WebSVN - FlightCtrl - Diff - Rev 1915 and 1916 - /branches/V0.86d_MartinW


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char DisableRcOffBeeping = 0;
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
unsigned char BattLowVoltageWarning = 94;
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
 
void CalMk3Mag(void)
{
 static unsigned char stick = 1;
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
  {
   stick = 1;
   WinkelOut.CalcState++;
   if(WinkelOut.CalcState > 4)
    {
//     WinkelOut.CalcState = 0; // in Uart.c
     beeptime = 1000;
    }
   else Piep(WinkelOut.CalcState,150);
  }
  DebugOut.Analog[19] = WinkelOut.CalcState;
}
 
 
void LipoDetection(unsigned char print)
{
        #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
        unsigned int timer, cells;
        if(print) printf("\n\rBatt:");
        if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
        {
                timer = SetDelay(500);
                if(print) while (!CheckDelay(timer));
                // up to 6s LiPo, less than 2s is technical impossible
                for(cells = 2; cells < 7; cells++)
                {
                        if(UBat < cells * MAX_CELL_VOLTAGE) break;
                }
 
                BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
                if(print)
                {
                        Piep(cells, 200);
                        printf(" %d Cells ", cells);
                }
        }
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
        if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
 
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
        PlatinenVersion = 21;
#else
        if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else           PlatinenVersion = 10;
     }
#endif
    DDRC  = 0x81; // SCL
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
        PORTD = 0x47; // LED
    HEF4017R_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2500;
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
    ROT_OFF;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        I2C_Init(1);
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init();
        GRN_ON;
    sei();
        ParamSet_Init();
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        // Check connected BL-Ctrls
        BLFlags |= BLFLAG_READ_VERSION;
        motor_read = 0;  // read the first I2C-Data
        SendMotorData();
        timer = SetDelay(500);
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
 
    printf("\n\rFound BL-Ctrl: ");
    timer = SetDelay(4000);
        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) )
                        {
                                SendMotorData();
                                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
                        }
                }
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
                {
                        printf("%d",i+1);
                        FoundMotors++;
//                      if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
                }
        }
        for(i=0; i < MAX_MOTORS; i++)
        {
                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
                {
                        printf("\n\r\n\r!! 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
        }
        printf("\n\r===================================");
 
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
 
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
        {
                printf("\n\rCalibrating pressure sensor..");
                timer = SetDelay(1000);
                SucheLuftruckOffset();
                while (!CheckDelay(timer));
                printf("OK\n\r");
        }
 
        SetNeutral(0);
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        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("\n\rFlight-time %u min  Total:%u min", FlugMinuten, FlugMinutenGesamt);
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
 
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
 
        printf("\n\r===================================\n\r");
        //SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
 
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
    DebugOut.Status[0] = 0x01 | 0x02;
        JetiBeep = 0;
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
 
        while (1)
        {
 
        if (JetiUpdateModeActive) while (1);
 
 
 
 
 
 
 
        if(UpdateMotor && AdReady)      // ReglerIntervall
 
            {
                        UpdateMotor=0;    
            if(WinkelOut.CalcState) CalMk3Mag();
            else  MotorRegler();
                        SendMotorData();
            ROT_OFF;
            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
                                VersionInfo.HardwareError[1] |= FC_ERROR1_PPM;
                        }
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//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 = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                                 if(!beeptime)
                                  {
                                   VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
                                  }
                }
                  LIBFC_Polling();
 
          if(!UpdateMotor)
                   {
                        if(CalculateServoSignals) CalculateServo();
                        DatenUebertragung();
                        BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
                                if(MissingMotor)
                                 {
                                  VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                 }
                                 else
                                 {
                                   VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;
                                   if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
                                 }
                            if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
 
                                if(SenderOkay && DisableRcOffBeeping) { DisableRcOffBeeping = 0; beeptime = 5000;};
 
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(!SenderOkay)
                                        {
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
                                          {
                                                  beeptime = 15000;
                                                  BeepMuster = 0x0c00;
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
                                          }
                                        }
                                }
                                if(NaviDataOkay > 200)
                                {
                                        NaviDataOkay--;
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
                                }
                                else
                                {
                                        if(NC_Version.Compatible)
                                         {
                                                VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
                       if(BeepMuster == 0xffff && MotorenEin)
                                                {
                                                        beeptime = 15000;
                                                        BeepMuster = 0xA800;
                                                }
                                         }
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        GPS_AidMode = 0;
                                        GPSInfo.Flags = 0;
                                        //if(!beeptime)
                    FromNaviCtrl.CompassValue = -1;
                    NaviDataOkay = 0;
                                }
                           if(UBat < BattLowVoltageWarning)
                                {
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
 
