Rev 1221 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1221 | Rev 1222 | ||
|---|---|---|---|
| Line 126... | Line 126... | ||
| 126 | } |
126 | } |
| Line 127... | Line 127... | ||
| 127 | 127 | ||
| 128 | 128 | ||
| 129 | int16_t main (void) |
129 | int16_t main (void) |
| - | 130 | { |
|
| Line 130... | Line 131... | ||
| 130 | { |
131 | uint16_t timer; |
| 131 | unsigned int timer; |
132 | uint8_t i; |
| Line 132... | Line 133... | ||
| 132 | 133 | ||
| Line 171... | Line 172... | ||
| 171 | #endif |
172 | #endif |
| Line 172... | Line 173... | ||
| 172 | 173 | ||
| 173 | // enable interrupts global |
174 | // enable interrupts global |
| Line -... | Line 175... | ||
| - | 175 | sei(); |
|
| 174 | sei(); |
176 | |
| 175 | 177 | printf("\n\r==================================="); |
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| 176 | printf("\n\rFlightControl"); |
178 | printf("\n\rFlightControl"); |
| 177 | printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
179 | printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
| 178 | if(CPUType == ATMEGA644P) |
180 | if(CPUType == ATMEGA644P) |
| 179 | printf("\r\n CPU: Atmega644p"); |
181 | printf("\r\n CPU: Atmega644p"); |
| 180 | else |
182 | else |
| 181 | printf("\r\n CPU: Atmega644"); |
183 | printf("\r\n CPU: Atmega644"); |
| 182 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
184 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| Line 183... | Line 185... | ||
| 183 | printf("\n\r=============================="); |
185 | printf("\n\r==================================="); |
| 184 | GRN_ON; |
186 | GRN_ON; |
| Line -... | Line 187... | ||
| - | 187 | ||
| - | 188 | // Parameter Set handling |
|
| - | 189 | ParamSet_Init(); |
|
| - | 190 | ||
| - | 191 | // Check connected BL-Ctrls |
|
| - | 192 | printf("\n\rFound BL-Ctrl: "); |
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| - | 193 | motor_read = 0; |
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| - | 194 | UpdateMotor = 0; |
|
| - | 195 | SendMotorData(); |
|
| - | 196 | while(!UpdateMotor); |
|
| - | 197 | motor_read = 0; // read the first I2C-Data |
|
| - | 198 | for(i = 0; i < MAX_MOTORS; i++) |
|
| - | 199 | { |
|
| - | 200 | UpdateMotor = 0; |
|
| - | 201 | SendMotorData(); |
|
| - | 202 | while(!UpdateMotor); |
|
| - | 203 | if(Motor[i].Present) printf("%d ",i+1); |
|
| - | 204 | } |
|
| - | 205 | for(i = 0; i < MAX_MOTORS; i++) |
|
| - | 206 | { |
|
| - | 207 | if(!Motor[i].Present && Mixer.Motor[i][MIX_GAS] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
|
| - | 208 | Motor[i].Error = 0; |
|
| 185 | 209 | } |
|
| 186 | // Parameter Set handling |
210 | printf("\n\r==================================="); |
| 187 | ParamSet_Init(); |
211 | |
| 188 | 212 | ||
| Line 236... | Line 260... | ||
| 236 | ExternControl.Digital[0] = 0x55; |
260 | ExternControl.Digital[0] = 0x55; |
| Line 237... | Line 261... | ||
| 237 | 261 | ||
| 238 | 262 | ||
| 239 | printf("\n\rControl: "); |
263 | printf("\n\rControl: "); |
| Line 240... | Line 264... | ||
| 240 | if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
264 | if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| Line 241... | Line 265... | ||
| 241 | else printf("Neutral"); |
265 | else printf("Neutral (ACC-Mode)"); |
| Line 267... | Line 291... | ||
| 267 | ExternStickNick= 0; |
291 | ExternStickNick= 0; |
| 268 | ExternStickRoll = 0; |
292 | ExternStickRoll = 0; |
| 269 | ExternStickYaw = 0; |
293 | ExternStickYaw = 0; |
| 270 | } |
294 | } |
| 271 | if(RC_Quality) RC_Quality--; |
295 | if(RC_Quality) RC_Quality--; |
| - | 296 | ||
| - | 297 | #ifdef USE_NAVICTRL |
|
| 272 | if(!I2CTimeout) |
298 | if(NCDataOkay) |
| 273 | { |
299 | { |
| - | 300 | if(--NCDataOkay == 0) // no data from NC |
|
| - | 301 | { // set gps control sticks neutral |
|
| - | 302 | GPSStickNick = 0; |
|
| - | 303 | GPSStickRoll = 0; |
|
| - | 304 | NCSerialDataOkay = 0; |
|
| - | 305 | } |
|
| - | 306 | } |
|
| - | 307 | #endif |
|
| - | 308 | ||
| - | 309 | if(!--I2CTimeout || MissingMotor) // try to reset the i2c if motor is missing ot timeout |
|
| - | 310 | { |
|
| - | 311 | RED_ON; |
|
| 274 | I2CTimeout = 5; |
312 | if(!I2CTimeout) |
| - | 313 | { |
|
| 275 | I2C_Reset(); |
314 | I2C_Reset(); |
| - | 315 | I2CTimeout = 5; |
|
| - | 316 | } |
|
| 276 | if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
317 | if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
| 277 | { |
318 | { |
| 278 | BeepTime = 10000; // 1 second |
319 | BeepTime = 10000; // 1 second |
| 279 | BeepModulation = 0x0080; |
320 | BeepModulation = 0x0080; |
| 280 | } |
321 | } |
| 281 | } |
322 | } |
| 282 | else |
323 | else |
| 283 | { |
324 | { |
| 284 | I2CTimeout--; |
- | |
| 285 | RED_OFF; |
325 | RED_OFF; |
| 286 | } |
326 | } |
| Line 287... | Line 327... | ||
| 287 | 327 | ||
| 288 | // allow Serial Data Transmit if motors must not updated or motors are not running |
328 | // allow Serial Data Transmit if motors must not updated or motors are not running |
| Line 308... | Line 348... | ||
| 308 | #endif |
348 | #endif |
| 309 | timer = SetDelay(20); // every 20 ms |
349 | timer = SetDelay(20); // every 20 ms |
| 310 | } |
350 | } |
| Line 311... | Line 351... | ||
| 311 | 351 | ||
| 312 | LED_Update(); |
- | |
| 313 | //J4LOW; |
352 | LED_Update(); |
| Line 314... | Line 353... | ||
| 314 | } |
353 | } |
| 315 | 354 | ||
| 316 | #ifdef USE_NAVICTRL |
355 | #ifdef USE_NAVICTRL |