(patsubst %,-I%,$(EXTRAINCDIRS))
 
 
# Set a "language standard" compiler flag.
# Unremark just one line below to set the language standard to use.
# gnu99 = C99 + GNU extensions. See GCC manual for more information.
#CFLAGS += -std=c89
#CFLAGS += -std=gnu89
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
 
# shrink code size
CFLAGS += -mtiny-stack
#CFLAGS += -fno-inline-functions
CFLAGS += -mcall-prologues
 
CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) -DLIB_FC_COMPATIBLE=$(LIB_FC_COMPATIBLE)
 
 
# Optional assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create listing
# -gstabs: have the assembler create line number information; note that
# for use in COFF files, additional information about filenames
# and function names needs to be present in the assembler source
# files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
 
 
 
# Optional linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
 
# Additional libraries
 
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
 
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
 
# -lm = math library
LDFLAGS += -lm
 
LDFLAGS += libfc$(LIBFC_EXT).a
 
##LDFLAGS += -T./linkerfile/avr5.x
 
 
 
# Programming support using avrdude. Settings and variables.
 
# Programming hardware: alf avr910 avrisp bascom bsd
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
#
# Type: avrdude -c ?
# to get a full listing.
#
#AVRDUDE_PROGRAMMER = dt006
#AVRDUDE_PROGRAMMER = stk200
#AVRDUDE_PROGRAMMER = ponyser
AVRDUDE_PROGRAMMER = avrispv2
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
 
#AVRDUDE_PORT = com1 # programmer connected to serial device
#AVRDUDE_PORT = lpt1 # programmer connected to parallel port
AVRDUDE_PORT = usb # programmer connected to USB
 
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
 
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
 
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE += -y
 
# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
AVRDUDE_FLAGS += -V
 
# Increase verbosity level. Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
# to submit bug reports.
#AVRDUDE_FLAGS += -v -v
 
# ---------------------------------------------------------------------------
# Define directories, if needed.
DIRAVR = c:/winavr
DIRAVRBIN = $(DIRAVR)/bin
DIRAVRUTILS = $(DIRAVR)/utils/bin
DIRINC = .
DIRLIB = $(DIRAVR)/avr/lib
 
 
# Define programs and commands.
SHELL = sh
 
CC = avr-gcc
 
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
 
# Programming support using avrdude.
AVRDUDE = avrdude
 
REMOVE = rm -f
COPY = cp
 
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -x -A $(TARGET).elf
LIMITS = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf
 
 
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = -------- begin --------
MSG_END = -------- end --------
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
 
 
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
 
# Define all listing files.
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
 
# Combine all necessary flags and optional flags.
# Add target processor to flags.
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 
 
# Default target.
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex sizeafter finished end
 
 
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
@echo
@echo $(MSG_BEGIN)
 
finished:
@echo $(MSG_ERRORS_NONE)
 
end:
@echo $(MSG_END)
@echo
 
 
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi
sizeafter:
@if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi
 
 
# Display compiler version information.
gccversion :
@$(CC) --version
 
 
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000
 
 
coff: $(TARGET).elf
@echo
@echo $(MSG_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
 
 
extcoff: $(TARGET).elf
@echo
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
 
 
 
 
# Program the device.
program: $(TARGET).hex $(TARGET).eep
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
 
 
 
 
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
@echo
@echo $(MSG_FLASH) $@
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
%.eep: %.elf
@echo
@echo $(MSG_EEPROM) $@
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
# Create extended listing file from ELF output file.
%.lss: %.elf
@echo
@echo $(MSG_EXTENDED_LISTING) $@
$(OBJDUMP) -h -S $< > $@
 
# Create a symbol table from ELF output file.
%.sym: %.elf
@echo
@echo $(MSG_SYMBOL_TABLE) $@
avr-nm -n $< > $@
 
 
 
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
@echo
@echo $(MSG_LINKING) $@
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
 
 
# Compile: create object files from C source files.
%.o : %.c
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(ALL_CFLAGS) $< -o $@
 
 
# Compile: create assembler files from C source files.
%.s : %.c
$(CC) -S $(ALL_CFLAGS) $< -o $@
 
 
# Assemble: create object files from assembler source files.
%.o : %.S
@echo
@echo $(MSG_ASSEMBLING) $<
$(CC) -c $(ALL_ASFLAGS) $< -o $@
 
 
 
 
 
 
# Target: clean project.
clean: begin clean_list finished end
 
clean_list :
@echo
@echo $(MSG_CLEANING)
$(REMOVE) Flight-Ctrl_*.hex
$(REMOVE) Flight-Ctrl_*.eep
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).cof
$(REMOVE) Flight-Ctrl_*.elf
$(REMOVE) Flight-Ctrl_*.map
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).a90
$(REMOVE) Flight-Ctrl_*.sym
$(REMOVE) $(TARGET).lnk
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRC:.c=.d)
$(REMOVE) $(SRC:.c=.o)
 
 
# Automatically generate C source code dependencies.
# (Code originally taken from the GNU make user manual and modified
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
set -e; $(CC) -MM $(ALL_CFLAGS) $< \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
[ -s $@ ] || rm -f $@
 
 
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:%.c=%.d)
 
 
 
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
clean clean_list program
 
/tags/V2.18a/menu.c
0,0 → 1,360
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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"
#include "eeprom.h"
 
char DisplayBuff[80];
unsigned char DispPtr = 0;
 
unsigned char MaxMenue = 19;
unsigned char MenuePunkt = 0;
unsigned char RemoteKeys = 0;
 
#define KEY1 0x01
#define KEY2 0x02
#define KEY3 0x04
#define KEY4 0x08
#define KEY5 0x10
 
void LcdClear(void)
{
unsigned char i;
for(i=0;i<80;i++) DisplayBuff[i] = ' ';
}
 
void Menu_Putchar(char c)
{
if(DispPtr < 80) DisplayBuff[DispPtr++] = c;
}
 
void Menu(void)
{
unsigned char i;
static char DisableMenu = 0, AccMenu = 0, changed = 0;
 
if(!DisableMenu)
{
if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;}
if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;}
if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0;
}
LcdClear();
if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}
else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};
 
switch(MenuePunkt)
{
case 0:
if(OEM_String[0] == 255) {LCD_printfxy(0,0,"+ MikroKopter +");} else {LCD_printfxy(0,0,"+ %s +",OEM_String)};
LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%02d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a');
LCD_printfxy(0,2,"Set:%d %s", ActiveParamSet,Mixer.Name);
if(FC_StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");
 
if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!")
else
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(NC_ErrorCode)
{
LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode);
_printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);
}
else
#endif
if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0])
else
if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d !!",MissingMotor)
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
#else
else
if(NC_ErrorCode)
{
LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode);
}
#endif
// if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1])
else
if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")
else
if(Capacity.MinOfMaxPWM < 30) LCD_printfxy(0,3,"BL-Selftest Err:%2d",Capacity.MinOfMaxPWM)
 
break;
case 1:
if(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE) LCD_printfxy(0,0,"ERROR: %5i",(int)(HoehenWert/5))
else LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5));
LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5));
LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
LCD_printfxy(0,3,"Offset: %5i",OCR0A);
// if(RemoteKeys & KEY4) StartLuftdruck = LuftdruckKompensiert;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl)
{
LCD_printfxy(17,2,"(A)");
LCD_printfxy(17,3,"%i",CalAthmospheare);
}
#endif
break;
case 2:
LCD_printfxy(0,0,"act. bearing");
LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024);
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024);
LCD_printfxy(0,3,"Compass: %5i",CompassCorrected);
break;
case 3:
for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]);
break;
case 4:
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",ChannelNick,ChannelRoll);
LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",ChannelGas+127,ChannelYaw);
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127);
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127);
break;
case 5:
LCD_printfxy(0,0,"Gyro - Sensor");
LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNick - AdNeutralNick/8, AdNeutralNick);
LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll);
LCD_printfxy(0,3,"Yaw %4i (%4i)",AdNeutralGier - AdWertGier, AdNeutralGier);
AccMenu = 0;
break;
case 6:
switch(AccMenu)
{
case 0:
LCD_printfxy(0,0,"ACC - Sensor");
LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX);
LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY);
LCD_printfxy(0,3,"Z %4i (%3i)(cal)",AdWertAccHoch,(int)NeutralAccZ);
if(RemoteKeys & KEY4) AccMenu++;
changed = 0;
break;
case 1:
LCD_printfxy(0,0,"Calibration:");
LCD_printfxy(0,1,"ACC: N:%3i R:%3i ",NeutralAccY,NeutralAccX);
if(ChannelNick || ChannelRoll) LCD_printfxy(0,2,"Stick: (%i/%i) !! ",ChannelNick,ChannelRoll);
if((FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-')))
{
DisableMenu = 1;
if(!EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude
if(RemoteKeys & KEY1) { NeutralAccY--; changed = 1;}
if(RemoteKeys & KEY2) { NeutralAccY++; changed = 1;}
if(RemoteKeys & KEY3) { NeutralAccX--; changed = 1;}
if(RemoteKeys & KEY4) { NeutralAccX++; changed = 1;}
LCD_printfxy(13,0,"on ");
if(changed) LCD_printfxy(0,3,"land to save ")
else LCD_printfxy(0,3,"use keys to trim ACC")
}
else
{
LCD_printfxy(13,0,"off");
DisableMenu = 0;
if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && changed)
{
LCD_printfxy(0,3,"Save? (yes)(no)");
if(RemoteKeys & KEY3) { StoreNeutralToEeprom(); AccMenu = 0;}
if(RemoteKeys & KEY4) { changed = 0;}
}
else LCD_printfxy(0,3,"Fly with GPS off");
}
break;
default: AccMenu = 0; break;
}
break;
case 7:
LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10);
LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower);
LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);
AccMenu = 0;
break;
case 8:
LCD_printfxy(0,0,"Receiver");
LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);
LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1);
break;
case 9:
LCD_printfxy(0,0,"Undervoltages " );
LCD_printfxy(0,1,"Warn: %2d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
LCD_printfxy(0,2,"Home: %2d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);
LCD_printfxy(0,3,"Land: %2d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);
break;
case 10:
for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]);
break;
case 11:
for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]);
break;
case 12:
LCD_printfxy(0,0,"Flight-Time " );
LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt);
LCD_printfxy(0,2,"Act: %5umin",FlugMinuten);
LCD_printfxy(13,3,"(reset)");
if(RemoteKeys & KEY4)
{
FlugMinuten = 0;
SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
}
break;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
case 13:
LCD_printfxy(0,0,"Compass");
LCD_printfxy(0,1,"Magnet: %5i",KompassValue);
LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad);
LCD_printfxy(0,3,"True: %5i",CompassCorrected);
break;
case 14:
LCD_printfxy(0,0,"Servo " );
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl);
LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4);
LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
break;
case 15:
if(RequiredMotors < 13)
{
LCD_printfxy(0,0,"BL-Ctrl Errors " );
for(i=0;i<3;i++)
LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK);
}
else
{
for(i=0;i<4;i++)
LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK);
LCD_printfxy(16,1,"BL-");
LCD_printfxy(16,2,"Err.");
}
break;
case 16:
if(RequiredMotors < 13)
{
LCD_printfxy(0,0,"BL- Temperature" );
for(i=0;i<3;i++)
{
LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature);
}
}
else
{
for(i=0;i<4;i++)
{
LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature);
}
LCD_printfxy(16,1,"BL-");
LCD_printfxy(16,2,"Temp");
}
LCD_printfxy(18,3,"C");
break;
case 17:
if(RequiredMotors < 13)
{
LCD_printfxy(0,0,"BL Current" );
LCD_printfxy(11,3,"(in 0.1A)" );
for(i=0;i<3;i++)
{
LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3));
if(4 + i * 4 >= RequiredMotors) break;
}
}
else
{
for(i=0;i<4;i++)
{
LCD_printfxy(0,i,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3));
}
LCD_printfxy(16,2,"BL-");
LCD_printfxy(16,3,"I");
}
break;
case 18:
LCD_printfxy(0,0,"BL-Ctrl found " );
DispPtr = 20;
for(i=0; i<MAX_MOTORS; i++)
{
if(i == 6 || i == 12) LCD_printf(" ");
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
{
LCD_printf(" %2i",i+1);
}
else LCD_printf(" -");
}
break;
case 19:
if(RequiredMotors < 13)
{
LCD_printfxy(0,0,"BL Versions" );
for(i=0;i<3;i++)
{
LCD_printfxy(0,i+1,"%1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor);
if(4 + i * 4 >= RequiredMotors) break;
}
}
else
{
for(i=0;i<4;i++)
LCD_printfxy(0,i," %1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor);
}
break;
/* case 20:
LCD_printfxy(0,0,"BL MaxPWM " );
for(i=0;i<3;i++)
{
LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].MaxPWM,Motor[i*4+1].MaxPWM,Motor[i*4+2].MaxPWM,Motor[i*4+3].MaxPWM);
if(4 + i * 4 >= RequiredMotors) break;
}
break;
*/
#endif
default:
if(MenuePunkt == MaxMenue) MaxMenue--;
MenuePunkt = 0;
break;
}
RemoteKeys = 0;
}
/tags/V2.18a/menu.h
0,0 → 1,17
#ifndef _MENU_H
#define _MENU_H
 
extern void Menu(void);
extern void LcdClear(void);
extern void Menu_Putchar(char c);
extern char DisplayBuff[80];
extern unsigned char DispPtr;
 
extern unsigned char MaxMenue;
extern unsigned char MenuePunkt;
extern unsigned char RemoteKeys;
 
#define LCD_printfxy(x,y,format, args...) { DispPtr = (y) * 20 + (x); _printf_P(&Menu_Putchar,PSTR(format) , ## args);}
#define LCD_printf(format, args...) { _printf_P(&Menu_Putchar, PSTR(format) , ## args);}
 
#endif //_MENU_H
/tags/V2.18a/mymath.c
0,0 → 1,42
#include <stdlib.h>
#include <avr/pgmspace.h>
#include "mymath.h"
 
// discrete mathematics
 
// Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit.
const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192};
 
int16_t c_cos_8192(int16_t angle)
{
int8_t m,n;
int16_t sinus;
angle = 90 - angle; // we need the cosinus and not the sinus
// avoid negative angles
if (angle < 0)
{
m = -1;
angle = abs(angle);
}
else m = +1;
 
// fold angle to intervall 0 to 359
angle %= 360;
 
// check quadrant
if (angle <= 90) n=1; // first quadrant
else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant
else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant
else {angle = 360 - angle; n = -1;} //fourth quadrant
// get lookup value
sinus = pgm_read_word(&pgm_sinlookup[angle]);
// calculate sinus value
return (sinus * m * n);
}
/*
// Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit.
int16_t c_cos_8192(int16_t angle)
{
return (c_sin_8192(90 - angle));
}
*/
/tags/V2.18a/mymath.h
0,0 → 1,10
#ifndef _MYMATH_H
#define _MYMATH_H
 
#include <inttypes.h>
 
//extern int16_t c_sin_8192(int16_t angle);
extern int16_t c_cos_8192(int16_t angle);
extern int16_t c_atan2(int16_t y, int16_t x);
extern uint32_t c_sqrt(uint32_t a);
#endif // _MYMATH_H
/tags/V2.18a/old_macros.h
0,0 → 1,47
/*
For backwards compatibility only.
Ingo Busker ingo@mikrocontroller.com
*/
 
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
 
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
 
#ifndef inb
#define inb(sfr) _SFR_BYTE(sfr)
#endif
 
#ifndef outb
#define outb(sfr, val) (_SFR_BYTE(sfr) = (val))
#endif
 
#ifndef inw
#define inw(sfr) _SFR_WORD(sfr)
#endif
 
#ifndef outw
#define outw(sfr, val) (_SFR_WORD(sfr) = (val))
#endif
 
#ifndef outp
#define outp(val, sfr) outb(sfr, val)
#endif
 
#ifndef inp
#define inp(sfr) inb(sfr)
#endif
 
#ifndef BV
#define BV(bit) _BV(bit)
#endif
 
 
#ifndef PRG_RDB
#define PRG_RDB pgm_read_byte
#endif
 
/tags/V2.18a/printf_P.h
0,0 → 1,69
// Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt
 
/*
Copyright (C) 1993 Free Software Foundation
 
This file is part of the GNU IO Library. This library is free
software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the
Free Software Foundation; either version 2, or (at your option)
any later version.
 
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this library; see the file COPYING. If not, write to the Free
Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 
As a special exception, if you link this library with files
compiled with a GNU compiler to produce an executable, this does not cause
the resulting executable to be covered by the GNU General Public License.
This exception does not however invalidate any other reasons why
the executable file might be covered by the GNU General Public License. */
 
/*
* Copyright (c) 1990 Regents of the University of California.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. [rescinded 22 July 1999]
* 4. Neither the name of the University nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*/
 
/******************************************************************************/
#ifndef _PRINTF_P_H_
#define _PRINTF_P_H_
 
#include <avr/pgmspace.h>
 
// function pointer to external callback function
typedef void (*pVoidFnctChar) (char );
typedef void (*pVoidFnct_pVoidFnctChar_const_fmt) (pVoidFnctChar, char const *fmt0, ...);
extern pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
 
 
#endif //_PRINTF_P_H_
/tags/V2.18a/rc.c
0,0 → 1,183
/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "rc.h"
#include "main.h"
// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt
#define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
volatile int PPM_in[MAX_RC_IN];
volatile int PPM_diff[MAX_RC_IN]; // das differnzierte Stick-Signal
volatile char Channels,tmpChannels = 0;
volatile unsigned char NewPpmData = 1;
unsigned int PPM_Neutral = 466;
signed int ChannelNick,ChannelRoll,ChannelGas,ChannelYaw;
 
//############################################################################
// Clear the values
void rc_sum_init(void)
//############################################################################
{
unsigned char i;
for(i=0;i<MAX_RC_IN;i++)
{
if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127;
PPM_diff[i] = 0;
}
PPM_in[PPM_IN_MAX] = +127;
PPM_in[PPM_IN_OFF] = -127;
PPM_in[PPM_IN_MID] = 0;
AdNeutralGier = 0;
AdNeutralRoll = 0;
AdNeutralNick = 0;
return;
}
 
#ifndef ACT_S3D_SUMMENSIGNAL
//############################################################################
// Interrupt function for the PPM-Input
ISR(TIMER1_CAPT_vect)
//############################################################################
{
static unsigned int AltICR=0;
signed int signal = 0,tmp;
static int index = 255;
 
signal = (unsigned int) ICR1 - AltICR;
AltICR = ICR1;
//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
if((signal > 1100) && (signal < 8000))
{
Channels = index;
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
index = 1;
}
else
{
if(index < SERIAL_POTI_START)
{
if((signal > 250) && (signal < 687))
{
signal -= PPM_Neutral;
// Stabiles Signal
if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
{
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
}
tmp = (3 * (PPM_in[index]) + signal) / 4;
if(tmp > signal+1) tmp--; else
if(tmp < signal-1) tmp++;
if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
else PPM_diff[index] = 0;
PPM_in[index] = tmp;
if(SenderOkay < 50)
{
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;
}
}
index++;
}
}
}
 
#else
//############################################################################
// Interrupt function for the PPM-Input
ISR(TIMER1_CAPT_vect)
//############################################################################
 