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
                                else
                if(++second == 49)
                                 {
                                   second = 0;
                                   FlugSekunden++;
                                 }
                                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[26]++;
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1915	Rev 1916
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) Holger Buss, Ingo Busker	2	// + Copyright (c) Holger Buss, Ingo Busker
3	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	3	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	18	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	39	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52	#include "main.h"	52	#include "main.h"
53	unsigned char DisableRcOffBeeping = 0;	53	unsigned char DisableRcOffBeeping = 0;
54	unsigned char PlatinenVersion = 10;	54	unsigned char PlatinenVersion = 10;
55	unsigned char SendVersionToNavi = 1;	55	unsigned char SendVersionToNavi = 1;
56	unsigned char BattLowVoltageWarning = 94;	56	unsigned char BattLowVoltageWarning = 94;
57	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	57	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
58	unsigned int FlugSekunden = 0;	58	unsigned int FlugSekunden = 0;
59	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;	59	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
60	unsigned char FoundMotors = 0;	60	unsigned char FoundMotors = 0;
61	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box	61	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
62		62
63	void CalMk3Mag(void)	63	void CalMk3Mag(void)
64	{	64	{
65	static unsigned char stick = 1;	65	static unsigned char stick = 1;
66	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	66	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
67	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	67	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
68	{	68	{
69	stick = 1;	69	stick = 1;
70	WinkelOut.CalcState++;	70	WinkelOut.CalcState++;
71	if(WinkelOut.CalcState > 4)	71	if(WinkelOut.CalcState > 4)
72	{	72	{
73	// WinkelOut.CalcState = 0; // in Uart.c	73	// WinkelOut.CalcState = 0; // in Uart.c
74	beeptime = 1000;	74	beeptime = 1000;
75	}	75	}
76	else Piep(WinkelOut.CalcState,150);	76	else Piep(WinkelOut.CalcState,150);
77	}	77	}
78	DebugOut.Analog[19] = WinkelOut.CalcState;	78	DebugOut.Analog[19] = WinkelOut.CalcState;
79	}	79	}
80		80
81		81
82	void LipoDetection(unsigned char print)	82	void LipoDetection(unsigned char print)
83	{	83	{
84	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO	84	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
85	unsigned int timer, cells;	85	unsigned int timer, cells;
86	if(print) printf("\n\rBatt:");	86	if(print) printf("\n\rBatt:");
87	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	87	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
88	{	88	{
89	timer = SetDelay(500);	89	timer = SetDelay(500);
90	if(print) while (!CheckDelay(timer));	90	if(print) while (!CheckDelay(timer));
91	// up to 6s LiPo, less than 2s is technical impossible	91	// up to 6s LiPo, less than 2s is technical impossible
92	for(cells = 2; cells < 7; cells++)	92	for(cells = 2; cells < 7; cells++)
93	{	93	{
94	if(UBat < cells * MAX_CELL_VOLTAGE) break;	94	if(UBat < cells * MAX_CELL_VOLTAGE) break;
95	}	95	}
96		96
97	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;	97	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
98	if(print)	98	if(print)
99	{	99	{
100	Piep(cells, 200);	100	Piep(cells, 200);
101	printf(" %d Cells ", cells);	101	printf(" %d Cells ", cells);
102	}	102	}
103	}	103	}
104	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	104	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
105	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	105	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
106	}	106	}
107		107
108	//############################################################################	108	//############################################################################
109	//Hauptprogramm	109	//Hauptprogramm
110	int main (void)	110	int main (void)
111	//############################################################################	111	//############################################################################
112	{	112	{
113	unsigned int timer,i,timer2 = 0, timerPolling;	113	unsigned int timer,i,timer2 = 0, timerPolling;
114		114
115	DDRB = 0x00;	115	DDRB = 0x00;
116	PORTB = 0x00;	116	PORTB = 0x00;
117	for(timer = 0; timer < 1000; timer++); // verzögern	117	for(timer = 0; timer < 1000; timer++); // verzögern
118	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	118	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
119	PlatinenVersion = 21;	119	PlatinenVersion = 21;
120	#else	120	#else
121	if(PINB & 0x01)	121	if(PINB & 0x01)
122	{	122	{
