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966 | MikeW | 1 | /* |
2 | Copyright 2008, by Michael Walter |
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3 | |||
4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
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5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
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6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
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8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
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9 | |||
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
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11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
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12 | unless it is stated otherwise. |
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13 | */ |
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14 | |||
15 | /***************************************************************************** |
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16 | INCLUDES |
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17 | **************************************************************************** */ |
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838 | MikeW | 18 | #include "main.h" |
19 | #include "kafi.h" |
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20 | #include "mymath.h" |
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21 | #include "mm3.h" |
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970 | MikeW | 22 | #include "FlightControl.h" |
966 | MikeW | 23 | |
24 | /***************************************************************************** |
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25 | (SYMBOLIC) CONSTANTS |
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26 | *****************************************************************************/ |
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27 | |||
838 | MikeW | 28 | #define sin45 -0.707106 |
29 | #define cos45 0.707106 |
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30 | |||
966 | MikeW | 31 | /***************************************************************************** |
32 | VARIABLES |
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33 | *****************************************************************************/ |
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34 | extern int RCQuality; |
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35 | int RemoteLinkLost; |
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36 | extern unsigned long maxDistance; |
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838 | MikeW | 37 | unsigned char EEPromArray[E2END+1] EEMEM; |
966 | MikeW | 38 | |
39 | void TestRemote(void); |
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40 | void IMU_Main(void); |
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41 | void TestBattery(void); |
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42 | void SendDebugData(void); |
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43 | void InitPorts(void); |
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44 | void GenerateDefaults(void); |
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45 | void TestIC2Link(void); |
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46 | void GetAirPressureOffset(void); |
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47 | void DeployRescue(void); |
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48 | |||
838 | MikeW | 49 | extern void InitOSD(void); |
50 | extern void InitGPS(void); |
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51 | extern void SendOSD(void); |
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966 | MikeW | 52 | extern void RemoteControl(void); |
838 | MikeW | 53 | extern void SendMotorData(void); |
966 | MikeW | 54 | extern void GetMeasurements(void); |
838 | MikeW | 55 | extern void AttitudeEstimation(void); |
966 | MikeW | 56 | extern void PD_Regler(void); |
838 | MikeW | 57 | extern void SetNeutral(void); |
58 | |||
59 | /* **************************************************************************** |
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966 | MikeW | 60 | Functionname: main */ /*! |
61 | Description: Hauptprogramm |
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62 | |||
63 | @return void |
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64 | @pre - |
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65 | @post - |
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66 | @author Michael Walter |
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67 | **************************************************************************** */ |
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68 | int main (void) |
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69 | { |
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70 | /* Controler Init */ |
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71 | InitPorts(); |
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72 | Kafi_Init(); |
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73 | Timer_Init(); |
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74 | UART_Init(); |
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75 | InitGPS(); |
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76 | rc_sum_init(); |
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77 | ADC_Init(); |
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78 | i2c_init(); |
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79 | #ifdef USE_COMPASS |
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80 | MM3_Init(); |
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81 | #endif |
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82 | /* Enable Interrupts */ |
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83 | sei(); |
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84 | |||
85 | /* Generate Default Values */ |
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86 | GenerateDefaults (); |
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87 | /* Get Air Pressure Offset */ |
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88 | GetAirPressureOffset(); |
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89 | /* Determine Gyro / ACC Offsets */ |
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90 | SetNeutral(); |
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91 | |||
92 | DebugIn.Analog[1] = 1000; |
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93 | DebugIn.Digital[0] = 0x55; |
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94 | |||
95 | #ifdef USE_COMPASS |
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96 | /* Calibrate the MM3 Compass? */ |
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97 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && |
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98 | (PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && |
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99 | (MotorenEin == 0)) |
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100 | { |
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101 | printf("\n\rCalibrating Compass"); |
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102 | MM3_Calibrate(); |
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103 | } |
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104 | #endif |
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105 | |||
106 | #ifdef USE_OSD |
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107 | /* Init the Bob-4 OnScreen Display */ |
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108 | InitOSD(); |
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109 | #endif |
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110 | |||
111 | /* Start the main Task */ |
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112 | IMU_Main(); |