{
static unsigned int AltICR=0;
signed int signal = 0,tmp;
static int index;
 
signal = (unsigned int) ICR1 - AltICR;
signal /= 2;
AltICR = ICR1;
//Syncronisationspause?
if((signal > 1100*2) && (signal < 8000*2))
{
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
index = 1;
}
else
{
if(index < 13)
{
if((signal > 250) && (signal < 687*2))
{
signal -= 962;
// Stabiles Signal
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
tmp = (3 * (PPM_in[index]) + signal) / 4;
if(tmp > signal+1) tmp--; else
if(tmp < signal-1) tmp++;
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
else PPM_diff[index] = 0;
if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
PPM_in[index] = tmp;
}
index++;
}
}
}
#endif
 
 
 
/tags/V2.18a/rc.h
0,0 → 1,44
/*#######################################################################################
Dekodieren eines RC Summen Signals
#######################################################################################*/
 
#ifndef _RC_H
#define _RC_H
 
#if defined (__AVR_ATmega644__)
#define TIMER_RELOAD_VALUE 250
#endif
 
#if defined (__AVR_ATmega644P__)
#define TIMER_RELOAD_VALUE 250
#endif
 
#define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
 
extern void rc_sum_init (void);
 
extern volatile int PPM_in[MAX_RC_IN];
extern volatile int PPM_diff[MAX_RC_IN]; // das diffenzierte Stick-Signal
extern volatile unsigned char NewPpmData;
extern volatile char Channels,tmpChannels;
extern unsigned int PPM_Neutral;
extern signed int ChannelNick,ChannelRoll,ChannelGas,ChannelYaw;
 
// 0 -> frei bzw. ACT rssi
// 1 - 16 -> 1-16
// 17 - 28 -> 12 Serial channels
// 29 -> WP-Event kanal
// 30 -> -127
// 31 -> 128
// 32 -> 0
 
#define SERIAL_POTI_START 17
#define SERIAL_POTI_END 28
#define WP_EVENT_PPM_IN 29
#define PPM_IN_OFF 30
#define PPM_IN_MAX 31
#define PPM_IN_MID 32
 
#define FromNC_WP_EventChannel PPM_in[WP_EVENT_PPM_IN] // WP_EVENT-Channel-Value
 
#endif //_RC_H
/tags/V2.18a/sbus.c
0,0 → 1,200
/*#######################################################################################
Decodes the sbus protocol
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "sbus.h"
#include "main.h"
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
unsigned char NewSBusData = 0, sBusBuffer[25];
 
//############################################################################
// USART1 initialisation from killagreg
void SbusUartInit(void)
//############################################################################
{
// -- Start of USART1 initialisation for Spekturm seriell-mode
// USART1 Control and Status Register A, B, C and baud rate register
uint8_t sreg = SREG;
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 100000) - 1);
// disable all interrupts before reconfiguration
cli();
// disable RX-Interrupt
UCSR1B &= ~(1 << RXCIE1);
// disable TX-Interrupt
UCSR1B &= ~(1 << TXCIE1);
// disable DRE-Interrupt
UCSR1B &= ~(1 << UDRIE1);
/*
// set direction of RXD1 and TXD1 pins
// set RXD1 (PD2) as an input pin
PORTD |= (1 << PORTD2);
DDRD &= ~(1 << DDD2);
// set TXD1 (PD3) as an output pin
PORTD |= (1 << PORTD3);
DDRD |= (1 << DDD3);
*/
// USART0 Baud Rate Register
// set clock divider
UBRR1H = (uint8_t)(ubrr>>8);
UBRR1L = (uint8_t)ubrr;
// enable double speed operation
UCSR1A |= (1 << U2X1);
// enable receiver and transmitter
//UCSR1B = (1<<RXEN1)|(1<<TXEN1);
 
UCSR1B = (1<<RXEN1);
// set asynchronous mode
UCSR1C &= ~(1 << UMSEL11);
UCSR1C &= ~(1 << UMSEL10);
// parity
UCSR1C <= (1 << UPM11); // even
UCSR1C &= ~(1 << UPM10);
// stop bit
UCSR1C |= (1 << USBS1); // two
// 8-bit
UCSR1B &= ~(1 << UCSZ12);
UCSR1C |= (1 << UCSZ11);
UCSR1C |= (1 << UCSZ10);
// flush receive buffer explicit
while(UCSR1A & (1<<RXC1)) UDR1;
// enable RX-interrupts at the end
UCSR1B |= (1 << RXCIE1);
// -- End of USART1 initialisation
// restore global interrupt flags
sBusBuffer[23] |= 4; // This Bit contains the 'Signal loss'
SREG = sreg;
return;
}
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#define MIN_FRAMEGAP 68 // 7ms
#define MAX_BYTEGAP 3 // 310us
 
//############################################################################
// Is called by the uart RX interrupt
//############################################################################
void SbusParser(unsigned char udr)
{
static unsigned char ptr = 0;
if(!SpektrumTimer && udr == 0x0f) // wait for the start
{
ptr = 0;
SpektrumTimer = 80; // 8ms gap
}
else
{
if(++ptr == 24) // last byte
{
NewSBusData = 1;
}
else
if(ptr > 24) ptr = 25;
else
{
sBusBuffer[ptr] = udr; // collect all bytes
}
}
}
 
void ProcessSBus(void)
{
static unsigned char load = 0;
unsigned char bitmask8 = 1, sbyte = 2, i, index = 1, process;
unsigned int bitmask11 = 256;
signed int signal = 0,tmp;
if(!(sBusBuffer[23] & 4)) // This Bit contains the 'Signal loss'
{
TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input
if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
{
if(SenderOkay < 200) SenderOkay += 20; else SenderOkay = 200;
}
signal = sBusBuffer[1];
if(!load--) { process = (16*11 - 8); load = 2;} else process = (4*11 - 8); // lowers the processor load
for(i = 0; i < process; i++) // collect the single bits
{
if(sBusBuffer[sbyte] & bitmask8) signal |= bitmask11;
bitmask8 *= 2;
if(!bitmask8)
{
bitmask8 = 1;
sbyte++;
}
bitmask11 *= 2;
if(bitmask11 == 2048)
{
bitmask11 = 1;
signal = (signal-1024) / 5; // the resolution is higher than required
tmp = (3 * (PPM_in[index]) + signal) / 4;
if(tmp > signal+1) tmp--; else
if(tmp < signal-1) tmp++;
if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
else PPM_diff[index] = 0;
PPM_in[index] = tmp;
signal = 0;
index++; // next channel
}
}
NewPpmData = 0; // Null bedeutet: Neue Daten
}
NewSBusData = 0;
}
#endif
 
/tags/V2.18a/sbus.h
0,0 → 1,11
#ifndef _SBUS_H
#define _SBUS_H
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
extern unsigned char NewSBusData, sBusBuffer[25];
extern void SbusParser(unsigned char);
extern void SbusUartInit(void);
extern void ProcessSBus(void);
 
#endif
#endif
/tags/V2.18a/spi.c
0,0 → 1,630
// ######################## SPI - FlightCtrl ###################
#include "main.h"
#include "eeprom.h"
#include "uart.h"
 
//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
struct str_ToNaviCtrl ToNaviCtrl;
struct str_FromNaviCtrl FromNaviCtrl;
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
struct str_SPI_VersionInfo NC_Version;
struct str_GPSInfo GPSInfo;
struct str_HugeBlockToNavi HugeBlockToNavi;
struct str_HugeBlockFromNavi HugeBlockFromNavi;
 
unsigned char SPI_BufferIndex;
unsigned char SPI_RxBufferIndex;
unsigned char SPI_Datasize;
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
signed char FromNC_WP_EventChannel_New = 0;
 
volatile unsigned char SPI_Buffer[sizeof(HugeBlockToNavi)];
unsigned char *SPI_TX_Buffer;
 
unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid,NaviDataOkay = 250;
 
unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW,SPI_FCCMD_BL_ACCU,
SPI_FCCMD_STICK2, SPI_FCCMD_MISC, SPI_FCCMD_BL_ACCU,
SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_BL_ACCU,
SPI_FCCMD_STICK2, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU
};
unsigned char SPI_CommandCounter = 0;
unsigned char NC_ErrorCode = 0, Partner_ErrorCode = 0;
unsigned char NC_GPS_ModeCharacter = ' ';
unsigned char EarthMagneticField = 0;
unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
unsigned char NC_To_FC_Flags = 0;
unsigned char NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home)
//unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
signed int POI_KameraNick = 0; // in 0,1°
vector16_t MagVec = {0,0,0};
unsigned char *PtrToChksum;
unsigned char NC_RequestsConfig = 0;
unsigned char CamCtrlCharacter = ' ';
unsigned char NCParachute = 0;
unsigned char BaroCalState = 0;
unsigned char FlyzonePointCnt = 0;
unsigned int FromNC_Laser_cm;
unsigned int TrigLogging_CountExternal = 0;
 
#ifdef USE_SPI_COMMUNICATION
 
//------------------------------------------------------
void SPI_MasterInit(void)
{
DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input
SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
 
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
SPSR = 0;//(1<<SPI2X);
 
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT);
SPITransferCompleted = 1;
 
//SPDR = 0x00; // dummy write
 
ToNaviCtrl.Sync1 = SPI_FCSYNCBYTE1;
ToNaviCtrl.Sync2 = SPI_FCSYNCBYTE2;
 
ToNaviCtrl.Command = SPI_FCCMD_USER;
ToNaviCtrl.IntegralNick = 0;
ToNaviCtrl.IntegralRoll = 0;
FromNaviCtrl_Value.SerialDataOkay = 0;
SPI_RxDataValid = 0;
 
}
 
//------------------------------------------------------
unsigned char SPI_StartTransmitPacket(void)
{
if(!SPITransferCompleted) return(0);
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
PtrToChksum = (unsigned char *) &ToNaviCtrl.Chksum;
ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
 
SPITransferCompleted = 0;
UpdateSPI_Buffer(); // update buffer
SPI_BufferIndex = 1;
ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
SPI_Datasize = sizeof(ToNaviCtrl);
SPDR = ToNaviCtrl.Sync1; // Start transmission
return(1);
}
 
//------------------------------------------------------
//SIaNAL(SIG_SPI)
void SPI_TransmitByte(void)
{
static unsigned char SPI_RXState = 0;
unsigned char rxdata;
static unsigned char rxchksum;
 
if (SPITransferCompleted) return;
if (!(SPSR & (1 << SPIF))) return;
BytegapSPI = SPI_BYTEGAP;
// _delay_us(30);
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave
 
rxdata = SPDR;
switch ( SPI_RXState)
{
case 0:
SPI_RxBufferIndex = 0;
rxchksum = rxdata;
if (rxdata == SPI_NCSYNCBYTE1 ) { SPI_RXState = 1; } // 1. Syncbyte ok
break;
 
case 1:
rxchksum += rxdata;
if (rxdata == SPI_NCSYNCBYTE2) { SPI_RXState = 2; } // 2. Syncbyte ok
else
if (rxdata == SPI_NCSYNCBYTE_HB2) { SPI_RXState = 3; } // 2. Syncbyte ok
else SPI_RXState = 0;
break;
 
case 2: // get normal NC data packets
SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
//DebugOut.Analog[19]++;
if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
{
if (rxdata == rxchksum)
{
unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(FromNaviCtrl));
SPI_RxDataValid = 1;
}
else
{
SPI_RxDataValid = 0;
DebugOut.Analog[27]++;
}
SPI_RXState = 0;
}
else rxchksum += rxdata;
break;
case 3: // get huge data packet
SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
if(SPI_RxBufferIndex >= sizeof(HugeBlockFromNavi))
{
if(rxdata == rxchksum)
{
unsigned char *ptr = (unsigned char *)&HugeBlockFromNavi;
memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(HugeBlockFromNavi));
// DebugOut.Analog[] = HugeBlockFromNavi.Data[239];
// SPI_RxDataValid = 1;
}
else
{
SPI_RxDataValid = 0;
DebugOut.Analog[27]++;
}
SPI_RXState = 0;
}
else rxchksum += rxdata;
break;
}
 
if (SPI_BufferIndex < SPI_Datasize)
{
unsigned char tmp;
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
tmp = SPI_TX_Buffer[SPI_BufferIndex];
SPDR = tmp;
*PtrToChksum += tmp;
}
else SPITransferCompleted = 1;
 
SPI_BufferIndex++;
}
 
void TransmitHugeBlock(void)
{
// if(!SPITransferCompleted) return(0);
while(!SPITransferCompleted) { SPI_TransmitByte();_delay_us(100);}; // send the remaining data
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
SPI_TX_Buffer = (unsigned char *) &HugeBlockToNavi; // pointer to the huge Block
PtrToChksum = (unsigned char *) &HugeBlockToNavi.Chksum;
SPITransferCompleted = 0;
SPI_BufferIndex = 1;
HugeBlockToNavi.Sync1 = SPI_FCSYNCBYTE_HB1;
HugeBlockToNavi.Sync2 = SPI_FCSYNCBYTE_HB2;
HugeBlockToNavi.Chksum = SPI_FCSYNCBYTE_HB1;
SPI_Datasize = sizeof(HugeBlockToNavi);
SPDR = HugeBlockToNavi.Sync1; // Start transmission
// +++++++++++++++++++++++++++++++
// finish I2CTransfer first
// if(I2C_TransferActive)_delay_ms(2);
// +++++++++++++++++++++++++++++++
SPI_TransmitByte();_delay_us(200); SPI_TransmitByte();_delay_us(200); // leave the NC a bit time to fill the FIFO
while(!SPITransferCompleted) { _delay_us(80); SPI_TransmitByte();};
}
 
void SendSettingToNC(void)
{
HugeBlockToNavi.WhoAmI = 1; // 1 means: EE-Data
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
memcpy(HugeBlockToNavi.Data, (unsigned char *) &EE_Parameter, sizeof(EE_Parameter));
TransmitHugeBlock();
NC_RequestsConfig = 0;
}
 
//------------------------------------------------------
void UpdateSPI_Buffer(void)
{
// signed int tmp;
static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0;
ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
// ToNaviCtrl.User8 = Parameter_UserParam8;
// ToNaviCtrl.CalState = WinkelOut.CalcState;
switch(ToNaviCtrl.Command) //
{
case SPI_FCCMD_USER:
ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2;
//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11
if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16)
// 8 = 16,17
// 9 = 18,19
break;
case SPI_FCCMD_BL_ACCU:
ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1
ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM;
ToNaviCtrl.Param.Byte[4] = Parameter_GPS_Switch; // GPS-Mode control
ToNaviCtrl.Param.Byte[5] = VarioCharacter;
ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt;
ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version;
ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current;
if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ?
while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13;
Out1ChangedFlag = 0;
ToNaviCtrl.Param.sInt[6] = Mittelwert_AccNick/4; // ToNaviCtrl.AccNick
ToNaviCtrl.Param.sInt[7] = Mittelwert_AccRoll/4; // ToNaviCtrl.AccRoll
 
//ToNaviCtrl.Param.sInt[8] = DebugOut.Analog[16];
//ToNaviCtrl.Param.sInt[9] = DebugOut.Analog[17];
// 8 = 16,17
// 9 = 18,19
break;
case SPI_FCCMD_SLOW:
switch(slow_command)
{
case 0:
ToNaviCtrl.Command = SPI_FCCMD_VERSION;
ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed;
ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes;
ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware;
ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11
ToNaviCtrl.Param.Byte[12] = IamMaster;
slow_command++;
break;
case 1:
ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1;
ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard
ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA;
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange;
ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
 