123	if(PINB & 0x02) PlatinenVersion = 13;	123	if(PINB & 0x02) PlatinenVersion = 13;
124	else PlatinenVersion = 11;	124	else PlatinenVersion = 11;
125	}	125	}
126	else	126	else
127	{	127	{
128	if(PINB & 0x02) PlatinenVersion = 20;	128	if(PINB & 0x02) PlatinenVersion = 20;
129	else PlatinenVersion = 10;	129	else PlatinenVersion = 10;
130	}	130	}
131	#endif	131	#endif
132	DDRC = 0x81; // SCL	132	DDRC = 0x81; // SCL
133	DDRC \|=0x40; // HEF4017 Reset	133	DDRC \|=0x40; // HEF4017 Reset
134	PORTC = 0xff; // Pullup SDA	134	PORTC = 0xff; // Pullup SDA
135	DDRB = 0x1B; // LEDs und Druckoffset	135	DDRB = 0x1B; // LEDs und Druckoffset
136	PORTB = 0x01; // LED_Rot	136	PORTB = 0x01; // LED_Rot
137	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	137	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
138	PORTD = 0x47; // LED	138	PORTD = 0x47; // LED
139	HEF4017R_ON;	139	HEF4017R_ON;
140	MCUSR &=~(1<<WDRF);	140	MCUSR &=~(1<<WDRF);
141	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	141	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
142	WDTCSR = 0;	142	WDTCSR = 0;
143		143
144	beeptime = 2500;	144	beeptime = 2500;
145	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	145	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
146	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	146	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
147	ROT_OFF;	147	ROT_OFF;
148		148
149	Timer_Init();	149	Timer_Init();
150	TIMER2_Init();	150	TIMER2_Init();
151	UART_Init();	151	UART_Init();
152	rc_sum_init();	152	rc_sum_init();
153	ADC_Init();	153	ADC_Init();
154	I2C_Init(1);	154	I2C_Init(1);
155	SPI_MasterInit();	155	SPI_MasterInit();
156	Capacity_Init();	156	Capacity_Init();
157	LIBFC_Init();	157	LIBFC_Init();
158	GRN_ON;	158	GRN_ON;
159	sei();	159	sei();
160	ParamSet_Init();	160	ParamSet_Init();
161		161
162		162
163	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	163	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
164	// + Check connected BL-Ctrls	164	// + Check connected BL-Ctrls
165	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	165	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
166	// Check connected BL-Ctrls	166	// Check connected BL-Ctrls
167	BLFlags \|= BLFLAG_READ_VERSION;	167	BLFlags \|= BLFLAG_READ_VERSION;
168	motor_read = 0; // read the first I2C-Data	168	motor_read = 0; // read the first I2C-Data
169	SendMotorData();	169	SendMotorData();
170	timer = SetDelay(500);	170	timer = SetDelay(500);
171	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	171	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
172		172
173	printf("\n\rFound BL-Ctrl: ");	173	printf("\n\rFound BL-Ctrl: ");
174	timer = SetDelay(4000);	174	timer = SetDelay(4000);
175	for(i=0; i < MAX_MOTORS; i++)	175	for(i=0; i < MAX_MOTORS; i++)
176	{	176	{
177	SendMotorData();	177	SendMotorData();
178	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	178	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
179	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	179	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
180	{	180	{
181	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	181	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
182	{	182	{
183	SendMotorData();	183	SendMotorData();
184	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	184	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
185	}	185	}
186	}	186	}
187	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	187	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
188	{	188	{
189	printf("%d",i+1);	189	printf("%d",i+1);
190	FoundMotors++;	190	FoundMotors++;
191	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	191	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
192	}	192	}
193	}	193	}
194	for(i=0; i < MAX_MOTORS; i++)	194	for(i=0; i < MAX_MOTORS; i++)
195	{	195	{
196	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	196	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
197	{	197	{
198	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	198	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
199	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	199	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
200	}	200	}
201	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	201	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
202	}	202	}
203	printf("\n\r===================================");	203	printf("\n\r===================================");
204		204
205	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	205	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
206		206
207	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	207	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
208	{	208	{
209	printf("\n\rCalibrating pressure sensor..");	209	printf("\n\rCalibrating pressure sensor..");
210	timer = SetDelay(1000);	210	timer = SetDelay(1000);
211	SucheLuftruckOffset();	211	SucheLuftruckOffset();
212	while (!CheckDelay(timer));	212	while (!CheckDelay(timer));
213	printf("OK\n\r");	213	printf("OK\n\r");
214	}	214	}
215		215
216	SetNeutral(0);	216	SetNeutral(0);
217		217
218	ROT_OFF;	218	ROT_OFF;
219		219
220	beeptime = 2000;	220	beeptime = 2000;
221	ExternControl.Digital[0] = 0x55;	221	ExternControl.Digital[0] = 0x55;
222		222
223		223
224	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	224	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
225	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	225	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
226		226
227	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	227	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
228	{	228	{
229	FlugMinuten = 0;	229	FlugMinuten = 0;
230	FlugMinutenGesamt = 0;	230	FlugMinutenGesamt = 0;
231	}	231	}
232	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	232	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
233		233
234	printf("\n\rControl: ");	234	printf("\n\rControl: ");
235	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	235	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
236	else printf("Normal (ACC-Mode)");	236	else printf("Normal (ACC-Mode)");
237		237
238	LcdClear();	238	LcdClear();
239	I2CTimeout = 5000;	239	I2CTimeout = 5000;
240	WinkelOut.Orientation = 1;	240	WinkelOut.Orientation = 1;
241	LipoDetection(1);	241	LipoDetection(1);
242		242
243	LIBFC_ReceiverInit(EE_Parameter.Receiver);	243	LIBFC_ReceiverInit(EE_Parameter.Receiver);
244		244
245	printf("\n\r===================================\n\r");	245	printf("\n\r===================================\n\r");
246	//SpektrumBinding();	246	//SpektrumBinding();
247	timer = SetDelay(2000);	247	timer = SetDelay(2000);
248	timerPolling = SetDelay(250);	248	timerPolling = SetDelay(250);
249		249
250	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	250	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
251	DebugOut.Status[0] = 0x01 \| 0x02;	251	DebugOut.Status[0] = 0x01 \| 0x02;
252	JetiBeep = 0;	252	JetiBeep = 0;
253	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;	253	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
-		254
254	while (1)	255	while (1)
255	{	256	{
256		-
257	if (JetiUpdateModeActive) while (1);	257	if (JetiUpdateModeActive) while (1);
258		-
259		-
260	if(CheckDelay(timerPolling))	-
261	{	-
262	timerPolling = SetDelay(1);	-
263	LIBFC_Polling();	-
264	}	258
265	if(UpdateMotor && AdReady) // ReglerIntervall	259	if(UpdateMotor && AdReady) // ReglerIntervall
266	{	-
267		260	{
268	UpdateMotor=0;	261	UpdateMotor=0;
269	if(WinkelOut.CalcState) CalMk3Mag();	262	if(WinkelOut.CalcState) CalMk3Mag();
270	else MotorRegler();	263	else MotorRegler();
271	SendMotorData();	264	SendMotorData();
272	ROT_OFF;	265	ROT_OFF;
273	if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; }	266	if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; }
274	else	267	else
275	{	268	{
276	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	269	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
277	PPM_in[0] = 0; // set RSSI to zero on data timeout	270	PPM_in[0] = 0; // set RSSI to zero on data timeout
278	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	271	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
279	}	272	}
280	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	273	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
281	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	274	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
282	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	275	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
283	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	276	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
284	if(!--I2CTimeout \|\| MissingMotor)	277	if(!--I2CTimeout \|\| MissingMotor)
285	{	278	{
286	if(!I2CTimeout)	279	if(!I2CTimeout)
287	{	280	{
288	I2C_Reset();	281	I2C_Reset();
289	I2CTimeout = 5;	282	I2CTimeout = 5;
290	DebugOut.Analog[28]++; // I2C-Error	283	DebugOut.Analog[28]++; // I2C-Error
291	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	284	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
292	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	285	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
293	}	286	}
294	if((BeepMuster == 0xffff) && MotorenEin)	287	if((BeepMuster == 0xffff) && MotorenEin)
295	{	288	{
296	beeptime = 10000;	289	beeptime = 10000;
297	BeepMuster = 0x0080;	290	BeepMuster = 0x0080;
298	}	291	}
299	}	292	}
300	else	293	else
301	{	294	{
302	ROT_OFF;	295	ROT_OFF;
303	if(!beeptime)	296	if(!beeptime)
304	{	297	{
305	VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;	298	VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
306	}	299	}
307	}	300	}
-		301	LIBFC_Polling();
-		302
308	if(!UpdateMotor)	303	if(!UpdateMotor)
309	{	304	{
310	if(CalculateServoSignals) CalculateServo();	305	if(CalculateServoSignals) CalculateServo();
311	DatenUebertragung();	306	DatenUebertragung();