slow_command++;
break;
case 2:
ToNaviCtrl.Command = SPI_FCCMD_SLOW2;
ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1
ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3
ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5
ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset;
ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
slow_command++;
break;
case 3:
ToNaviCtrl.Command = SPI_FCCMD_SLOW3;
ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl;
ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl;
ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m
ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude;
ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert;
ToNaviCtrl.Param.Byte[5] = LipoCells;
ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7
ToNaviCtrl.Param.Byte[8] = LowVoltageLandingActive;
ToNaviCtrl.Param.Byte[9] = EE_Parameter.FailSafeTime;
ToNaviCtrl.Param.Byte[10] = 0;
ToNaviCtrl.Param.Byte[11] = 0;
//ToNaviCtrl.Param.Byte[12]
//ToNaviCtrl.Param.Byte[13]
//ToNaviCtrl.Param.Byte[14]
//ToNaviCtrl.Param.Byte[15]
//ToNaviCtrl.Param.Byte[16]
//ToNaviCtrl.Param.Byte[17]
//ToNaviCtrl.Param.Byte[18]
//ToNaviCtrl.Param.Byte[19]
slow_command++;
break;
default:
ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL;
ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1
ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3
ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5
ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp;
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime;
ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver;
ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit;
ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit;
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit;
slow_command = 0;
//ToNaviCtrl.Param.Byte[12]
//ToNaviCtrl.Param.Byte[13]
//ToNaviCtrl.Param.Byte[14]
//ToNaviCtrl.Param.Byte[15]
//ToNaviCtrl.Param.Byte[16]
//ToNaviCtrl.Param.Byte[17]
//ToNaviCtrl.Param.Byte[18]
//ToNaviCtrl.Param.Byte[19]
break;
}
break;
case SPI_FCCMD_PARAMETER2:
ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
// create the ToNC_SpeakHoTT
if(EE_Parameter.Receiver != RECEIVER_HOTT)
{
if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]);
else HoTT_Waring();
}
ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT;
#else
ToNaviCtrl.Param.Byte[1] = 0;
#endif
ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3
ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive;
ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List;
ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint;
ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint;
ToNC_Load_WP_List = 0;
ToNC_Load_SingePoint = 0;
ToNC_Store_SingePoint = 0;
if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9
else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero
ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3;
ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed;
//ToNaviCtrl.Param.Byte[12]
//ToNaviCtrl.Param.Byte[13]
//ToNaviCtrl.Param.Byte[14]
//ToNaviCtrl.Param.Byte[15]
//ToNaviCtrl.Param.Byte[16]
//ToNaviCtrl.Param.Byte[17]
//ToNaviCtrl.Param.Byte[18]
//ToNaviCtrl.Param.Byte[19]
break;
case SPI_FCCMD_STICK:
ToNaviCtrl.Param.Byte[0] = ChannelGas;
ToNaviCtrl.Param.Byte[1] = ChannelYaw;
ToNaviCtrl.Param.Byte[2] = ChannelRoll;
ToNaviCtrl.Param.Byte[3] = ChannelNick;
ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
//ToNaviCtrl.Param.Byte[12]
//ToNaviCtrl.Param.Byte[13]
//ToNaviCtrl.Param.Byte[14]
//ToNaviCtrl.Param.Byte[15]
//ToNaviCtrl.Param.Byte[16]
//ToNaviCtrl.Param.Byte[17]
//ToNaviCtrl.Param.Byte[18]
//ToNaviCtrl.Param.Byte[19]
break;
case SPI_FCCMD_STICK2:
ToNaviCtrl.Param.Byte[0] = ChannelGas;
ToNaviCtrl.Param.Byte[1] = ChannelYaw;
ToNaviCtrl.Param.Byte[2] = ChannelRoll;
ToNaviCtrl.Param.Byte[3] = ChannelNick;
ToNaviCtrl.Param.Byte[4] = (unsigned char) PPM_in[1];
ToNaviCtrl.Param.Byte[5] = (unsigned char) PPM_in[2];
ToNaviCtrl.Param.Byte[6] = (unsigned char) PPM_in[3];
ToNaviCtrl.Param.Byte[7] = (unsigned char) PPM_in[4];
ToNaviCtrl.Param.Byte[8] = (unsigned char) PPM_in[5];
ToNaviCtrl.Param.Byte[9] = (unsigned char) PPM_in[6];
ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[7];
ToNaviCtrl.Param.Byte[11] = (unsigned char) PPM_in[8];
ToNaviCtrl.Param.Byte[12] = (unsigned char) PPM_in[9];
ToNaviCtrl.Param.Byte[13] = (unsigned char) PPM_in[10];
ToNaviCtrl.Param.Byte[14] = (unsigned char) PPM_in[11];
ToNaviCtrl.Param.Byte[15] = (unsigned char) PPM_in[12];
ToNaviCtrl.Param.Byte[16] = (unsigned char) PPM_in[13];
ToNaviCtrl.Param.Byte[17] = (unsigned char) PPM_in[14];
ToNaviCtrl.Param.Byte[18] = (unsigned char) PPM_in[15];
ToNaviCtrl.Param.Byte[19] = (unsigned char) PPM_in[16];
break;
case SPI_FCCMD_MISC:
if(WinkelOut.CalcState >= 5)
{
WinkelOut.CalcState = 0;
ToNaviCtrl.Param.Byte[0] = 5;
}
else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
ToNaviCtrl.Param.Byte[1] = HoverGas / 4;
ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3
ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5
ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0];
ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1];
VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0;
VersionInfo.HardwareError[1] &= (FC_ERROR1_ACC_NOT_CAL | FC_ERROR1_MIXER); // delete the most error-flags now
ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter
ToNaviCtrl.Param.Byte[9] = (unsigned char) ReceiverOkay;
ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED;
ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
//ToNaviCtrl.Param.Byte[12]
//ToNaviCtrl.Param.Byte[13]
//ToNaviCtrl.Param.Byte[14]
//ToNaviCtrl.Param.Byte[15]
//ToNaviCtrl.Param.Byte[16]
//ToNaviCtrl.Param.Byte[17]
//ToNaviCtrl.Param.Byte[18]
//ToNaviCtrl.Param.Byte[19]
break;
}
if(SPI_RxDataValid)
{
if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250;
oldcommand = FromNaviCtrl.Command;
CalculateCompassTimer = 1;
if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
{
GPS_Nick = FromNaviCtrl.GPS_Nick;
GPS_Roll = FromNaviCtrl.GPS_Roll;
}
if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
switch (FromNaviCtrl.Command)
{
case SPI_NCCMD_KALMAN:
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
KompassFusion = FromNaviCtrl.Param.sByte[3];
FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
if(FromNaviCtrl.Param.sInt[4] >= 0)
{
NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
}
POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
//++++++++++++++++++++++++++++++++++++++++++++
if(FromNaviCtrl.Param.Byte[12] && !beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.Param.Byte[12] * 16;
//++++++++++++++++++++++++++++++++++++++++++++
if(FromNaviCtrl.Param.Byte[4] & KM_BIT_YAW) NCForcesNewDirection = 1;
NCParachute = FromNaviCtrl.Param.Byte[4] & (KM_BIT_SLOW | KM_BIT_OFF);
if(FromNaviCtrl.Param.Byte[4] & KM_BIT_UART) // controls the Uart-Multiplexer on the FC3.0
{
#ifdef REDUNDANT_FC_SLAVE
if(MotorenEin) // otherwise we wouldn't read the answer of the BLs if debugging on FC is active
{
UART_MUX_TO_BL;
SwitchMultiplexerToUpdate = 0;
}
else
#endif
{
if(UebertragungAbgeschlossen == 2) UART_MUX_TO_UPDATE;
SwitchMultiplexerToUpdate = 1;
}
}
else
{
UART_MUX_TO_BL;
SwitchMultiplexerToUpdate = 0;
}
 
if(FromNaviCtrl.Param.Byte[4] & KM_BIT_EXTCNTRL) // External Control
{
memcpy((unsigned char *)&ExternalControl, (unsigned char *)&FromNaviCtrl.Param.Byte[13], 7); // 7 Bytes ExternalControl
if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0;
else ExternalControlTimeout = 100; // 2 seconds timeout
}
//++++++++++++++++++++++++++++++++++++++++++++
break;
case SPI_NCCMD_VERSION:
NC_Version.Major = FromNaviCtrl.Param.Byte[0];
NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(FromNaviCtrl.Param.Byte[11])
if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[11];
#endif
if(FromNaviCtrl.Param.Byte[12]) NC_RequestsConfig = FromNaviCtrl.Param.Byte[12];
Partner_ErrorCode = FromNaviCtrl.Param.Byte[13];
Partner_StatusFlags = FromNaviCtrl.Param.Byte[14];
Partner_StatusFlags2 = FromNaviCtrl.Param.Byte[15];
Partner_StatusFlags3 = FromNaviCtrl.Param.Byte[16];
break;
case SPI_NCCMD_GPSINFO:
GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird
PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel)
FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm
TrigLogging_CountExternal = FromNaviCtrl.Param.sInt[6];
break;
case SPI_MISC:
EarthMagneticField = FromNaviCtrl.Param.Byte[0];
EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
NaviData_TargetDistance = FromNaviCtrl.Param.Int[3];
#endif
NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4];
NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5];
NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8];
NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9];
CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11
CamCtrlCharacter = FromNaviCtrl.Param.Byte[12];
BaroCalState = FromNaviCtrl.Param.Byte[13];
LuftdruckTemperaturOffset = FromNaviCtrl.Param.sInt[7]; // Bytes 14 & 15
FromNC_Laser_cm = FromNaviCtrl.Param.sInt[8]; // Bytes 16 & 17
FlyzonePointCnt = FromNaviCtrl.Param.Byte[18];
break;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
case SPI_NCCMD_HOTT_DATA:
//if(EE_Parameter.Receiver == RECEIVER_HOTT)
NC_Fills_HoTT_Telemety();
break;
case SPI_SERIAL_CH: // kommt nur, wenn NC den Datensatz empfangen hat
{
unsigned char tempchar1;
for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) FromNaviCtrl.Param.Byte[tempchar1];
SerialChannelDataOkay = 30;
}
break;
case SPI_OEM_NAME:
{
unsigned char i;
for(i=0;i<16;i++) OEM_String[i] = FromNaviCtrl.Param.Byte[i];
}
break;
#endif
 
// 0 = 0,1
// 1 = 2,3
// 2 = 4,5
// 3 = 6,7
// 4 = 8,9
// 5 = 10,11
// 6 = 12,13
// 7 = 14,15
// 8 = 16,17
// 9 = 18,19
default:
break;
}
}
else
{
// KompassValue = 0;
// KompassRichtung = 0;
GPS_Nick = 0;
GPS_Roll = 0;
}
}
 
#endif
 
 
/tags/V2.18a/spi.h
0,0 → 1,270
// ######################## SPI - FlightCtrl ###################
#ifndef _SPI_H
#define _SPI_H
 
#include <util/delay.h>
#include "vector.h"
 
#define USE_SPI_COMMUNICATION
#define SPI_BYTEGAP 5
//-----------------------------------------
#define DDR_SPI DDRB
#define SLAVE_SELECT_DDR_PORT DDRC
#define SLAVE_SELECT_PORT PORTC
 
#if defined(__AVR_ATmega1284P__)
#define DD_SS PORTB4
#define DD_SCK PORTB7
#define DD_MOSI PORTB5
#define DD_MISO PORTB6
#define SPI_SLAVE_SELECT PORTC5
#else
#define DD_SS PB4
#define DD_SCK PB7
#define DD_MOSI PB5
#define DD_MISO PB6
#define SPI_SLAVE_SELECT PC5
#endif
 
// for compatibility reasons gcc3.x <-> gcc4.x
#ifndef SPCR
#define SPCR SPCR0
#endif
#ifndef SPE
#define SPE SPE0
#endif
#ifndef MSTR
#define MSTR MSTR0
#endif
#ifndef SPR1
#define SPR1 SPR01
#endif
#ifndef SPR0
#define SPR0 SPR00
#endif
#ifndef SPIE
#define SPIE SPIE0
#endif
#ifndef SPDR
#define SPDR SPDR0
#endif
#ifndef SPIF
#define SPIF SPIF0
#endif
#ifndef SPSR
#define SPSR SPSR0
#endif
// -------------------------
 
#define SPI_FCCMD_USER 10
#define SPI_FCCMD_STICK 11
#define SPI_FCCMD_MISC 12
#define SPI_FCCMD_PARAMETER1 13
#define SPI_FCCMD_VERSION 14
#define SPI_FCCMD_SLOW3 15
#define SPI_FCCMD_BL_ACCU 16
#define SPI_FCCMD_PARAMETER2 17
#define SPI_FCCMD_NEUTRAL 18
#define SPI_FCCMD_SLOW 19
#define SPI_FCCMD_SLOW2 20
#define SPI_FCCMD_STICK2 21
 
 
#define SPI_FCSYNCBYTE1 0xAA
#define SPI_FCSYNCBYTE2 0x85
#define SPI_FCSYNCBYTE_HB1 0xA2 // for the huge Block
#define SPI_FCSYNCBYTE_HB2 0x48 // for the huge Block
#define SPI_NCSYNCBYTE1 0x82
#define SPI_NCSYNCBYTE2 0x55
#define SPI_NCSYNCBYTE_HB1 0xB2 // for the huge Block
#define SPI_NCSYNCBYTE_HB2 0xA5 // for the huge Block
 
 
#define KM_BIT_YAW 0x01
#define KM_BIT_UART 0x02
#define KM_BIT_SLOW 0x04 // Fast switch off
#define KM_BIT_OFF 0x08 // Fast switch off
#define KM_BIT_EXTCNTRL 0x10
 
/*
struct str_ToNaviCtrl
{
unsigned char Sync1, Sync2;
unsigned char Command;
signed int IntegralNick;
signed int IntegralRoll;
signed int AccNick;
signed int AccRoll;
signed int GyroCompass;
signed int GyroNick;
signed int GyroRoll;
signed int GyroGier;
unsigned int FCStatus;
union
{
unsigned char Byte[12];
char sByte[12];
unsigned int Int[6];
int sInt[6];
unsigned long Long[3];
long sLong[3];
float Float[3];
} Param;
unsigned char Chksum;
};
*/
 
struct str_HugeBlockToNavi
{
unsigned char Sync1,Sync2;
unsigned char WhoAmI;
unsigned char Data[200];
unsigned char Chksum;
};
extern struct str_HugeBlockToNavi HugeBlockToNavi;
 
struct str_HugeBlockFromNavi
{
unsigned char WhoAmI;
unsigned char Data[200];
unsigned char Chksum;
};
extern struct str_HugeBlockFromNavi HugeBlockFromNavi;
 
extern void TransmitHugeBlock(void);
extern void SendSettingToNC(void);
 
struct str_ToNaviCtrl
{
unsigned char Sync1, Sync2;
unsigned char Command;
signed int IntegralNick;
signed int IntegralRoll;
signed int GyroCompass;
signed int GyroGier;
unsigned int FCStatus;
union
{
unsigned char Byte[20];
char sByte[20];
unsigned int Int[10];
int sInt[10];
unsigned long Long[5];
long sLong[5];
float Float[5];
} Param;
unsigned char Chksum;
};
 
 
#define SPI_NCCMD_KALMAN 103
#define SPI_NCCMD_VERSION 104
#define SPI_NCCMD_GPSINFO 105
#define SPI_NCCMD_HOTT_DATA 106
#define SPI_MISC 107
#define SPI_SERIAL_CH 108 // kommt nur, wenn NC den Datensatz empfangen hat
#define SPI_OEM_NAME 109 // kommt nur nach einer Settings-Übertragung per HugeBlock
 
struct str_FromNaviCtrl
{
unsigned char Command;
signed int GPS_Nick;
signed int GPS_Roll;
signed int CompassValue;
signed int AccErrorN;
signed int AccErrorR;
union
{
unsigned char Byte[20];
char sByte[20];
unsigned int Int[10];
int sInt[10];
unsigned long Long[5];
long sLong[5];
float Float[5];
} Param;
unsigned char Chksum;
};
 
struct str_FromNaviCtrl_Value
{
signed char Kalman_K;
signed char Kalman_MaxDrift;
signed char Kalman_MaxFusion;
unsigned char SerialDataOkay;
signed char reserve;
};
 
struct str_SPI_VersionInfo
{
unsigned char Major;
unsigned char Minor;
unsigned char Patch;
unsigned char Compatible;
unsigned char Hardware;
};
 
// Satfix types for GPSData.SatFix
#define SATFIX_NONE 0x00
#define SATFIX_DEADRECKOING 0x01
#define SATFIX_2D 0x02
#define SATFIX_3D 0x03
#define SATFIX_GPS_DEADRECKOING 0x04
#define SATFIX_TIMEONLY 0x05
// Flags for interpretation of the GPSData.Flags
#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)
#define FLAG_DIFFSOLN 0x02 // (is DGPS used)
#define FLAG_WKNSET 0x04 // (is Week Number valid)
#define FLAG_TOWSET 0x08 // (is Time of Week valid)
#define FLAG_GPS_NAVIGATION_ACTIVE 0x10 // NC to FC -> NC is ready to navigate
 
struct str_GPSInfo
{
unsigned char Flags; // Status Flags
unsigned char NumOfSats; // number of satelites
unsigned char SatFix; // type of satfix
unsigned char Speed; // m/sek
unsigned int HomeDistance; // distance to Home in dm
int HomeBearing; // bearing to home in deg
};
 
 
#ifdef USE_SPI_COMMUNICATION
extern struct str_GPSInfo GPSInfo;
extern struct str_SPI_VersionInfo NC_Version;
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
extern struct str_ToNaviCtrl ToNaviCtrl;
extern struct str_FromNaviCtrl FromNaviCtrl;
extern unsigned char SPI_CommandCounter,NaviDataOkay;
extern signed char FromNC_Rotate_C, FromNC_Rotate_S;
extern unsigned char NC_ErrorCode,Partner_ErrorCode;
extern void SPI_MasterInit(void);
extern unsigned char SPI_StartTransmitPacket(void);
extern void UpdateSPI_Buffer(void);
extern void SPI_TransmitByte(void);
extern signed int POI_KameraNick;
extern unsigned char NC_GPS_ModeCharacter, NC_To_FC_Flags, NC_To_FC_MaxAltitude;
extern vector16_t MagVec;
extern unsigned char EarthMagneticField;
extern unsigned char EarthMagneticInclination,EarthMagneticInclinationTheoretic;
extern signed char FromNC_WP_EventChannel_New;
extern unsigned char NCForcesNewDirection; // allows Yawing without CareFree (Yawing at Coming Home)
extern unsigned char NC_RequestsConfig;
extern unsigned char CamCtrlCharacter;
extern unsigned char NCParachute;
extern unsigned char BaroCalState;
extern unsigned int FromNC_Laser_cm;
extern unsigned char FlyzonePointCnt;
extern unsigned int TrigLogging_CountExternal;
#else
 
 
// -------------------------------- Dummy -----------------------------------------
#define SPI_MasterInit() ;
//#define SPI_StartTransmitPacket() ;
#define UpdateSPI_Buffer() ;
#define SPI_TransmitByte() ;
#endif
 
 
#endif
/tags/V2.18a/timer0.c
0,0 → 1,494
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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"
#define MULTIPLYER 4
 
volatile unsigned int CountMilliseconds = 0;
volatile unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 0;
volatile unsigned int beeptime = 0;
volatile unsigned char BytegapSPI = 0, ServoActive = 0, CalculateServoSignals = 1;
unsigned char JustMK3MagConnected = 0;
uint16_t RemainingPulse = 0;
volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon
volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon
 
unsigned int BeepMuster = 0xffff;
signed int NickServoValue = 128 * MULTIPLYER * 16;
 
volatile int16_t ServoNickValue = 0;
volatile int16_t ServoRollValue = 0;
 
 
enum {
STOP = 0,
CK = 1,
CK8 = 2,
CK64 = 3,
CK256 = 4,
CK1024 = 5,
T0_FALLING_EDGE = 6,
T0_RISING_EDGE = 7
};
 
 
ISR(TIMER0_OVF_vect) // 9,7kHz
{
static unsigned char cnt_1ms = 1,cnt = 0;
unsigned char pieper_ein = 0;
if(BytegapSPI) BytegapSPI--;
if(SpektrumTimer) SpektrumTimer--;
if(!cnt--)
{
cnt = 9;
CountMilliseconds++;
cnt_1ms++;
cnt_1ms %= 2;
 
if(!cnt_1ms) if(UpdateMotor < 4) UpdateMotor++;
if(!(PINC & 0x10)) JustMK3MagConnected = 1;
 
if(beeptime)
{
if(beeptime > 10) beeptime -= 10; else beeptime = 0;
if(beeptime & BeepMuster)
{
pieper_ein = 1;
}
else pieper_ein = 0;
}
else
{
pieper_ein = 0;
BeepMuster = 0xffff;
}
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7
else PORTC &= ~(1<<7);
#else
if(pieper_ein)
{
// if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
// else
PORTC |= (1<<7); // Speaker an PORTC.7
}
else
{
// if(PlatinenVersion == 10) PORTD &= ~(1<<2);
// else
PORTC &= ~(1<<7);
}
#endif
}
if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)
{
if(PINC & 0x10)
{
if(++cntKompass > 1000) JustMK3MagConnected = 0;
}
else
{
if((cntKompass) && (cntKompass < 362))
{
cntKompass += cntKompass / 41;
if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
}
cntKompass = 0;
}
}
}
 
 
// -----------------------------------------------------------------------
unsigned int SetDelay(unsigned int t)
{
// TIMSK0 &= ~_BV(TOIE0);
return(CountMilliseconds + t + 1);
// TIMSK0 |= _BV(TOIE0);
}
 
// -----------------------------------------------------------------------
char CheckDelay(unsigned int t)
{
// TIMSK0 &= ~_BV(TOIE0);
return(((t - CountMilliseconds) & 0x8000) >> 9);
// TIMSK0 |= _BV(TOIE0);
}
 
// -----------------------------------------------------------------------
void Delay_ms(unsigned int w)
{
unsigned int akt;
akt = SetDelay(w);
while (!CheckDelay(akt));
}
 
void Delay_ms_Mess(unsigned int w)
{
unsigned int akt;
akt = SetDelay(w);
while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
}
 
/*****************************************************/
/* Initialize Timer 2 */
/*****************************************************/
// The timer 2 is used to generate the PWM at PD7 (J7)
// to control a camera servo for nick compensation.
void TIMER2_Init(void)
{
uint8_t sreg = SREG;
 
// disable all interrupts before reconfiguration
cli();
 
PORTD &= ~(1<<PORTD7); // set PD7 to low
 
DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
HEF4017Reset_ON;
// Timer/Counter 2 Control Register A
 
// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));
TCCR2A |= (1<<WGM21)|(1<<WGM20);
 
// Timer/Counter 2 Control Register B
 
// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
 
// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));
TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);
 
// Initialize the Timer/Counter 2 Register
TCNT2 = 0;
 
// Initialize the Output Compare Register A used for PWM generation on port PD7.
OCR2A = 255;
TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
 
// Timer/Counter 2 Interrupt Mask Register
// Enable timer output compare match A Interrupt only
TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));
// TIMSK2 |= (1<<OCIE2A); -> will be done in the main()
 
SREG = sreg;
}
 
//----------------------------
void Timer_Init(void)
{
tim_main = SetDelay(10);
TCCR0B = CK8;
// TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM
OCR0B = 255;
OCR0A = 180;
TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
//OCR1 = 0x00;
TIMSK0 |= _BV(TOIE0);
}
 
 
/*****************************************************/
/* Control Servo Position */
/*****************************************************/
void CalcNickServoValue(void)
{
signed int max, min;
 
if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value
{
max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15);
min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20);
NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6;
LIMIT_MIN_MAX(NickServoValue,min, max);
}
else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control
}
 
 
void CalculateServo(unsigned char init)
{
signed char cosinus, sinus;
signed long nick, roll;
 
cosinus = sintab[EE_Parameter.CamOrientation + 6];
sinus = sintab[EE_Parameter.CamOrientation];
 
 
if(CalculateServoSignals == 1)
{
if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0;
else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L;
nick -= POI_KameraNick * 7;
nick = ((long)Parameter_ServoNickComp * nick) / 512L;
// offset (Range from 0 to 255 * 3 = 765)
if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue;
else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed;
 
if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo
{
nick = ServoNickOffset / 16 + nick;
}
else
{ // inverting movement of servo
nick = ServoNickOffset / 16 - nick;
}
if(EE_Parameter.ServoFilterNick && !init) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1);
else ServoNickValue = nick;
// limit servo value to its parameter range definition
if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER))
{
ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
}
else
if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER))
{
ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
}
// if(PlatinenVersion < 20) CalculateServoSignals = 0; else
CalculateServoSignals++;
}
else
{
if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) roll = 0;
else roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L;
roll = ((long)Parameter_ServoRollComp * roll) / 512L;
ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed;
if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV)
{ // inverting movement of servo
roll = ServoRollOffset / 16 + roll;
}
else
{ // inverting movement of servo
roll = ServoRollOffset / 16 - roll;
}
if(EE_Parameter.ServoFilterRoll && !init) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1);
else ServoRollValue = roll;
// limit servo value to its parameter range definition
if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER))
{
ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
}
else
if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER))
{
ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
}
CalculateServoSignals = 0;
}
}
 
ISR(TIMER2_COMPA_vect)
{
// frame len 22.5 ms = 14063 * 1.6 us
// stop pulse: 0.3 ms = 188 * 1.6 us
// min servo pulse: 0.6 ms = 375 * 1.6 us
// max servo pulse: 2.4 ms = 1500 * 1.6 us
// resolution: 1500 - 375 = 1125 steps
 
#define IRS_RUNTIME 127
#define PPM_STOPPULSE 188
#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
#define MINSERVOPULSE 375
#define MAXSERVOPULSE 1500
#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
 
static uint8_t PulseOutput = 0;
static uint16_t ServoFrameTime = 0;
static uint8_t ServoIndex = 0;
 
/*
if(PlatinenVersion < 20)
{
//---------------------------
// Nick servo state machine
//---------------------------
if(!PulseOutput) // pulse output complete
{
if(TCCR2A & (1<<COM2A0)) // we had a low pulse
{
TCCR2A &= ~(1<<COM2A0);// make a high pulse
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
// range servo pulse width
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
// accumulate time for correct update rate
ServoFrameTime = RemainingPulse;
}
else // we had a high pulse
{
TCCR2A |= (1<<COM2A0); // make a low pulse
RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
CalculateServoSignals = 1;
}
// set pulse output active
PulseOutput = 1;
}
} // EOF Nick servo state machine
else
*/
{
//-----------------------------------------------------
// PPM state machine, onboard demultiplexed by HEF4017
//-----------------------------------------------------
if(!PulseOutput) // pulse output complete
{
if(TCCR2A & (1<<COM2A0)) // we had a low pulse
{
TCCR2A &= ~(1<<COM2A0);// make a high pulse
if(ServoIndex == 0) // if we are at the sync gap
{
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
ServoFrameTime = 0; // reset servo frame time
HEF4017Reset_ON; // enable HEF4017 reset
}
else // servo channels
if(ServoIndex > EE_Parameter.ServoNickRefresh)
{
RemainingPulse = 10; // end it here
}
else
{
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
if(ServoFailsafeActive && ServoIndex < 6 && EE_Parameter.ServoFS_Pos[ServoIndex-1]) RemainingPulse += ((int16_t)EE_Parameter.ServoFS_Pos[ServoIndex-1] * MULTIPLYER) - (256 / 2) * MULTIPLYER;
else
switch(ServoIndex) // map servo channels
{
case 1: // Nick Compensation Servo
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER;
break;
case 2: // Roll Compensation Servo
RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER;
break;
case 3:
RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
break;
case 4:
RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
break;
case 5:
RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
break;
default: // other servo channels
RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
break;
}
// range servo pulse width
if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
// substract stop pulse width
RemainingPulse -= PPM_STOPPULSE;
// accumulate time for correct sync gap
ServoFrameTime += RemainingPulse;
}
}
else // we had a high pulse
{
TCCR2A |= (1<<COM2A0); // make a low pulse
// set pulsewidth to stop pulse width
RemainingPulse = PPM_STOPPULSE;
// accumulate time for correct sync gap
ServoFrameTime += RemainingPulse;
if((ServoActive) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset
else HEF4017Reset_ON;
ServoIndex++;
if(ServoIndex > EE_Parameter.ServoNickRefresh+1)
{
CalculateServoSignals = 1;
ServoIndex = 0; // reset to the sync gap
}
}
// set pulse output active
PulseOutput = 1;
}
} // EOF PPM state machine
 
// General pulse output generator
if(RemainingPulse > (255 + IRS_RUNTIME))
{
OCR2A = 255;
RemainingPulse -= 255;
}
else
{
if(RemainingPulse > 255) // this is the 2nd last part
{
if((RemainingPulse - 255) < IRS_RUNTIME)
{
OCR2A = 255 - IRS_RUNTIME;
RemainingPulse -= 255 - IRS_RUNTIME;
 
}
else // last part > ISR_RUNTIME
{
OCR2A = 255;
RemainingPulse -= 255;
}
}
else // this is the last part
{
OCR2A = RemainingPulse;
RemainingPulse = 0;
PulseOutput = 0; // trigger to stop pulse
}
} // EOF general pulse output generator
}
/tags/V2.18a/timer0.h
0,0 → 1,25
 
#define TIMER_TEILER CK8
#define TIMER_RELOAD_VALUE 250
#define HEF4017Reset_ON PORTC |= (1<<PORTC6)
#define HEF4017Reset_OFF PORTC &= ~(1<<PORTC6)
 
void Timer_Init(void);
void TIMER2_Init(void);
void Delay_ms(unsigned int);
void Delay_ms_Mess(unsigned int);
unsigned int SetDelay (unsigned int t);
char CheckDelay (unsigned int t);
void CalculateServo(unsigned char init);
void CalcNickServoValue(void);
 
extern volatile unsigned int CountMilliseconds;
extern volatile unsigned char UpdateMotor;
extern volatile unsigned int beeptime;
extern volatile unsigned int cntKompass;
extern unsigned int BeepMuster;
extern volatile unsigned char BytegapSPI, ServoActive, CalculateServoSignals;
extern volatile int16_t ServoNickValue;
extern volatile int16_t ServoRollValue;
extern signed int NickServoValue;
extern unsigned char JustMK3MagConnected;
/tags/V2.18a/twimaster.c
0,0 → 1,487
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 <avr/io.h>
#include <avr/interrupt.h>
#include <util/twi.h>
#include "eeprom.h"
#include "twimaster.h"
#include "fc.h"
#include "analog.h"
#include "uart.h"
#include "timer0.h"
#include "main.h"
 
volatile uint8_t twi_state = TWI_STATE_MOTOR_TX, ReadBlSize = 9;
volatile uint8_t dac_channel = 0;
volatile uint8_t motor_write = 0;
volatile uint8_t motor_read = 0;
volatile uint8_t I2C_TransferActive = 0;
uint8_t Max_I2C_Packets = 12;
 
volatile uint16_t I2CTimeout = 100;
 
uint8_t MissingMotor = 0;
 
volatile uint8_t BLFlags = 0;
 
MotorData_t Motor[MAX_MOTORS];
RedundantBl_t RedundantMotor[MAX_MOTORS];
 
// bit mask for witch BL the configuration should be sent
volatile uint16_t BLConfig_WriteMask = 0;
// bit mask for witch BL the configuration should be read
volatile uint16_t BLConfig_ReadMask = 0;
// buffer for BL Configuration
BLConfig_t BLConfig;
 
#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
 
#define SCL_CLOCK 200000L
#define I2C_TIMEOUT 30000
#define TWI_BASE_ADDRESS 0x52
 
/**************************************************/
/* Initialize I2C (TWI) */
/**************************************************/
 
void I2C_Init(char clear)
{
uint8_t i;
uint8_t sreg = SREG;
cli();
 
// SDA is INPUT
DDRC &= ~(1<<DDC1);
// SCL is output
DDRC |= (1<<DDC0);
// pull up SDA
PORTC |= (1<<PORTC0)|(1<<PORTC1);
 
// TWI Status Register
// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
TWSR &= ~((1<<TWPS1)|(1<<TWPS0));
 
// set TWI Bit Rate Register
TWBR = ((F_CPU/SCL_CLOCK)-16)/2;
 
twi_state = TWI_STATE_MOTOR_TX;
motor_write = 0;
motor_read = 0;
 
if(clear) for(i=0; i < MAX_MOTORS; i++)
{
Motor[i].Version = 0;
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
Motor[i].State = 0;
Motor[i].ReadMode = BL_READMODE_STATUS;
Motor[i].Current = 0;
Motor[i].MaxPWM = 0;
Motor[i].Temperature = 0;
Motor[i].NotReadyCnt = 0;
Motor[i].RPM = 0;
Motor[i].reserved1 = 0;
Motor[i].Voltage = 0;
Motor[i].SlaveI2cError = 0;
Motor[i].VersionMajor = 0;
Motor[i].VersionMinor = 0;
}
sei();
SREG = sreg;
}
 
void I2C_Reset(void)
{
// stop i2c bus
I2C_Stop(TWI_STATE_MOTOR_TX);
TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
TWAMR = 0;
TWAR = 0;
TWDR = 0;
TWSR = 0;
TWBR = 0;
I2C_TransferActive = 0;
I2C_Init(0);
I2C_WriteByte(0);
BLFlags |= BLFLAG_READ_VERSION;
}
 
/****************************************/
/* I2C ISR */
/****************************************/
ISR (TWI_vect)
{
static uint8_t missing_motor = 0, motor_read_temperature = 0;
static uint8_t *pBuff = 0;
static uint8_t BuffLen = 0;
static uint8_t max_packets = 0;
switch (twi_state++)
{
// Master Transmit
case 0: // TWI_STATE_MOTOR_TX
I2C_TransferActive = 1;
// skip motor if not used in mixer
while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
motor_write %= MAX_MOTORS;
if(++max_packets > Max_I2C_Packets) // writing finished, read now
{
max_packets = 0;
BLConfig_WriteMask = 0; // reset configuration bitmask
//motor_write = 0; // reset motor write counter for next cycle
twi_state = TWI_STATE_MOTOR_RX;
I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode
}
else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
break;
case 1: // Send Data to Slave
I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
// if old version has been detected
if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
{
twi_state = 4; //jump over sending more data
}
// the new version has been detected
else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) )
{ // or LowerBits are zero and no BlConfig should be sent (saves round trip time)
twi_state = 4; //jump over sending more data
}
break;
case 2: // lower bits of setpoint (higher resolution)
if ((0x0001<<motor_write) & BLConfig_ReadMask)
{
Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
}
else
{
Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
}
// send read mode and the lower bits of setpoint
I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07));
// configuration tranmission request?
if((0x0001<<motor_write) & BLConfig_WriteMask)
{ // redirect tx pointer to configuration data
pBuff = (uint8_t*)&BLConfig; // select config for motor
BuffLen = sizeof(BLConfig_t);
}
else
{ // jump to end of transmission for that motor
twi_state = 4;
}
break;
case 3: // send configuration
I2C_WriteByte(*pBuff);
pBuff++;
if(--BuffLen > 0) twi_state = 3; // if there are some bytes left
break;
case 4: // repeat case 0-4 for all motors
if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
{
if(!missing_motor) missing_motor = motor_write + 1;
if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow
}
I2C_Stop(TWI_STATE_MOTOR_TX);
I2CTimeout = 10;
motor_write++; // next motor
I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
break;
// Master Receive Data
case 5: // TWI_STATE_MOTOR_RX
if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received
{ // no response from the addressed slave received
Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
if(++motor_read >= MAX_MOTORS)
{ // all motors read
motor_read = 0; // restart from beginning
BLConfig_ReadMask = 0; // reset read configuration bitmask
if(++motor_read_temperature >= MAX_MOTORS)
{
motor_read_temperature = 0;
BLFlags &= ~BLFLAG_READ_VERSION;
}
}
BLFlags |= BLFLAG_TX_COMPLETE;
I2C_Stop(TWI_STATE_MOTOR_TX);
I2C_TransferActive = 0;
}
else
{ // motor successfully addressed
Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit
if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
{
// new BL found
switch(Motor[motor_read].ReadMode)
{
case BL_READMODE_CONFIG:
pBuff = (uint8_t*)&BLConfig;
BuffLen = sizeof(BLConfig_t);
Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once
break;
case BL_READMODE_STATUS:
pBuff = (uint8_t*)&(Motor[motor_read].Current);
if(motor_read == motor_read_temperature) BuffLen = ReadBlSize; // read Current, MaxPwm & Temp (is 3 or 9)
else BuffLen = 1;// read Current only
break;
}
}
else // old BL version
{
pBuff = (uint8_t*)&(Motor[motor_read].Current);
if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm
else BuffLen = 1; // read Current only
}
if(BuffLen == 1)
{
I2C_ReceiveLastByte(); // read last byte
}
else
{
I2C_ReceiveByte(); // read next byte
}
}
MissingMotor = missing_motor;
missing_motor = 0;
break;
case 6: // receive bytes
*pBuff = TWDR;
pBuff++; // set Pointer to next element : Motor[].Current,Motor[].Temperature
BuffLen--;
if(BuffLen>1)
{
I2C_ReceiveByte(); // read next byte
}
else if (BuffLen == 1)
{
I2C_ReceiveLastByte(); // read last byte
}
else // nothing left -> ready
{
if(BLFlags & BLFLAG_READ_VERSION)
{
if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN))
{
if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK;
else Motor[motor_read].Version = 0;
if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30);
else
if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30;
}
}
 
if(FC_StatusFlags & FC_STATUS_FLY)
{
// Starting -> 40
// I2C-Setpoint is zero -> 250
// 255 -> Running and no Redundancy
// 254 -> Running and active Redundancy
if(Motor[motor_read].MaxPWM < 254)
{
Motor[motor_read].NotReadyCnt++;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_ERR_MOTOR;
#endif
}
}
if(++motor_read >= MAX_MOTORS)
{
motor_read = 0; // restart from beginning
BLConfig_ReadMask = 0; // reset read configuration bitmask
if(++motor_read_temperature >= MAX_MOTORS)
{
motor_read_temperature = 0;
BLFlags &= ~BLFLAG_READ_VERSION;
}
}
I2C_Stop(TWI_STATE_MOTOR_TX);
BLFlags |= BLFLAG_TX_COMPLETE;
I2C_TransferActive = 0;
return;
}
twi_state = 6; // if there are some bytes left
break;
/*
// writing Gyro-Offsets
case 18:
I2C_WriteByte(0x98); // Address the DAC
break;
 
case 19:
I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
break;
 
case 20:
switch(dac_channel)
{
case 0:
I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A
break;
case 1:
I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B
break;
case 2:
I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C
break;
}
break;
 
case 21:
I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
break;
 
case 22:
I2C_Stop(TWI_STATE_MOTOR_TX);
I2C_TransferActive = 0;
I2CTimeout = 10;
// repeat case 18...22 until all DAC Channels are updated
if(dac_channel < 2)
{
dac_channel ++; // jump to next channel
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel
}
else
{
dac_channel = 0; // reset dac channel counter
BLFlags |= BLFLAG_TX_COMPLETE;
}
break;
*/
default:
I2C_Stop(TWI_STATE_MOTOR_TX);
BLFlags |= BLFLAG_TX_COMPLETE;
I2CTimeout = 10;
motor_write = 0;
motor_read = 0;
I2C_TransferActive = 0;
break;
}
 
}
 
 
uint8_t I2C_WriteBLConfig(uint8_t motor)
{
uint8_t i, packets;
uint16_t timer;
if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(motor)
{
if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
}
// check BL configuration to send
if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
 
packets = Max_I2C_Packets;
Max_I2C_Packets = MAX_MOTORS;
I2CTimeout = 100;
 
timer = SetDelay(100);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
 
// prepare the bitmask
if(!motor) BLConfig_WriteMask = 0x0FFF; // 0 means all -> all motors at once with the same configuration
else BLConfig_WriteMask = 0x0001<<(motor-1); //only one specific motor
 
motor_write = 0;
motor_read = 0;
// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
timer = SetDelay(1000);
do
{
I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
} while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent
Max_I2C_Packets = packets;
if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST);
return(BLCONFIG_SUCCESS);
}
 
uint8_t I2C_ReadBLConfig(uint8_t motor)
{
uint8_t i;
uint16_t timer;
 
if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
 
timer = SetDelay(1000);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
 
// prepare the bitmask
BLConfig_ReadMask = 0x0001<<(motor-1);
 
motor_write = 0;
motor_read = 0;
BLConfig.Revision = 0; // bad revision
BLConfig.crc = 0; // bad checksum
// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
do
{
I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
} while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors
// validate result
if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
return(BLCONFIG_SUCCESS);
}
 