312	BearbeiteRxDaten();	307	BearbeiteRxDaten();
313	if(CheckDelay(timer))	308	if(CheckDelay(timer))
314	{	309	{
315	static unsigned char second;	310	static unsigned char second;
316	timer += 20; // 20 ms interval	311	timer += 20; // 20 ms interval
317	if(MissingMotor)	312	if(MissingMotor)
318	{	313	{
319	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	314	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
320	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	315	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
321	}	316	}
322	else	317	else
323	{	318	{
324	VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;	319	VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;
325	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	320	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
326	}	321	}
327	if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;	322	if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
328		323
329	if(SenderOkay && DisableRcOffBeeping) { DisableRcOffBeeping = 0; beeptime = 5000;};	324	if(SenderOkay && DisableRcOffBeeping) { DisableRcOffBeeping = 0; beeptime = 5000;};
330		325
331	if(PcZugriff) PcZugriff--;	326	if(PcZugriff) PcZugriff--;
332	else	327	else
333	{	328	{
334	ExternControl.Config = 0;	329	ExternControl.Config = 0;
335	ExternStickNick = 0;	330	ExternStickNick = 0;
336	ExternStickRoll = 0;	331	ExternStickRoll = 0;
337	ExternStickGier = 0;	332	ExternStickGier = 0;
338	if(!SenderOkay)	333	if(!SenderOkay)
339	{	334	{
340	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)	335	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
341	{	336	{
342	beeptime = 15000;	337	beeptime = 15000;
343	BeepMuster = 0x0c00;	338	BeepMuster = 0x0c00;
344	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;	339	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
345	}	340	}
346	}	341	}
347	}	342	}
348	if(NaviDataOkay > 200)	343	if(NaviDataOkay > 200)
349	{	344	{
350	NaviDataOkay--;	345	NaviDataOkay--;
351	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	346	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
352	}	347	}
353	else	348	else
354	{	349	{
355	if(NC_Version.Compatible)	350	if(NC_Version.Compatible)
356	{	351	{
357	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	352	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
358	if(BeepMuster == 0xffff && MotorenEin)	353	if(BeepMuster == 0xffff && MotorenEin)
359	{	354	{
360	beeptime = 15000;	355	beeptime = 15000;
361	BeepMuster = 0xA800;	356	BeepMuster = 0xA800;
362	}	357	}
363	}	358	}
364	GPS_Nick = 0;	359	GPS_Nick = 0;
365	GPS_Roll = 0;	360	GPS_Roll = 0;
366	GPS_AidMode = 0;	361	GPS_AidMode = 0;
-		362	GPSInfo.Flags = 0;
367	//if(!beeptime)	363	//if(!beeptime)
368	FromNaviCtrl.CompassValue = -1;	364	FromNaviCtrl.CompassValue = -1;
369	NaviDataOkay = 0;	365	NaviDataOkay = 0;
370	}	366	}
371	if(UBat < BattLowVoltageWarning)	367	if(UBat < BattLowVoltageWarning)
372	{	368	{
373	FC_StatusFlags \|= FC_STATUS_LOWBAT;	369	FC_StatusFlags \|= FC_STATUS_LOWBAT;
374	if(BeepMuster == 0xffff)	370	if(BeepMuster == 0xffff)
375	{	371	{
376	beeptime = 6000;	372	beeptime = 6000;
377	BeepMuster = 0x0300;	373	BeepMuster = 0x0300;
378	}	374	}
379	}	375	}
380	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	376	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
381		377
382	SPI_StartTransmitPacket();	378	SPI_StartTransmitPacket();
383	SendSPI = 4;	379	SendSPI = 4;
384	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	380	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
385	else	381	else
386	if(++second == 49)	382	if(++second == 49)
387	{	383	{
388	second = 0;	384	second = 0;
389	FlugSekunden++;	385	FlugSekunden++;
390	}	386	}
391	if(++timer2 == 2930) // eine Minute	387	if(++timer2 == 2930) // eine Minute
392	{	388	{
393	timer2 = 0;	389	timer2 = 0;
394	FlugMinuten++;	390	FlugMinuten++;
395	FlugMinutenGesamt++;	391	FlugMinutenGesamt++;
396	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	392	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
397	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	393	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
398	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	394	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
399	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	395	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
400	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	396	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
401	}	397	}
402	}	398	}
403	LED_Update();	399	LED_Update();
404	Capacity_Update();	400	Capacity_Update();
405	} //else DebugOut.Analog[26]++;	401	} //else DebugOut.Analog[26]++;
406	}	402	}
407	if(!SendSPI) { SPI_TransmitByte(); }	403	if(!SendSPI) { SPI_TransmitByte(); }
408	}	404	}
409	return (1);	405	return (1);
410	}	406	}
411		407
412		408
413		409

Subversion Repositories FlightCtrl

(root)/branches/V0.86d_MartinW_Jeti+V0.20/main.c @ 2000 - Rev 1915 → 1916