/tags/V2.18a/twimaster.h
0,0 → 1,126
#ifndef _I2C_MASTER_H
#define _I2C_MASTER_H
+
+#include <inttypes.h>
+
+#define TWI_STATE_MOTOR_TX 0
+#define TWI_STATE_MOTOR_RX 5
+//#define TWI_STATE_GYRO_OFFSET_TX 18
+
+extern volatile uint8_t twi_state, ReadBlSize;
+extern volatile uint8_t motor_write;
+extern volatile uint8_t motor_read;
+extern volatile uint8_t I2C_TransferActive;
+extern uint8_t Max_I2C_Packets;
+extern uint8_t MissingMotor;
+
+#define MAX_MOTORS 16
+#define MOTOR_STATE_PRESENT_MASK 0x80
+#define MOTOR_STATE_ERROR_MASK 0x7F
+
+//Motor[x].Version
+#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
+#define MOTOR_STATE_FAST_MODE 0x02
+#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
+
+#define BLFLAG_TX_COMPLETE 0x01
+#define BLFLAG_READ_VERSION 0x02
+
+extern volatile uint8_t BLFlags;
+
+#define BL_READMODE_STATUS 0
+#define BL_READMODE_CONFIG 16
+
+typedef struct
+{
+ uint8_t Version; // the version of the BL (0 = old)
+ uint8_t SetPoint; // written by attitude controller
+ uint8_t SetPointLowerBits; // for higher Resolution of new BLs
+ uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present
+ uint8_t ReadMode; // select data to read
+ // the following bytes must be exactly in that order!
+ uint8_t Current; // in 0.1 A steps, read back from BL
+ uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
+ uint8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C
+ uint8_t RPM; // Raw value for RPM
+ uint8_t reserved1; // Voltage (BL3) or mAh (BL2)
+ uint8_t Voltage; // in 0.1V (BL3 is limited to 255, BL2 is only low-byte)
+ uint8_t SlaveI2cError; // BL2 & BL3
+ uint8_t VersionMajor; // BL2 & BL3
+ uint8_t VersionMinor; // BL2 & BL3
+ uint8_t NotReadyCnt; // Counts up is the Motor is not ready during flight -> MotorRestart etc.
+} __attribute__((packed)) MotorData_t;
+
+extern MotorData_t Motor[MAX_MOTORS];
+
+// BitSate
+#define BL_BIT_STATE_I2C_OK 0x01
+#define BL_BIT_STATE_I2C_VALUE 0x02
+#define BL_BIT_STATE_I2C_BAD 0x04
+#define BL_BIT_STATE_PPM_OK 0x08
+#define BL_BIT_STATE_MOTOR_RUN 0x10
+
+typedef struct
+{
+ unsigned char BitSate;
+ unsigned char Current;
+ unsigned char State;
+ unsigned char TemperatureInDeg;
+ unsigned char Voltage80;
+} __attribute__((packed)) RedundantBl_t;
+extern RedundantBl_t RedundantMotor[MAX_MOTORS];
+
+#define BLCONFIG_REVISION 2
+
+#define MASK_SET_PWM_SCALING 0x01
+#define MASK_SET_CURRENT_LIMIT 0x02
+#define MASK_SET_TEMP_LIMIT 0x04
+#define MASK_SET_CURRENT_SCALING 0x08
+#define MASK_SET_BITCONFIG 0x10
+#define MASK_SET_STARTPWM 0x20
+#define MASK_SET_DEFAULT_PARAMS 0x40
+#define MASK_SET_SAVE_EEPROM 0x80
+
+#define BITCONF_REVERSE_ROTATION 0x01
+#define BITCONF_STARTGAS1 0x02
+#define BITCONF_STARTGAS2 0x04
+#define BITCONF_STARTGAS3 0x08
+#define BITCONF_RES4 0x10
+#define BITCONF_RES5 0x20
+#define BITCONF_RES6 0x40
+#define BITCONF_RES7 0x80
+
+typedef struct
+{
+ uint8_t Revision; // must be BL_REVISION
+ uint8_t SetMask; // settings mask
+ uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit
+ uint8_t CurrentLimit; // current limit in A
+ uint8_t TempLimit; // in °C
+ uint8_t CurrentScaling; // scaling factor for current measurement
+ uint8_t BitConfig; // see defines above
+ uint8_t crc; // checksum
+} __attribute__((packed)) BLConfig_t;
+
+extern BLConfig_t BLConfig;
+
+extern volatile uint16_t I2CTimeout;
+
+void I2C_Init(char); // Initialize I2C
+#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
+#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
+void I2C_Reset(void); // Reset I2C
+
+#define BLCONFIG_SUCCESS 0
+#define BLCONFIG_ERR_MOTOR_RUNNING 1
+#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2
+#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3
+#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4
+#define BLCONFIG_ERR_CHECKSUM 5
+#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6
+
+uint8_t I2C_WriteBLConfig(uint8_t motor);
+uint8_t I2C_ReadBLConfig(uint8_t motor);
+
+#endif
/tags/V2.18a/uart.c
0,0 → 1,963
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 <stdarg.h>
#include <string.h>
#include <avr/pgmspace.h>
#include "main.h"
#include "uart.h"
#include "libfc.h"
#include "eeprom.h"
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
#define BL_CTRL_ADDRESS 5
 
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
#define MAX_SENDE_BUFF 250 // 180 setting need 246 bytes
#define MAX_EMPFANGS_BUFF 250
 
#define BLPARAM_REVISION 1
#define MASK_SET_PWM_SCALING 0x01
#define MASK_SET_CURRENT_LIMIT 0x02
#define MASK_SET_TEMP_LIMIT 0x04
#define MASK_SET_CURRENT_SCALING 0x08
#define MASK_SET_BITCONFIG 0x10
#define MASK_RESET_CAPCOUNTER 0x20
#define MASK_SET_DEFAULT_PARAMS 0x40
#define MASK_SET_SAVE_EEPROM 0x80
 
unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;
unsigned char DisplayLine = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0; // achtung: das ist die AscII-Buffer länge, nicht die Nettodatenlänge
unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
 
unsigned char *pRxData = 0;
unsigned char RxDataLen = 0;
unsigned volatile char PC_DebugTimeout = 0;
unsigned volatile char PC_MotortestActive = 0;
unsigned char DebugTextAnforderung = 255;
 
unsigned char PcZugriff = 100;
unsigned char MotorTest[16];
unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
unsigned char ConfirmFrame;
unsigned char ExternalControlTimeout = 0;
struct str_DebugOut DebugOut;
struct str_ExternControl ExternalControl;
struct str_VersionInfo VersionInfo;
struct str_WinkelOut WinkelOut;
struct str_Data3D Data3D;
 
int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;
unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;
unsigned int AboTimeOut = 0;
unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation
unsigned char SwitchMultiplexerToUpdate = 0; // the Uart-Multiplexer on the FC V3.0
unsigned char SerialChannelDataOkay = 0; // timeout
 
#ifdef REDUNDANT_FC_SLAVE
unsigned char SerialMotorRequest = 0;
#endif
 
const unsigned char ANALOG_TEXT[32][16] PROGMEM =
{
//1234567890123456
"AngleNick ", //0
"AngleRoll ",
"AccNick ",
"AccRoll ",
"YawGyro ",
"Altitude [0.1m] ", //5
"AccZ ",
"Gas ",
"Compass Value ",
"Voltage [0.1V] ",
"Receiver Level ", //10
"Gyro Compass ",
"Motor 1 ",
"Motor 2 ",
"Motor 3 ",
"Motor 4 ", //15
"16 ",
"17 ",
"18 ",
"19 ",
"Servo ", //20
"Hovergas ",
"Current [0.1A] ",
"Capacity [mAh] ",
"Height Setpoint ",
"25 ", //25
"26 ", //"26 CPU OverLoad ",
"SPI-Error ",
"I2C-Error ",
"BL Limit ",
"GPS_Nick ", //30
"GPS_Roll "
};
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Calculate checksum
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
unsigned char CalculateDebugLableCrc(void)
{
unsigned int i;
unsigned char crc = 0;
for(i=0;i<sizeof(ANALOG_TEXT);i++) crc += pgm_read_word(&ANALOG_TEXT[0][i]);
return(crc);
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Sende-Part der Datenübertragung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_TX_vect)
{
static unsigned int ptr = 0;
unsigned char tmp_tx;
 
if(!UebertragungAbgeschlossen)
{
ptr++; // die [0] wurde schon gesendet
tmp_tx = TxdBuffer[ptr];
if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
{
//if(DebugOut.Analog[] < ptr) DebugOut.Analog[] = ptr;
ptr = 0;
UebertragungAbgeschlossen = 1;
}
UDR0 = tmp_tx;
}
else
{
ptr = 0;
UebertragungAbgeschlossen = 2; // last Byte was also transmitted
if(SwitchMultiplexerToUpdate == 1) UART_MUX_TO_UPDATE;
}
}
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_RX_vect)
{
static unsigned int crc;
static unsigned char crc1,crc2,buf_ptr;
static unsigned char UartState = 0;
unsigned char CrcOkay = 0;
 
if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update
if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation
 
SioTmp = UDR0;
 
if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0;
if(SioTmp == '\r' && UartState == 2)
{
//if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr;
UartState = 0;
crc -= RxdBuffer[buf_ptr-2];
crc -= RxdBuffer[buf_ptr-1];
crc %= 4096;
crc1 = '=' + crc / 64;
crc2 = '=' + crc % 64;
CrcOkay = 0;
if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
{
NeuerDatensatzEmpfangen = 1;
AnzahlEmpfangsBytes = buf_ptr + 1;
RxdBuffer[buf_ptr] = '\r';
if(RxdBuffer[2] == 'R' && !MotorenEin)
{
LcdClear();
wdt_enable(WDTO_15MS); // Reset-Commando
ServoActive = 0;
}
}
}
else
switch(UartState)
{
case 0:
if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet
buf_ptr = 0;
RxdBuffer[buf_ptr++] = SioTmp;
crc = SioTmp;
break;
case 1: // Adresse auswerten
UartState++;
RxdBuffer[buf_ptr++] = SioTmp;
crc += SioTmp;
break;
case 2: // Eingangsdaten sammeln
RxdBuffer[buf_ptr] = SioTmp;
if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
else UartState = 0;
//if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr;
crc += SioTmp;
break;
default:
UartState = 0;
break;
}
}
 
 
// --------------------------------------------------------------------------
void AddCRC(unsigned int wieviele)
{
unsigned int tmpCRC = 0,i;
for(i = 0; i < wieviele;i++)
{
tmpCRC += TxdBuffer[i];
}
// if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11;
tmpCRC %= 4096;
TxdBuffer[i++] = '=' + tmpCRC / 64;
TxdBuffer[i++] = '=' + tmpCRC % 64;
TxdBuffer[i++] = '\r';
UebertragungAbgeschlossen = 0;
UDR0 = TxdBuffer[0];
//if(DebugOut.Analog[] < i) DebugOut.Analog[] = i;
}
 
 
// --------------------------------------------------------------------------
void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)
{
va_list ap;
unsigned int pt = 0;
unsigned char a,b,c;
unsigned char ptr = 0;
 
unsigned char *snd = 0;
int len = 0;
 
TxdBuffer[pt++] = '#'; // Startzeichen
TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...)
TxdBuffer[pt++] = cmd; // Commando
 
va_start(ap, BufferAnzahl);
if(BufferAnzahl)
{
snd = va_arg(ap, unsigned char*);
len = va_arg(ap, int);
ptr = 0;
BufferAnzahl--;
}
while(len)
{
if(len)
{
a = snd[ptr++];
len--;
if((!len) && BufferAnzahl)
{
snd = va_arg(ap, unsigned char*);
len = va_arg(ap, int);
ptr = 0;
BufferAnzahl--;
}
}
else a = 0;
if(len)
{
b = snd[ptr++];
len--;
if((!len) && BufferAnzahl)
{
snd = va_arg(ap, unsigned char*);
len = va_arg(ap, int);
ptr = 0;
BufferAnzahl--;
}
}
else b = 0;
if(len)
{
c = snd[ptr++];
len--;
if((!len) && BufferAnzahl)
{
snd = va_arg(ap, unsigned char*);
len = va_arg(ap, int);
ptr = 0;
BufferAnzahl--;
}
}
else c = 0;
TxdBuffer[pt++] = '=' + (a >> 2);
TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
TxdBuffer[pt++] = '=' + ( c & 0x3f);
}
va_end(ap);
AddCRC(pt);
}
 
// --------------------------------------------------------------------------
void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
{
unsigned char a,b,c,d;
unsigned char x,y,z;
unsigned char ptrIn = 3; // start at begin of data block
unsigned char ptrOut = 3;
unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab.
 
while(len)
{
a = RxdBuffer[ptrIn++] - '=';
b = RxdBuffer[ptrIn++] - '=';
c = RxdBuffer[ptrIn++] - '=';
d = RxdBuffer[ptrIn++] - '=';
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
 
if(len--) RxdBuffer[ptrOut++] = x; else break;
if(len--) RxdBuffer[ptrOut++] = y; else break;
if(len--) RxdBuffer[ptrOut++] = z; else break;
}
pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte
RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert?
//if(DebugOut.Analog[] < AnzahlEmpfangsBytes) DebugOut.Analog[] = AnzahlEmpfangsBytes;
}
 
// --------------------------------------------------------------------------
void BearbeiteRxDaten(void)
{
if(!NeuerDatensatzEmpfangen) return;
 
unsigned char tempchar1, tempchar2;
Decode64(); // dekodiere datenblock im Empfangsbuffer
switch(RxdBuffer[1]-'a') // check for Slave Address
{
case FC_ADDRESS: // FC special commands
switch(RxdBuffer[2])
{
case 'K':// Kompasswert
memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
break;
case 't':// Motortest
if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
PC_MotortestActive = 240;
//while(!UebertragungAbgeschlossen);
//SendOutData('T', MeineSlaveAdresse, 0);
PcZugriff = 255;
break;
 
case 'n':// "Get Mixer
while(!UebertragungAbgeschlossen);
SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);
Debug("Mixer lesen");
break;
 
case 'm':// "Write Mixer
if(pRxData[0] == EEMIXER_REVISION)
{
memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);
MixerTable_WriteToEEProm();
tempchar1 = 1;
VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER;
}
else
{
tempchar1 = 0;
}
while(!UebertragungAbgeschlossen);
SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
break;
 
case 'p': // get PPM Channels
GetPPMChannelAnforderung = 1;
PcZugriff = 255;
break;
 
case 'q':// "Get"-Anforderung für Settings
// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
if(!MotorenEin)
{
if((10 <= pRxData[0]) && (pRxData[0] < 20))
{
tempchar1 = pRxData[0] - 10;
if(tempchar1< 1) tempchar1 = 1; // limit to 1
else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
SetDefaultParameter(tempchar1, 1);
}
else if((20 <= pRxData[0]) && (pRxData[0] < 30))
{
tempchar1 = pRxData[0] - 20;
if(tempchar1< 1) tempchar1 = 1; // limit to 1
else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
SetDefaultParameter(tempchar1, 0);
}
else
{
tempchar1 = pRxData[0];
if(tempchar1 == 0xFF)
{
tempchar1 = GetActiveParamSet();
}
if(tempchar1< 1) tempchar1 = 1; // limit to 1
else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
// load requested parameter set
ParamSet_ReadFromEEProm(tempchar1);
}
LipoDetection(0);
} else tempchar1 = GetActiveParamSet();
while(!UebertragungAbgeschlossen);
SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);
Debug("Lese Setting %d", tempchar1);
break;
 
case 's': // Parametersatz speichern
if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range
{
memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);
ParamSet_WriteToEEProm(pRxData[0]);
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
tempchar1 = GetActiveParamSet();
}
else
{
tempchar1 = 0; // mark in response an invlid setting
}
if(!MotorenEin)
{
while(!UebertragungAbgeschlossen);
SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
Piep(tempchar1,110);
LipoDetection(0);
}
LIBFC_ReceiverInit(EE_Parameter.Receiver);
break;
case 'f': // auf anderen Parametersatz umschalten
if(MotorenEin) break;
if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);
tempchar1 = GetActiveParamSet();
while(!UebertragungAbgeschlossen);
SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
if(!MotorenEin)
{
Piep(tempchar1,110);
LipoDetection(0);
}
LIBFC_ReceiverInit(EE_Parameter.Receiver);
break;
case 'y':// serial Potis
for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1];
SerialChannelDataOkay = 30;
break;
case 'u': // request BL parameter
Debug("Reading BL %d", pRxData[0]);
// try to read BL configuration
tempchar2 = I2C_ReadBLConfig(pRxData[0]);
if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
else tempchar1 = 0;
while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
break;
case 'w': // write BL parameter
Debug("Writing BL %d", pRxData[0]);
if(RxDataLen >= 1+sizeof(BLConfig_t))
{
memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));
tempchar2 = I2C_WriteBLConfig(pRxData[0]);
if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
else tempchar1 = 0; // indicate error
while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2));
}
break;
case 'j':
if(MotorenEin) break;
tempchar1 = LIBFC_GetCPUType();
if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P))
{
uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1);
 
cli();
 
// UART0 & UART1 disable RX and TX-Interrupt
UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0));
UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1));
 
// UART0 & UART1 disable receiver and transmitter
UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0));
UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1));
 
// UART0 & UART1 flush receive buffer explicit
while ( UCSR1A & (1<<RXC1) ) UDR1;
while ( UCSR0A & (1<<RXC0) ) UDR0;
 
 
if(pRxData[0] == 1) ReceiverUpdateModeActive = 2;
else
{ // Jeti or HoTT update
//#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT
//#endif
ReceiverUpdateModeActive = 1;
// UART0 & UART1 set baudrate
UBRR1H = (uint8_t)(ubrr>>8);
UBRR1L = (uint8_t)ubrr;
UBRR0H = UBRR1H;
UBRR0L = UBRR1L;
// UART1 no parity
UCSR1C &= ~(1 << UPM11);
UCSR1C &= ~(1 << UPM10);
// UART1 8-bit
UCSR1B &= ~(1 << UCSZ12);
UCSR1C |= (1 << UCSZ11);
UCSR1C |= (1 << UCSZ10);
}
// UART0 & UART1 1 stop bit
UCSR1C &= ~(1 << USBS1);
UCSR0C &= ~(1 << USBS0);
// UART1 clear 9th bit
UCSR1B &= ~(1<<TXB81);
// enable receiver and transmitter for UART0 and UART1
UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
UCSR1B |= (1 << TXEN1) | (1 << RXEN1);
// enable RX-Interrupt for UART0 and UART1
UCSR0B |= (1 << RXCIE0);
UCSR1B |= (1 << RXCIE1);
// disable other Interrupts
TIMSK0 = 0;
TIMSK1 = 0;
TIMSK2 = 0;
 
sei();
}
break;
 
} // case FC_ADDRESS:
 
default: // any Slave Address
 
switch(RxdBuffer[2])
{
#ifdef REDUNDANT_FC_SLAVE
static unsigned int clear_I;
case '?':// Serielle Antwort eines BL-Reglers
tempchar1 = RxdBuffer[1] - ('a'+11);
if(tempchar1 >= MAX_MOTORS) break;
memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t));
if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--;
if(!(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK)) ROT_FLASH;
GRN_FLASH;
if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD)
{
ROT_ON;
if(clear_I == 0)
{
SummeNick = 0;
SummeRoll = 0;
Mess_Integral_Gier = 0;
}
clear_I = 500;
}
Motor[tempchar1].Current = RedundantMotor[tempchar1].Current;
Motor[tempchar1].MaxPWM = RedundantMotor[tempchar1].State;
Motor[tempchar1].Temperature = RedundantMotor[tempchar1].TemperatureInDeg;
Motor[tempchar1].State |= MOTOR_STATE_PRESENT_MASK;
//DebugOut.Analog[]++;
//DebugOut.Analog[] = RedundantMotor[tempchar1].BitSate;
//DebugOut.Analog[] = tempchar1;
SerialMotorRequest = 0; // allow to request the next answer
break;
#endif
// 't' comand placed here only for compatibility to BL
case 't':// Motortest
if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
while(!UebertragungAbgeschlossen);
SendOutData('T', MeineSlaveAdresse, 0);
PC_MotortestActive = 250;
PcZugriff = 255;
AboTimeOut = SetDelay(ABO_TIMEOUT);
break;
// 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address
case 'K':// Kompasswert
memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
break;
case 'a':// Texte der Analogwerte
DebugTextAnforderung = pRxData[0];
if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;
PcZugriff = 255;
break;
case 'b':
if(AnzahlEmpfangsBytes < 20) // prevents that the old frame is valid
{
memcpy((unsigned char *)&ExternalControl, (unsigned char *)pRxData, sizeof(ExternalControl));
ConfirmFrame = ExternalControl.Frame;
if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0;
else ExternalControlTimeout = 100; // 2 seconds timeout
}
break;
case 'c': // Poll the 3D-Data
if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}
Intervall3D = pRxData[0] * 10;
AboTimeOut = SetDelay(ABO_TIMEOUT);
break;
case 'd': // Poll the debug data
PcZugriff = 255;
DebugDataIntervall = (unsigned int)pRxData[0] * 10;
if(DebugDataIntervall > 0) DebugDataAnforderung = 1;
AboTimeOut = SetDelay(ABO_TIMEOUT);
break;
 
case 'h':// x-1 Displayzeilen
PcZugriff = 255;
if((pRxData[0] & 0x80) == 0x00) // old format
{
DisplayLine = 2;
Display_Interval = 0;
}
else // new format
{
RemoteKeys |= ~pRxData[0];
Display_Interval = (unsigned int)pRxData[1] * 10;
DisplayLine = 4;
AboTimeOut = SetDelay(ABO_TIMEOUT);
}
DebugDisplayAnforderung = 1;
break;
 
case 'l':// x-1 Displayzeilen
PcZugriff = 255;
MenuePunkt = pRxData[0];
DebugDisplayAnforderung1 = 1;
break;
case 'v': // Version-Anforderung und Ausbaustufe
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(RxDataLen > 0 && pRxData[0] == 2) GetVersionAnforderung = 2;
else
#endif
GetVersionAnforderung = 1;
break;
case 'g'://
GetExternalControl = 1;
break;
 
default:
//unsupported command received
break;
}
break; // default:
}
NeuerDatensatzEmpfangen = 0;
pRxData = 0;
RxDataLen = 0;
}
 
//############################################################################
//Routine für die Serielle Ausgabe
void uart_putchar (char c)
//############################################################################
{
//Warten solange bis Zeichen gesendet wurde
loop_until_bit_is_set(UCSR0A, UDRE0);
//Ausgabe des Zeichens
UDR0 = c;
}
 
//############################################################################
//INstallation der Seriellen Schnittstelle
void UART_Init (void)
//############################################################################
{
unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1);
 
//Enable TXEN im Register UCR TX-Data Enable & RX Enable
UCSR0B = (1 << TXEN0) | (1 << RXEN0);
// UART Double Speed (U2X)
UCSR0A |= (1 << U2X0);
// RX-Interrupt Freigabe
UCSR0B |= (1 << RXCIE0);
// TX-Interrupt Freigabe
UCSR0B |= (1 << TXCIE0);
// USART0 Baud Rate Register
// set clock divider
UBRR0H = (uint8_t)(ubrr >> 8);
UBRR0L = (uint8_t)ubrr;
 
Debug_Timer = SetDelay(DebugDataIntervall);
Kompass_Timer = SetDelay(220);
 
VersionInfo.SWMajor = VERSION_MAJOR;
VersionInfo.SWMinor = VERSION_MINOR;
VersionInfo.SWPatch = VERSION_PATCH;
VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
VersionInfo.BL_Firmware = 255;
VersionInfo.HWMajor = PlatinenVersion;
VersionInfo.LabelTextCRC = CalculateDebugLableCrc();
pRxData = 0;
RxDataLen = 0;
}
 
//---------------------------------------------------------------------------------------------
void DatenUebertragung(void)
{
if(!UebertragungAbgeschlossen) return;
 
if(CheckDelay(AboTimeOut)) // PC disconnected
{
Display_Interval = 0;
DebugDataIntervall = 0;
Intervall3D = 0;
}
 
if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen)
{
if(DisplayLine > 3)// new format
{
Menu();
SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80);
}
else // old format
{
LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!");
SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20);
if(DisplayLine++ > 3) DisplayLine = 0;
}
Display_Timer = SetDelay(Display_Interval);
DebugDisplayAnforderung = 0;
}
if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen)
{
Menu();
SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff));
DebugDisplayAnforderung1 = 0;
}
if(GetVersionAnforderung && UebertragungAbgeschlossen)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(GetVersionAnforderung == 2) // poll version of NC
{
struct str_VersionInfo nc;
nc.SWMajor = NC_Version.Major;
nc.SWMinor = NC_Version.Minor;
nc.SWPatch = NC_Version.Patch;
nc.HWMajor = NC_Version.Hardware;
nc.HardwareError[0] = 0xff;
nc.HardwareError[1] = 0xff;
nc.ProtoMajor = VersionInfo.ProtoMajor;
nc.BL_Firmware = VersionInfo.BL_Firmware;
nc.Flags = VersionInfo.Flags;
//nc.reserved1 = 0;
SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &nc, sizeof(nc));
}
else
#endif
{
SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo));
}
GetVersionAnforderung = 0;
Debug_OK("Version gesendet");
}
 
if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
{
SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternalControl, sizeof(ExternalControl));
GetExternalControl = 0;
}
if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
{
CopyDebugValues();
SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));
DebugDataAnforderung = 0;
if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
}
if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
{
Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR);
Data3D.Centroid[0] = SummeNick >> 9;
Data3D.Centroid[1] = SummeRoll >> 9;
Data3D.Centroid[2] = Mess_Integral_Gier >> 9;
Data3D.AccZ = Aktuell_az;
SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D));
Timer3D = SetDelay(Intervall3D);
}
if(DebugTextAnforderung != 255) // Texte für die Analogdaten
{
unsigned char label[16]; // local sram buffer
memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra
SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16);
DebugTextAnforderung = 255;
}
if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen
{
SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));
ConfirmFrame = 0;
}
if(GetPPMChannelAnforderung && UebertragungAbgeschlossen)
{
SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in));
GetPPMChannelAnforderung = 0;
}
#ifndef REDUNDANT_FC_SLAVE
 
if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)
{
if(!NaviDataOkay) // no external compass needed
{
WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
WinkelOut.UserParameter[0] = Parameter_UserParam1;
WinkelOut.UserParameter[1] = Parameter_UserParam2;
SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
}
if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
if(JustMK3MagConnected) Kompass_Timer = SetDelay(99);
else Kompass_Timer = SetDelay(999);
}
 
/*
#define EC_VALID 0x01 // only valid if this is 1
#define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX
#define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control
#define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick)
#define EC_IGNORE_RC 0x80 // if 1 -> for Flying without RC-Control
 
// defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH)
#define EC2_PH 0x01 // GPS-Mode: PH
#define EC2_CH 0x02 // GPS-Mode: CH
#define EC2_CAREFREE 0x10 //
#define EC2_ALTITUDE 0x20 //
#define EC2_AUTOSTART 0x40 //
#define EC2_AUTOLAND 0x80 //
 
if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)
{
static struct str_ExternControl Test;
 
Test.Nick = ChannelNick;
Test.Roll = ChannelRoll;
Test.Gier = ChannelYaw;
Test.Gas = ChannelGas;
Test.Frame++;
 
if(PPM_in[16] > 64) Test.Config = EC_GAS_ADD | EC_USE_SWITCH | EC_VALID;
else Test.Config = 0;
 
if(PPM_in[13] > 64) Test.Config |= EC_IGNORE_RC | EC_IGNORE_RC_STICK;
 
Test.Switches = 0;
if(PPM_in[5] > 64) Test.Switches |= EC2_ALTITUDE;
if(PPM_in[6] > 64) Test.Switches |= EC2_CH;
else if(PPM_in[6] > -64) Test.Switches |= EC2_PH;
if(PPM_in[8] > 64) Test.Switches |= EC2_CAREFREE;
if(PPM_in[10] > 64) Test.Switches |= EC2_AUTOSTART;
if(PPM_in[10] < -64) Test.Switches |= EC2_AUTOLAND;
 
SendOutData('b', FC_ADDRESS, 1, (unsigned char *) &Test,sizeof(Test));
Kompass_Timer = SetDelay(50);
}
*/
#endif
 
#ifdef REDUNDANT_FC_SLAVE
//if(UebertragungAbgeschlossen || MotorenEin)
if(UebertragungAbgeschlossen && (CheckDelay(Kompass_Timer)))
{
static unsigned char who;
unsigned char SendRedundantMotor[MAX_MOTORS], i;
cli();
if(!SerialMotorRequest)
{
who = (who+1) % RequiredMotors;
SendRedundantMotor[0] = who+1;
SerialMotorRequest = 5; // nur in jedem 5. Zykus abfragen, weil die Antwort zu lang ist -> oder sobald der Regler geantwortet hat.
}
else
{
SerialMotorRequest--;
SendRedundantMotor[0] = 0; // keinen Regler abfragen
}
sei();
for(i=0; i<RequiredMotors; i++)
{
if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80;
SendRedundantMotor[i+1] = Motor[i].SetPoint;
}
if(MotorenEin) Kompass_Timer = SetDelay(2); // fast if Motors are on
else Kompass_Timer = SetDelay(100);
UART_MUX_TO_BL;
SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1);
}
#endif
 
#ifdef DEBUG // only include functions if DEBUG is defined
if(SendDebugOutput && UebertragungAbgeschlossen)
{
SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug));
SendDebugOutput = 0;
}
#endif
}
 
 
/tags/V2.18a/uart.h
0,0 → 1,152
#ifndef _UART_H
#define _UART_H
 
#define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args)
#define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args)
 
void BearbeiteRxDaten(void);
 
extern unsigned char DebugGetAnforderung;
extern unsigned volatile char ReceiverUpdateModeActive;
extern unsigned volatile char UebertragungAbgeschlossen;
extern unsigned volatile char PC_DebugTimeout;
extern unsigned volatile char NeueKoordinateEmpfangen;
extern unsigned volatile char PC_MotortestActive;
extern unsigned char MeineSlaveAdresse;
extern unsigned char PcZugriff;
extern unsigned char RemotePollDisplayLine;
extern unsigned volatile char RxdBuffer[];
extern int Debug_Timer,Kompass_Timer;
extern void UART_Init (void);
extern void uart_putchar (char c);
//extern void boot_program_page (uint32_t page, uint8_t *buf);
extern void DatenUebertragung(void);
extern void Uart1Init(void);
extern void BearbeiteRxDaten(void);
extern unsigned char MotorTest[16];
extern unsigned char SwitchMultiplexerToUpdate; // the Uart-Multiplexer on the FC V3.0
extern unsigned char SerialChannelDataOkay; // timeout
 
struct str_DebugOut
{
unsigned char Status[2];
signed int Analog[32]; // Debugwerte
};
 
extern struct str_DebugOut DebugOut;
 
struct str_WinkelOut
{
signed int Winkel[2];
unsigned char UserParameter[2];
unsigned char CalcState;
unsigned char Orientation;
};
extern struct str_WinkelOut WinkelOut;
 
struct str_Data3D
{
signed int Winkel[3]; // nick, roll, compass in 0,1°
signed char Centroid[3];
// signed char reserve[5];
unsigned int AccZ;
signed char reserve[3];
};
extern struct str_Data3D Data3D;
 
/*
struct str_ExternControl
{
unsigned char Digital[2];
unsigned char RemoteTasten;
signed char Nick;
signed char Roll;
signed char Gier;
unsigned char Gas;
signed char Hight;
unsigned char free;
unsigned char Frame;
unsigned char Config;
};
extern struct str_ExternControl ExternControl;
*/
 
#define EC_VALID 0x01 // only valid if this is 1
#define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX
#define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control
#define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick)
#define EC_IGNORE_RC_LOST 0x80 // if 1 -> for Flying without RC-Control
 
// defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH)
#define EC2_PH 0x01 // GPS-Mode: PH
#define EC2_CH 0x02 // GPS-Mode: CH
#define EC2_CAREFREE 0x10 //
#define EC2_ALTITUDE 0x20 //
#define EC2_AUTOSTART 0x40 //
#define EC2_AUTOLAND 0x80 //
 
struct str_ExternControl
{
signed char Nick;
signed char Roll;
signed char Gier;
signed char Gas;
unsigned char Frame; // will return a confirm frame with this value
unsigned char Config;
unsigned char Switches;
unsigned char Free1; // these two don't need capacity in the ASCII data string
unsigned char Free2;
};
extern struct str_ExternControl ExternalControl;
extern unsigned char ExternalControlTimeout;
 
// FC hardware errors
 
// bitmask for VersionInfo.HardwareError[0]
#define FC_ERROR0_GYRO_NICK 0x01
#define FC_ERROR0_GYRO_ROLL 0x02
#define FC_ERROR0_GYRO_YAW 0x04
#define FC_ERROR0_ACC_NICK 0x08
#define FC_ERROR0_ACC_ROLL 0x10
#define FC_ERROR0_ACC_TOP 0x20
#define FC_ERROR0_PRESSURE 0x40
#define FC_ERROR0_CAREFREE 0x80
// bitmask for VersionInfo.HardwareError[1]
#define FC_ERROR1_I2C 0x01
#define FC_ERROR1_BL_MISSING 0x02
#define FC_ERROR1_SPI_RX 0x04
#define FC_ERROR1_PPM 0x08
#define FC_ERROR1_MIXER 0x10
#define FC_ERROR1_RC_VOLTAGE 0x20
#define FC_ERROR1_ACC_NOT_CAL 0x40
#define FC_ERROR1_RES3 0x80
 
// for FlightCtrl
//VersionInfo.Flags
#define FC_VERSION_FLAG_NC_PRESENT 0x01
// for NaviCtrl
#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01
 
struct str_VersionInfo
{
unsigned char SWMajor;
unsigned char SWMinor;
unsigned char ProtoMajor;
unsigned char LabelTextCRC;
unsigned char SWPatch;
unsigned char HardwareError[2];
unsigned char HWMajor;
unsigned char BL_Firmware;
unsigned char Flags;
};
 
extern struct str_VersionInfo VersionInfo;
 
//#define USART0_BAUD 9600
//#define USART0_BAUD 14400
//#define USART0_BAUD 28800
//#define USART0_BAUD 38400
#define USART0_BAUD 57600
 
 
#endif //_UART_H
/tags/V2.18a/user_receiver.c
0,0 → 1,24
#include "Spektrum.h"
#include "main.h"
//############################################################################
// Implement your own RC-decoding routines here
//############################################################################
 
 
//############################################################################
// Initialize the UART here
//############################################################################
void User_Receiver_Init(void)
{
// SpektrumUartInit(); // or use an existing routine like this
};
 
//############################################################################
// Is called by the uart RX interrupt
// UDR contains the received byte
//############################################################################
void User_RX_Parser(unsigned char udr)
{
// place your code here
};
 
/tags/V2.18a/user_receiver.h
0,0 → 1,4
// for own implementations
void User_Receiver_Init(void);
void User_RX_Parser(unsigned char);
 
/tags/V2.18a/vector.h
0,0 → 1,19
#ifndef _VECTOR_H
#define _VECTOR_H
 
typedef struct
{
int32_t x;
int32_t y;
int32_t z;
} __attribute__((packed)) vector32_t;
 
typedef struct
{
int16_t x;
int16_t y;
int16_t z;
} __attribute__((packed)) vector16_t;
 
 
#endif //_VECTOR_H
/tags/V2.18a/version.txt
0,0 → 1,900
 
-------
V0.53 27.04.2007 H.Buss
- erste öffentliche Version
 
V0.53b 29.04.2007 H.Buss
- der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft
 
V0.53c 29.04.2007 H.Buss
- es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind.
Die angezeigten Werte waren nicht die Werte der Funke
 
V0.54 01.05.2007 H.Buss
- die Paramtersätze können jetzt vor dem Start ausgewählt werden
Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt:
2 3 4
1 x 5
- - -
Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw.
- der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt
 
V0.55 14.05.2007 H.Buss
- es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden
 
V0.56 14.05.2007 H.Buss
- es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren
- Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen
V0.57 24.05.2007 H.Buss
- Der Höhenregler kann nun auch mittels Schalter bedient werden
- Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat
- Kompass-Einfluss dämpfen bei Neigung
- Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen
- Der Motortest vom Kopter-Tool geht jetzt
- Man kann den Parametersätzen einen Namen geben
- Das Kamerasetting ist unter Setting 2 defaultmässig integriert
V0.58 30.05.2007 H.Buss
- Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist
 
V0.60 17.08.2007 H.Buss
- "Schwindel-Bug" behoben
- Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft
- Poti4 zugefügt
- Es werden jetzt 8 Kanäle ausgewertet
- Kamera-Servo (an J7)
- Die Settings müssen überschrieben werden
V0.61 - V0.63 H.Buss 27.09.2007
- Poti 4 und Kanal 8 werden im Menü angezeigt
- ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt
- Analog.c: Aktuell_ax korrigiert
- auf 32 Debug-Kanäle erweitert
- Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar
- leichte Anpassungen im Gier - Geschwindigkeit und Drift
- die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein
- die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird
- die PPM-Ausgänge liegen wieder an den Pins an
- Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders
- der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen
- I2C-Bus läuft jetzt sicher nach einer Störung wieder an
- Sticksignale werden präziser ausgewertet
- Stick-Kanäle werden ans Kopter-Tool übertragen
- Es muss die Version V1.47 des Kopter-Tool verwendet werden
- Die Settings werden auf Default zurückgesetzt
- am Piepen kann man die Fehlerart unterscheiden
1. einzelnes Piepen beim Einschalten und Kalibrieren
2. langsames Intervall mindestens 1 Sek -> Empfangsausfall
3. schnelleres Intervall mindestens 1 Sek -> Akku
4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört
V0.64 H.Buss 30.09.2007
- beim Gieren wurden die Achsen nicht hart genug geregelt
V0.65a H.Buss 15.10.2007
- Integral im Mischer wieder integriert
- Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100
- ACC/Gyro Abgleich auch bei HH
 
V0.66a H.Buss 3.11.2007
- Messwertverarbeitung aus dem Analog-Interrupt entfernt
- Analogmessung hängt jetzt am FC-Timing
- Looping-Stick-Hysterese eingebaut
- Looping-180°-Umschlag einstellbar
- Achsenkopplung: Gierbewegung verkoppelt Nick und Roll
- Lageregelung nach ACC-Sensor verbessert
- zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage
- Gyrodriftkompensation überarbeitet
- Bug in der Gier-Stick-Berechnung behoben
- Gyro-Messung auf 1kHz beschleunigt
V0.67a H.Buss 16.11.2007
- der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode)
- Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus
- Feinabstimmung
- Beim HH-Modus gab es noch Bugs
 
V0.67e H.Buss 29.11.2007
- Parameter: Dynamic Stability und Driftfaktor eingeführt
- Die Namen der Analogwerte werden jetzt zum Koptertool übertragen
- Kompatibilität zum Koptertool erhöht
 
V0.67f H.Buss 04.12.2007
- Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional
- Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv
- Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts)
V0.68a I.Busker 28.12.2007
- SPI.c & SPI.h ins Projekt aufgenommen
SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden
 
V0.68c H.Buss 05.01.2008
- Stickauswertung verbessert -> träger und präziser
- Alle Settings angepasst
 
V0.69e H.Buss 05.05.2008
- kleinere Bugs beseitigt
- Schneller Sinkflug jetzt möglich
- Min- und Maxgas in den Settings geändert
- Lagewinkel wird jetzt in 0,1 Grad an Kompass und Navi gesendet
- Kalibrierung für MK3Mag -> Nick unten beim Kalibrieren
- Kompassroutine um den Ersatzkompass (Gyro unterstützt Kompasswert) erweitert
V0.69h H.Buss 21.05.2008
- STICK_GAIN = 4 eingeführt. Das erhöht die Auflösung der Sollwerte. Stick_P und Stick_I müssen nun um Faktor 4 erhöht werden
- SenderOkay auch an das Naviboard übertragen
- Bessere Parameter bei Senderausfall
V0.69j H.Buss 30.05.2008
- Höhere Präzision der Achsenkopplung
 
V0.69k H.Buss 31.05.2008
- Bug in SPI.C behoben
- in 0.69h war ein Bug, der zu ungewollten Loopings führen konnte
 
V0.69L H.Buss 14.06.2008
- feinere Cam-Servo-Auflösung
V0.70a H.Buss 01.07.2008
- Unterstützung der V1.3-Hardware mit automatischem Hardware-Gyro-Abgleich
 
V0.70b H.Buss 14.07.2008
- flexible Einstellungsmöglichkeit von J16 und J17 (Transistorausgänge)
- eigene Parameter für GPS-Naviboard
- eigener Parameter für ExternalControl (war vorher UserParameter1 bzw. 8)
- neue Parameter im EEPROM-Datensatz: J16Bitmask, J16Timing, ExternalControl, Navi...
- MikroKopterFlags eingeführt, damit das Navi den Status des MKs kennt
- KopterTool-Kompatibilität auf 8 erhöht
V0.70c H.Buss 30.07.2008
- Parameter der Datenfusion leicht modifiziert
- EEPROM-Parameter für Looping-Umschlag angepasst (von 100 auf 85)
- MaxStick wird auf 100 begrenzt
 
V0.70d H.Buss 02.08.2008
- Transistorausgänge: das oberste Bit der Blinkmaske (im KopterTool linkes Bit) gibt nun den Zustand des Ausgangs im Schalterbetrieb an
0.71b: H.Buss 19.10.2008
Kommunikation zum Navi erweitert:
- Beeptime jetzt 32Bit
- Datenfusion und Driftkopensation wird durch NaviBoard unterstützt
0.71c: H.Buss 20.10.2008
- LoopConfig heisst jetzt BitConfig
- 3-Fach-Schalter für Höhensteuerung möglich -> kann man mit GPS-Schalter zusammenlegen
- bei den Settings wurde Setting[0] mit abgespeichert, welches es nicht gab.
- in Zukunft werden bei neuen EEPROM-Settings die Kanäle von Setting 1 übernommen
- Variablen NaviWindCorrection, NaviSpeedCompensation, NaviOperatingRadius eingeführt
 
0.71f: H.Buss 15.11.2008
- Ausschalten der Höhenregelung per Schalter um 0,3 sek verzögert
- bei der seriellen Übertragung hat die FC jetzt als SlaveAdresse die 1
- VersionInfo.NaviKompatibel eingeführt
- wenn manuell gegiert wird, wird der GyroKompass-Wert auf den Kompasswert gesetzt
- Luftdruckwert wird an das Navi übertragen
- Der Baro-Offset wird jetzt nachgeführt, um den Messbereich zu erweitern. Geht nur bei Höhenregler mit Schalter
- Debugdaten können jetzt mit 'f' gepollt werden
0.71g: Gregor 09.12.2008
- Kommunikation überarbeitet
Infos hier: http://www.mikrokopter.de/ucwiki/en/SerialCommands
0.71h: H.Buss 15.12.2008
- Freigegebene Version
- NaviAngleLimitation als Parameter zum Navi implementiert
- Antwort auf CMD: 't' entfernt
0.72d: H.Buss 22.01.2009
- OCTO als Compilerschalter
- Unterstützung der FC 2.0 (ME)
- GYRO_D eingeführt
- Achsenkopplung jetzt auch auf Nick/Roll-Bewegung
0.72e: H.Buss 27.01.2009
- die 0.72d hatte kein Integral im Gier
- Parameter eingeführt:
EE_Parameter.NaviGpsPLimit
EE_Parameter.NaviGpsILimit
EE_Parameter.NaviGpsDLimit
EE_Parameter.NaviPH_LoginTime
EE_Parameter.AchsKopplung2
EE_Parameter.CouplingYawCorrection
 
0.72f: H.Buss 28.01.2009
- Bug im Ersatzkompass entfernt
 
0.72h: H.Buss 05.02.2009
- Algorithmen beschleunigt -> Floats durch Fixkomma ersetzt
- Achsentkopplung weiter verbessert
- Nick- und Roll im Octo-Mischer auf jeweils vier Motoren aufgeteilt
 
0.72i: H.Buss 07.02.2009
- Abtastrate von 1kHz auf 2kHz erhöht
 
0.72j: H.Buss 09.02.2009
- neue Implementierung der Servoausgänge
 
0.72k: H.Buss 10.02.2009
- Abtastrate auf 5kHz erhöht
 
0.72L: H.Buss 13.02.2009
- Signalfilterung überarbeitet
- OCTO2 implementiert
 
0.72M: H.Buss 13.02.2009
- Code Cleanup
 
0.72o: H.Buss 24.02.2009
- Abtastrate auf 2kHz
- HW-Version an Navi
- neuer Datensatz 'c' -> Lagedaten für 3D-Grafik
- Auswerteroutine für Spectrum-Satteliten implementiert
- Kanalsettings werden beim Parameterreset nicht mehr gelöscht
- die Driftkompensation wird jetzt feiner aufgelöst --> EE_Parameter.Driftkomp muss mal 8 genommen werden
- die Integrale und ACC-Werte werden jetzt im Scope in ca. 0,1° angezeigt (wie beim NaviBrd)
0.72p: H.Buss 01.03.2009
- Octo3 erstellt
- Analogwerte umbenannt
 
0.73a-d: H.Buss 05.04.2009
- MixerTabelle implementiert
- I2C-Bus auf bis zu 12 Motoren erweitert
- die Busfehler der BL-Regler werden im Menü angezeigt
- Revision der MixerTabelle eingeführt
- MixerTabelle wird bei Parameterreset neu initialisiert
- Motortest auf [12] erweitert
- Motorschalter nicht mehr 3-Stufig
 
0.74a
- Datenfusion im Flug auch, wenn ACC-Z < 512
- Wert für die Luftdruck-Messbereichserweiterung abgefangen
 
0.74d
- Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführts
0.75a G.Stobrawa 22.5.2009
- Extern Control also received from NC via SPI
 
0.75b H.Buss 27.05.2009
- Spektrum-Singale schalten den PPM-Eingang aus
- max. 2 Sekunden nach dem Start auf die BL-Regler warten
- Automatische Zellenerkennung, wenn Spannungswarnung < 5,0V
- Bei automatischer Zellenerkennung piept es je nach Zellenzahl
- EE_DATENREVISION auf 76 erhöht
- Servo:
- Roll-Servo für FC ME implementiert
- Update-Cmd stoppt Servos
- Servos werden erst nach dem ersten Kalibrieren aktiviert
 
0.75c G.Stobrawa 25.7.2009
- Übertragung der Servo-Settings zur NC
- RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt
- Bugfix Messbereichsumschaltung des Luftdrucksensors springt
- Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils
- Unterstützung von Warnings-Bitmasks für die J16, J17-Outputs bei Unterspannung
- Unterspannung für einzelne Zelle´n von 3.2V auf 3.3V angehoben (9.6V --> 9.9V für 3S)
0.75d H.Buss 13.8.2009
- RC-Routine: Empfangsausfall soll sicherer erkannt werden
- Zellenerkennung nun auch beim Speichern der Settings
- Warnungs-Blinkmaske auch bei Empfangsausfall
 
0.75e H.Buss 18.8.2009
- LED-Blinken kann an die Motoren gekoppelt werden
- Feinabstimmung des Höhenreglers
0.75f H.Buss 27.8.2009
- D-Anteil des Höhenreglers jetzt mit Quadratischer Komponente
- Lagewinkel wirkt jetzt mit 1/Cos(x) mit in den Höhenregler
- leichte Modifikation der RC-Empfangroutine
 
0.75g H.Buss 31.08.2009
- die Akkuspannung geht jetzt antiproportional ins Gas ein
 
0.75h H.Buss 3.09.2009
- im Höhenregler werden jetzt die Stellwerte begrenzt --> max +- 16% vom geschätzten Schwebegas
 
0.75i H.Buss 7.09.2009
- GpsZ vom Navi zur FC für den Höhenregler
- "hoovergas-Variation" als Parameter
- Kompatibilität zu NC und PC erhöht
 
0.75j H.Buss 17.09.2009
- Laufzeitzähler eingebaut
 
0.75k H.Buss 22.09.2009
- zweite Variante (Gregor) der Höhenregelung implementiert
- umschaltbare RC-Routine
 
0.75L H.Buss 23.09.2009
- SollHoehe und Gas geht nun auch an die NC
 
0.75M H.Buss 29.09.2009
- Spektrum-Timing wird nun überwacht
- die FC kann nun stand-Alone als Kamera-Stabilizer eingesetzt werden, weil die Servos aktiviert werden, wenn I2C fehlt
0.75N H.Buss 29.09.2009
- Hoover-Stickpunkt wird bei aktivem Höhenregler nicht nachgeführt
- Hoover-Stickpunkt kann per Parameter fest eingestellt werden
- Baro-Messbereichserweiterung auch bei aktiviertem Höhenregler
- Gyro_Gier_P und Gyro_Gier_I eingeführt
- I2C_fehler-Zähler jetzt in den Analogdaten
 
0.75o H.Buss 01.10.2009
- der Höhenregler wird jetzt nur alle 10ms bearbeitet
- Baro-Messbereichserweiterung auch bei Poti als Sollwert
 
0.76d H.Buss 10.10.2009
- bei aktiver Messbereichserweiterung wird die aktuelle Höhe übernommen
 
0.76e H.Buss 27.10.2009
- es werden beim Start einmal alle BL-Regler angesprochen, damit BL-Regler#8 auch einen Selbsttest macht
- S3D-ACT-Summensignal als Compilerschalter
 
0.76f H.Buss 05.11.2009
- untere Spannungsgrenze der Unterspannungswarnung (9,3V) entfernt
0.76g H.Buss 10.11.2009
- Casting-Fehler in der Gas-Berechnung
 
0.77a H.Buss 11.11.2009
- Erweiterung auf 12 Kanäle
- Bei Koptertool-Kanalabfrage kein Empfangsausfall-Piepsen
- serielle Kanalerweiterung eingebaut -> PPM_in auf 25 erweitert
- Servos3-5 einstellbar
- neues Kommando "f" -> schaltet auf anderen Parametersatz um
 
0.77b H.Buss 09.12.2009
- JetiBox: Menü wird übertragen
- neu: FCFlags |= FCFLAG_I2CERR;
- LED-Warn-Blinken nun mit festem Timing und abschaltbar
0.77c H.Buss 07.01.2010
- zwei weitere Spektrum-Varianten implementiert
 
0.77d H.Buss 25.01.2010
- Strom-Messung eingebaut
0.78a H.Buss 03.02.2010
- Bugfix: Settingsumschaltung im Flug
 
0.78b H.Buss
- veröffentlichte Version
 
0.78c H.Buss + G.Stobrawa 22.2.2010
- Bewegungsbegrenzung an Servo 3 to 5 der FC 2.0
- Theoretischer Variablenüberlauf bei Vario-Höhenregler
- Anzeige des "SPI RX communication error" wenn GPS Option nicht aktiv
- LED-Schwellwerte fürs Blinken waren unterschiedlich
 
0.78c H.Buss + G.Stobrawa 04.3.2010
- Code cosmetics
 
0.78f H.Buss + I.Busker 23.3.2010
- Unterstützung für Jeti-Expander
- Begrenzung des Vario-Höhenreglers auf ein 10m-Fenster um Überläufe zu verhindern
- Einführung eines Vario-Zeichens (+/-/ ) auf der Jetibox
- BL-Timeout beim Start erhöht
 
0.80a-d H. Buss + G.Stobrawa 20.5.2010 - 22.7.2010
- Motoren Starten nicht ohne Kalibrierung
- Unterstützung der BL2.0-Regler
- statt 8 nun 10 Bit Auflösung der Lageregekung
- Unterstützung der BL2.0-Regler Konfiguration via MK-Tool
- Parametersätze werden per I2C an die BL-Regler durchgereicht
- "Care-Free" implementiert
- Freie Belegung der "Vorne"-Richtung
- nur wenn Motoren laufen: Beepen, wenn Carefree ohne Navi oder ohne gültigen MK3Mag-Wert
- nur wenn Motoren laufen: Beepen wenn NC plötzlich ausfällt
- #define RECEIVER_SPEKTRUM_EXP eingeführt
- #define SWITCH_LEARNS_CAREFREE eingeführt
- Schwerpunktanzeige in den 3D-Daten
- Checksummen gesicherte Datenablage im EEProm
- Fehlerdiagnose implementiert (Wiki: ErrorCodes)
- ErrorCode aufs Jeti-Display
 
- JetiMenü: bis acht Temperaturen der BL-Regler
- GPSInfo.Speed im Jeti-Display
- Compass-Richtung nun im Jeti-menü
 
- diverse Änderungen im Höhenregler
- P wirkt schwächer
- D wirkt stärker
- Anpassung der Höhenregelung auf Level des Hoovergases
- AccZ schneller nachführen
 
Parameter modifiziert:
- EEPROM-Kompatibilität auf 84 -> Parameter werden resettet
- EE_Parameter.Hoehe_ACC_Wirkung = 0; // war 30
- EE_Parameter.Hoehe_HoverBand = 8; // war 5
- Notgas = 45
- NotgasZeit = 90
- Beginnersetting: EE_Parameter.DynamicStability = 70;
- Neu: GyroStability = 6
- GPS-Login-Time auf 2 reduziert
 
0.80e H.Buss 02.08.2010
- MK3Mag ohne NC ging nicht
 
0.80f H.Buss 04.08.2010
- Beim Höhenregler "Deckel" wird das Gas wieder wie in der alten Version behandelt und der D-Anteil auf das alte Verhalten (um Faktor 8) reduziert
 
0.80g H.Buss 11.08.2010
- erweitetern Messbereich für Luftdruck bei der FC2.1 aktiviert
 
0.80h H.Buss 30.08.2010
- bei I2C-Fehlern wurden die Counter zurück gesetzt und für einige ms die Interrupts angehalten - das ist jetzt behoben
- Nur I2C-Daten senden, wenn das alte Paket komplett raus ist
 
0.82a H.Buss 08.11.2010
- MotorSafetySwitch - Verriegelt das Ein/Ausschalten
- ServoManualControlSpeed - Verlangsamt das Cam-Servo
- CamOrientation - für verdrehte Kamera-Servos
- Position der Status-Bits verändert
- "Zucken" der Servos bei kurzen Empfangsausfällen behoben
- jeti update command 'j' added
- Poti-Auswertung nach ParameterZuordnung() verschoben -> FC-Code schneller
- Waypont-Events z.B. zum Triggern der Kamera
- Gyro-Sytbility: Werte bis 16 möglich
 
0.82b H.Buss 08.12.2010
- Unterstützung von 3,3V-Referenzspannung (nur ATMEGA128)
 
0.84a H.Buss 21.03.2011 (Release: 30.03.2011)
- nur starten, wenn NC_ErrorCode = 0
- Beeptime von NC auch beim Kalibrieren durchlassen
- Varible "JetiBeep" eingeführt
- Kompass-Winkelvorgabe von NaviControl -> POI
- Piepen beim Umschalten von CareFree
- Compass-Routinen überarbeitet
- Dafaultvalues Servo-Min/MAx an MKDS18 angepasst
- Defaultreceiver ist RECEIVER_JETI
- GPS-Operation-Radius per default auf 245m bzw. 100%
- Höhenvorgabe im Vario-Mode durch Waypoints
- bei laufenden Motoren keine neuen Settings annehmen
- immer einmal Carefree Beepen nach dem Kalibrieren
- Kanaloffset für Potis von 110 auf 127 erhöht, damit es gleich ist mit allen anderen Kanälen
- POI-Richtung (Soll-Himmelsrichtung) bezieht sich auf den Kamera-Winkel
 
0.86a H.Buss 13.09.2011
- Variable "JetiBeep" wird gelöscht, wenn an den Empfänger gesendet wurde
- wenn GPS deaktiviert ist, keinen Fehler bringen, wenn GPS fehlt. Auch dann nicht piepsen
- GPS-Sollwertverschiebung
- Empfangs-Piepen unterdrücken -> einstellbar
- MotorSmooth einstellbar
- Höhenregler: keine 'harte' IstWert-Übernahme bei Bewegen des Sticks in die Hoover-Position
- Coming Home mit Höhenvorgabe
- Coming Home als Failsafe
- Einführung des GPS-Characters (- / W H D P)
- Klartext bei den Jeti-Fehlermeldungen
- Jeti-Beep "3*kurz" bei NC-Errors
- Jeti-LCD-Aufruf nur noch alle 300ms, weil die Werte zu unruhig waren
- Mixer-Settings werden nicht gelöscht, wenn sich die Parameter-Revision ändert
- GPS-Angle limit von 100 auf 140
- GPS-I-Limit von 75 auf 85
- GAS-Offset von 120 auf 127 erhöht, damit es für alle Kanäle gleich ist
- EE_Parameter.Hoehe_StickNeutralPoint auf Werte zwischen 80 und 180 begrenzt
- PPM_Neutral eingeführt, um den Offset bei HoTT auszugleichen;
- LED_Update() nun nur noch alle 20ms, weil die schnellste Ausgabe (bei Potivorgabe) ohnehin nur 40ms sind
- Jeti & HoTT: Nur beim Fehler auch JetiBeep, wenn die Motoren laufen -> sonst nervt das bei der Fehlerbehebung (Compass-Kalibrieren usw.)
- Error-Text auch im virtuellen Display des Koptertools
- virtuelles LCD-Menü:
- "ExternControl" aus Platzgründen aus dem virtuellen LCD-Menü entfernt.
- keine BL-Temperaturen und I2C-Fehler anzeigen, wenn die BL-Regler nicht verwendet werden
- nach dem Gieren nicht den Ersatzkompass auf den Kompasswert stellen, die Umschaltung war zu hart
- ACC Correction eingeführt
- I2C Fehler kamen nicht bei der NC an, weil die zu kurz waren - jetzt meldet die NC die Fehler mind. 8 Sekunden
- Fehlermeldungen stehen jetzt mind. so lange an, bis sie an die Nc ge sendet wurden
- neue Fehlermeldungen:
"No NC communicat", // 9
"GPS Fix lost ", // 21
"Magnet Error ", // 22
"Motor restart ", // 23
"BL Limitation " // 24
- LED: Schaltfläche "nur bei Motor start" bei beiden getrennt
- Ausbau der HoTT-Telemetrie
- Variable "KompassRichtung" entfernt
- ErsatzKompassInGrad sinvoll genutzt
- HoTT-Update per Uart-Durchschleifen
- AltitudeSetpointTrimming eingeführt
- Vario-Anzeige für HoTT
- Verhindern eines Überlaufs im Vario
- echter Varioton auch ohne Vario-Höhenregler
- Flugminuten laufen jetzt bei (FC_StatusFlags & FC_STATUS_FLY) los, weil sonst die Zeit zur NC verschieden war
- KompassFusion wird jetzt getrennt von der NC berechnet
- Sport-Setting entfernt und ein "Easy-Setting" eingeführt (leicht reduzierte Sticks); "Beginner" ist jetzt "Normal"
- MagnetError kann man in der Startphase ignorieren
- BL-Temperaturen, I2C-Fehler und BL-MaxPWM zum Loggen an NC
- Einzelströme nun auch bei HoTT angezeigt
0.86b H.Buss 20.09.2011
- Höhenbegrenzung bewirkt nur, dass im Vario-Mode der Sollwert nicht weiter nach oben geschoben werden kann
- grüne LED ging aus - gefixt
- K1-K8 wurden im LCD mit 0-7 bezeichnet
 
0.86c H.Buss 22.09.2011
- Neue Anzeige: Magnetfeld und Inklination bei HoTT und Jeti
- Neuer SPI-Block 'SPI_MISC'
- Kompass-Fusions-Dämpfung bei Neigung leicht verringert
- '.' im Vario-Höhenregler
 
0.86d H.Buss 26.09.2011
- Analog.c: Vario Überlauf anders verhinden
- Poti1-6 auch im HoTT-Display
 
0.88 H.Buss 12.12.2011 - 26.03.2012
- Failsafe-Kanal
- Failsafe: 5 Sekunden warten & Höhe ändern (macht die NC)
- Option: Failsafe-Sinkflug xx% Schwebegas
- Stopp der Motoren wenn bei Failsafe ein Motor blockiert
- von 30 auf 60 Sekunden Failsafe-Zeit verlängert
- Höhenwert auf cm kalibriert (zeigte ca. 10% zu viel an)
- Neue Error-Codes: "No SD-Card", "Flying range!" und "Error SD-Logging"
- Wenn die Motoren aus sind, den Luftduckwert langsam nachführen
- das sbus-protokoll implementiert (nur FC2.1)
- Schaltkanal auf Servo-Ausgang
- Filter auf den Ausgängen der Servos
- Option: Failsafe-Sinkflug xx% Schwebegas
- "Max Altitude" als Parameter auf der SD-Karte im Navi -> Beeinflusst "Parameter_MaximumAltitude" (das niedrigste gilt) und es gibt eine Fehlermeldung "ERR:Max Altitude"
- SPI-Protokoll: BL.Status eingefügt und Parameter.GlobalConfig & Parameter.ExtraConfig verschoben
- Senden der Out1 & Out2-Zustände an die NC, damit es in der OSD-Darstellung angezeigt werden kann
- Kompassrichtung neu merken, wenn CF geschaltet wird
- "I" aus dem Hott-Menü entfernt und durch ":" ersetzt, weil das nur auf der mx-20 gut aussah
- Höhenregler-Settings: GPS-Z von 64 auf 20 reduziert
 
0.88M H.Buss 15.05.2012
- HoTT V4
- Kamera-Servo beim Kalibrieren weiter laufen lassen.
- Error 30: no GPS fix bei Start
- echter MotorSchalter
 
0.88n H.Buss 06.07.2012
- Bugfix: Der letzte angesteuerte Servo-Puls war zu kurz
 
0.90 H.Buss 04.03.2013
- Anzeige WP x/Y in der HoTT-Telemetrie
- Schalter und WP-Event gleichzeitig
- Photo-Auslösung als Entfernungsintervalle
- Jeti +
- Kamera-Neitung als Integral
- RC-Lost am Startpunkt macht kein Failsafe, wenn GAS auf Null für 1,5sek war
- Auswahl:Speak-All nun in der KopterTool-Config
0.90e H.Buss 04.03.2013
- Parameter_ServoRollComp jetzt auf Poti /Kompatibilität auf 93 erhöht)
 
0.90f (26.04.2013)
- disable Yawing when Gas-Stick is to Zero
- calibration must be within 20° Tilt angle
- Hold I-Parts of the attitude control to zero when the MK is still on the ground
- ACC-Altitude sensor data fusion implemented to the altitude controller (HW-Update from FC2.1 to 2.2 needed)
- MK must be within 20° tilt angle when calibrating sensors
- Parameter Reset, if the HW-Version changes (FC2.1 to 2.2)
 
0.90g (29.04.2013)
- No ACC-Z error if the MK is tilted after switching on
- ATMEGA644 (until FC2.0): Sensitive RC-Signal validation removed -> that was only nessecary for old 35MHz receivers
 
0.90h (14.05.2013)
- Auto Start and landing for Waypoints
- back to old eeprom-compatiblity to remain compatible to other Tools
- HoTT-Bugfix: no speech while vario tone
- Bugfix: Wrong error speech in JetiEX ("Error calibration")
0.90j (27.05.2013)
- Changes for better EEPROM-Safety
- variable ActiveParamSet instead of the direct EEPROM-Reading (faster)
- Checking the ACC-Z value in flight and report ACC-Z if out of range
- disable Altitude hold in case of ACC-Z error
2.00a (after public Beta test 0.91)
- show SW-Version in Hot Display
- GPS-Parameter changed (P = 90->100; I = 90->90; D = 90->120; A = 40)
- Move NICK/Roll Sticks for switching on / off
- Move the Stick > 100 instead > 75 for switch on / off
- Failsafe active if ACC-Upgarde
- AltitudeMode, GPS_Mode & Carefree_Mode are now direct channels instead of Poti-Values (NaviGpsModeChannel,CareFreeChannel,HoeheChannel)
- NC-SPI communication from 25Hz to 41Hz
- MotorTemperature and GPS-Mode-Switch more often to NC
- Auto-Start/Landing
- JetiEX: Name set to 'MK'
- if(CareFree) Parameter_AchsKopplung1 += 30; removed
- StickNeutral setting per default 127
- UART-Buffer increased from 175 to 220 Bytes
- show name of active parameter set in the HoTT/Jeti display
- fixed in 0.91L: if "ServoRelative" is used, it coud happen that the servo moves a wide range in the first second after the first calibration
- Servo3-5 Limit to 24-255
- no. of channels increased from 12 to 16
// 0 -> frei bzw. ACT rssi (or zero if unsigned)
// 1 - 16 -> 1-16
// 17 - 28 -> 12 Serial channels
// 29 -> WP-Event kanal
// 30 Fix -> -127
// 31 Fix -> 0
// 32 Fix -> 128
2.00b
- default Camera-Position after calibration changed if Inverted
- some changes in ACC-Altitude hold to reduce climbing in fast foreward fly
- UserParameter1 > 100 disables camera nick control (for BL-Gimbals with self-alignments)
- Beep at motor off (1sek)
 
2.00d
- Do not start if MK is moving
- Full Range of altitude measure expansion (3000m flight instead of 950m)
- compensation of the atmospheric altitude error
- Measure the exact influence of the barometric range extender
- Reduce Nick/Roll if Gas is Zero -> avoids MK to turn over during switch-off sequence
- Tell NC to wait at the Waypoint until Out1 Pattern is over
- virtual menu: single BL-Currents (FC2.1)
- per default active: NO_GPSFIX_NO_START and CFG_NO_RCOFF_BEEPING
- Servo-Nick-Refres reduced from 4 to 3 in default setting -> makes the camera servos faster
- No undervoltage Beeping if the FC is only supplied by MKUSB (the Voltage measurement is zero)
- Reset I2C-Error counter when calibrating the Sensors
- HOTT & Jeti bugfix: The temperatures were sometimes wrong
- HoTT:
- GPS coordiante now in Degree + Minutes.Decimalminutes (like in original Graupner-Receivers)
- added the MK Status in Transmitter Logfile -> General->Fuel
- added the MK Speach in Transmitter Logfile -> General->Alt3Sek
2.02a
- code too big for MEGA644 -> only ATMEGA1284 supported
- Jeti:GPS-Koordinate
- Don't accept Reset-Command if Motor running
- 'Idle' Bit in Output-Mask
- Option: DisableServoNick
- Bugfix Maximum Altitude -> New: SpeakHoTT Errormessage = "MaximumAltitude" and VarioCharacter goes to '='
- New Error code 32 "ERR:BL Selftest"
- prepared for current measurements up to 75A per ESC
- reduced speed of capacity-calculation() from 10ms to 50ms - that should be fast enough
- Timing correction for NC-Data (41Hz)
- Autolanding if undervoltage
- Compass offset angle
- 0.2V hysteresis in undervoltage warning
- Fixed: Bug in LED-Output
- Autolanding per default at 3,1V
 
2.02b
- Bugfix: Data reading for Dodecas (12 motors)
2.04a (12.03.2014 after public betatest 2.03)
- No support for FC 1.x
- Bugfix: set ChannelYaw to zero in case of RC lost
- Bugfix: Max 6 cells in lipo-detection instead of 7
- Bugfix: Compass-Calibration: At the second comdass calibration, the Calibration started in step 2 and not in step 1
- increase the allowed band for Auto-Middele-Point of the AltitudeStick to 70-175
- Dodeca: reduced I2C Packet lenght to 8
- Auto-ComingHome at Undervoltage
- Voltage measurement was 3% too high
- allowed band for ACC-Z increased to: 652 - 717
- send 'K' command only if JustMK3MagConnected
- Redundant operation supported
- Loading Waypoints from SD-Card:
- menu by HoTT and Jeti added
- Show the name of the WP-List
- do not load points if no stafix
- Version for FC 2.0 with ATMEGA644
Not Supported in FC 2.0:
- ACC-Upgrade for better ACC-Altitude control
- Hott
- Jeti-EX
- Auto-Start & Landing
- WP-List Name
 
2.04b
- Bugfix: Poti Values were wrong after calibration
- Redundant Slave: LED-Binking: Green: UART Data & Red:I2C error
- CompassCorrected (True-Compass) in HoTT- and Jeti-Display
- "True Compass" in virtual menu
- Jeti: Indicator "R" for redundancy
2.04c
- S.Bus extended to 16 Channels
 
2.06a (09.04.2013 after public beta 2.05)
- Load/Store Single Point
- Photo-Releases on Altitudes
- Voltage warning set to 3,2V, because the Voltage measurement was lower than before
- new Parameter: SinglePoint Speed
- Counter for Motor-Restarts for each single motor
- Servo-Signals can be configured if mapped to output
- Speak "Error_Motor" as soon as one Motor reports a restart
- EE_Parameter.NaviDescendRange now as Parameter in EEPROM
- EE_Parameter.NaviMaxFlyingRange now as Parameter in EEPROM
- Maximum Altitude is also used in the NC instead of "ABSOLUTE_FLYING_ALTITUDE" from SD-Card
2.06b (05.05.2014)
- Change for redundant slave: Now the Status of all 8 BLs can be read
2.06c (10.05.2014)
- send EE_Parameter.CamOrientation to NC
- Bugfix: if the CamOrientation was not zero, the direction in load/store Singelpoints were not correct
2.06d (16.06.2014)
- Starting with activated Altitudecontrol: Keep setpoint -2m until Gas-Stick rises up
- Bugfix: Redundant slave: wait at start until BLc are configured
 
2.06e (24.06.2014)
- Bugfix: BL-Config of motors 9-12 was deactivated
- reading the SW-Version of the BLs
- Bugfix: Motor 1 sometimes reported "software not compatible" in BL-Settings
- Transmit all version numbers to KopterTool
2.06f (21.7.2014)
- Secure function: Avoid that the Altitude setpoint can be much higher than the actual altitude
- Use MinGas setting before while "Waiting for takeoff" instead of "AltitudeMinGas".
 
2.06g
- don't start motors when NC is in simulation mode
- correct behaviour if CompassEffect is zero
2.08a (10.10.2014)
- Redundance now In Flag3
- Boat-Mode implemented
- New Gyro DriftCompensation implemented
- sending Offset values to NC for Logging
- Menu: Neutral Values of Gyro now in full resolution
- camera releases via automatic distances faster than 1 sec
- clamp Altitude setpoint at +15m instead of +10m to allow faster starting
- set all channels to zero in case of RC-Lost
- removed: GPS_Z
- New Parameter: Parameter_Hoehe_TiltCompensation
- Default Failsafe-Time is 60sec (was 30sek before)
- Sensitive_RC removed
- Bugfix: WP-Event was sometimes triggered two times
- transmit HoverGas to NC for logging
 
2.08b (09.02.2015)
- reduced load on UART for redundant slave when motors are not running
2.10a (10.11.2014 - 17.04.2015)
- New data structure of ExternalControl
- Internal Copies of the Channel values
- NC-Yawing rate limited to 100°/sec
- ExpandBaro faster -> 80ms instead of 700ms
- Altitude measurement re-calibrated (the measured value was about 5% too high)
- transmit receiver type to NC
- transmit stored neutral values (BOAT) to NC
- SPI communication optimized -> some Data are faster, some are slower
- BL-State (Current, Temperature,...) are now faster transferred for Logging
- ComingHome: automatic Direction change
- allows Yawing without CareFree (Yawing at Coming Home)
- Bugfix: Output LED Blinking when RC-Lost
- bugfix: uBat in 16Bit
- AnalogLable CRC implemented -> KopterTool doesn't need to read them every time
- ShutterCounter -> counts up when the output switches from low to high
- transmit LipoCount to NC
- Config "Disable CameraCompensation" disables also Roll-Compensation now
- AccZ in 3D-Datastructure (for Ben)
- new Parameter: LandingAccZ
- 16 Motors
- in-flight HoTT: Motortest and ACC-Calibration
- Error Message: No Redundancy
- Error Message: Redundancy Test
- Redundant Slave: copy the Current, State and Temperature from the UART Data
- in-flight ACC-Calibration with Jeti and KopterTool
- ACC-Calibration by stick: 5 seconds delay
- Bugfix: LED pattern was not used more often if the Hold time was longer than the pattern time
- Servo Failsafe Positions implemented
-> That Position is used for RC-Lost and UnderVoltage-Autolanding
-> minimum 10 seconds active
- MULTIPLEX servo protocol implemented (12 & 16 Channels)
 
2.10b (28.04.2014)
- small changes for the case of "NC-Communication loss"
2.10c (11.05.2015)
- Redundancy Master: If the I2C-Bus was switched off before flight (motors idle runnung), the Master didn't go into 'Fly'-State
- Auto-Safe by transmitter-switch: UserParameter5 can be used in Menu "Save single position"
- Auto-Load by transmitter-switch: UserParameter5 in Menu "Load single position"
 
2.10e (13.07.2015)
- ERR38: "GPS Update Rate" if Update Rate is lower than 5Hz
- Parameter.FailSafeTime now in Logfile
- Continous SPI-Transmission during calibration -> avoids different error-messages like "No FC Communication" etc.
- Axisdecoupling can't be deactivated
 
2.12a (12.10.2015)
- SingleWpControlChannel -> 3-stage switch for store/call single point
- MenuKeyChannel -> Key for Jeti/HoTT-Menu: Single points
- REDUNDANT Slave doesn't report 'CareFree-Error'
- Load Points via Switch on transmitter without using a menu
- AxisDecoupling can't be deactivated
- ExternalControlTimeout activated (2 seconds)
2.12b (05.11.2015)
- NextWP-Channel: Hysteresis changed
- small Bugfix: Yawing for Coming hone was disabled if yawing was already in progress
2.14a (22.10.2015 - 15.02.2016)
- Support for FC3.0
- NC-Lib: compatiblity increased; Version check in LIB
- ExternalControl:
- more features added (GPS-Switch, Altitude, CF,..)
- can be sent to NC and NC will foreward through SPI
- ReceiverOkay implemented -> either if Data from RC or External Control are valid
- SPI transmission of big Blocks added (for config data etc.)
- SPI Error-counter added in analog data
- SPI transmission changed to 20bytes of payload
- HoTT-Text: "Compass-Calibration"
- Errors:
40: RC-Voltage
41: Power Supply
42: ACC not calibratetd
- show settings name: 5 seconds instead of 10 seconds
- HoTT & Jeti: Show Slave Error Code in Telemetry (only FC 3.0)
- Slave marks BLs as present if they answer via UART
- FC3.0: Transmit Status to Master FC
- prevents switch-on in case of error
- switches off if Master says: Switched off by RC-Command
- New Parameter: CamCtrlModeChannel & CamCtrlZoomChannel
- CamCtrl Character in HoTT & Jeti display
- HugeBlock: wait until the I2C data is finished -> avoid I2C errors
- Servo Position from Serial Poti: check if there is valid data
- 30 sek Timout on serial Data (only for Servo Position until now)
- Small Bugfix: Beep sequence was sometimes disturbed during power on
- SPEAK_RECEIVER_VOLTAGE implemented (FC3.0)
- since 2.13h (02.2016), the eeprom parameters are backwards compatible
- uart buffer increased to 250 bytes to hold the new eeporm parameter structure
- Simulation: correct behaviour of Servo-Failsafe-Positions
- by default: CFG3_NO_SDCARD_NO_START
2.14b
- default:
EE_Parameter.CamCtrlModeChannel = 0;
EE_Parameter.CamCtrlZoomChannel = 0;
 
2.14c
- checking baro-sensor during flight. Report "ERR:Pressure sensor" and disable Altitude control in case of a Problem
 
2.14e (1.8.2016 -> Patch)
- REDUNDANT_SLAVE: small Bugfix -> sometimes "SL23: Motor Restart" before liftoff
2.16a (05.12.2016)
- Parachute-Input for FC3.0 -> fast swicth off on IO1 (License feature required)
- Fixed: PPM_Diff[] could contain a value if the channels are > 128. That had effect to the Motor-Switch function.
- New Bit: CFG3_RISE_FIRST_WAYPOINT -> "Rise on first Waypoint" can be disabled by Parameter
- OEM-String
- REDUNDANT_SLAVE: small Bugfix -> sometimes "SL23: Motor Restart" before liftoff
- Redundance_Master: small Bugfix -> Lost of serial bus not reported
- set GPS-Switch to FREE if GPS is deactivated in the settings
- unlimited Failsafe-Time possible if License is installed
- CamCtrlCharacter in Text-Telemetry
- last Gyro calibration values stored in EEPROM
- do not accept a calibration if the zero-values have > 0,3% error compared to the ACC-Calibration
- \n\r replaced by \r\n
- Waypoint Info in Jeti telemetry
- Baro temperature compensation implemented for FC3.0
- Autoswitch-Off if landed: (only FC2.2 and newer)
-> RC failsafe
-> Auto Landing switch
-> undervoltage
-> NC landing Waypoints
- Laser distance in Hott-Menu
2.17a (20.04.2017)
- Flyzones implemented
-> Settings option: FlyZoneRequired
-> Settings option: Land Outside Flyzone
-> Text in HoTT-Telemetry
-> "F" at the end of the Waypoint message line
- Error Calibration message in LCD
- Bugfix: JetiMenu: ACC-Calibraion during flight didn't work
- Bugfix: EEPROM Data was reset if downgrading the firmware
- Beeping if Parachute is active
- accept slightly higher tolerances during calibration
- Better Status text in Text-Telemetry
- HotShoe Photo counter in the HoTT Text-Telemetry display
toDo:
- CalAthmospheare nachführen
 
 
 
/tags/V2.18a
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Added: tsvn:logminsize
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