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113 | return (1); |
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114 | } |
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115 | |||
116 | |||
117 | |||
118 | /* **************************************************************************** |
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119 | Functionname: IMU_Main */ /*! |
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120 | Description: |
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121 | |||
122 | @param[in] |
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123 | |||
124 | @return void |
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125 | @pre - |
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126 | @post - |
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127 | @author Michael Walter |
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128 | **************************************************************************** */ |
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129 | void IMU_Main() |
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130 | { |
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131 | ROT_ON |
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132 | I2CTimeout = 5000; |
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133 | |||
134 | while (1) |
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135 | { |
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972 | MikeW | 136 | static i32_t OldTime = 0; |
966 | MikeW | 137 | if (UpdateMotor) |
138 | { |
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139 | UpdateMotor=0; |
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140 | |||
141 | #ifdef USE_OSD |
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142 | /* G e n e r a t e O S D D a t a */ |
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143 | static char CntOSD = 0; |
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144 | if (CntOSD % 6 == 1) |
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145 | { |
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146 | SendOSD(); |
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147 | } |
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148 | CntOSD++; |
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149 | #endif |
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150 | |||
151 | /* Set the cycle Time to 120ms / 125ms */ |
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152 | if (OldTime != 0) |
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153 | { |
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154 | while (((Count8Khz - OldTime) *10) / 8 < 120); |
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155 | DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
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156 | } |
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157 | OldTime = Count8Khz; |
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158 | |||
974 | MikeW | 159 | /* GetMeasurements()*/ |
966 | MikeW | 160 | GetMeasurements(); |
974 | MikeW | 161 | |
162 | /* EstimateFlightAttitude */ |
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966 | MikeW | 163 | FlightAttitudeEstimation(); |
974 | MikeW | 164 | |
966 | MikeW | 165 | /* Set Nominal Value */ |
166 | RemoteControl(); |
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974 | MikeW | 167 | |
168 | /* PD Control */ |
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966 | MikeW | 169 | PD_Regler(); |
974 | MikeW | 170 | |
966 | MikeW | 171 | /* Send Motor Data */ |
172 | SendMotorData(); |
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974 | MikeW | 173 | |
966 | MikeW | 174 | /* TestRemote */ |
175 | TestRemote(); |
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974 | MikeW | 176 | |
966 | MikeW | 177 | /* Test IC2- / RC-Link */ |
178 | TestIC2Link(); |
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179 | } |
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180 | /* Send Debug Data over RS232 */ |
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181 | SendDebugData(); |
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182 | /* Check the Batery for Undervoltage */ |
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183 | TestBattery(); |
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184 | /* DeployRescue */ |
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974 | MikeW | 185 | /* DeployRescue(); */ |
966 | MikeW | 186 | } |
187 | } |
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188 | |||
189 | /* **************************************************************************** |
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190 | Functionname: DeployRescue */ /*! |
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191 | Description: Deploy a rescue parachute using a servo |
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192 | |||
193 | @return void |
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194 | @pre - |
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195 | @post - |
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196 | @author Michael Walter |
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197 | **************************************************************************** */ |
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198 | void DeployRescue() |
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199 | { |
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200 | #if 0 |
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201 | /* Yaw or pitch are greater than 60 Deg abs */ |
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202 | if (((abs(status.iTheta10) > 600) || (abs(status.iPhi10) > 600)) && |
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973 | MikeW | 203 | ((abs(AverageRoll) > Threshhold) || |
204 | (abs(AverageNick) > Threshhold) || |
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205 | (abs(AverageGier) > Threshhold) )) |
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966 | MikeW | 206 | { |
207 | MotorenEin = 0; |
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208 | Delay_ms(1000); |
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209 | ReleaseServo(); |
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210 | } |
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211 | #endif |
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212 | } |
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213 | |||
214 | /* **************************************************************************** |
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838 | MikeW | 215 | Functionname: ReadParameterSet */ /*! |
216 | Description: -- Parametersatz aus EEPROM lesen --- |
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217 | number [0..5] |
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218 | |||
219 | @return void |
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220 | @pre - |
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221 | @post - |
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222 | @author H. Buss / I. Busker |
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223 | **************************************************************************** */ |
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224 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
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225 | { |
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966 | MikeW | 226 | if (number > 5) |
227 | { |
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228 | number = 5; |
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229 | } |
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230 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
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838 | MikeW | 231 | } |
232 | |||
233 | /* **************************************************************************** |
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234 | Functionname: WriteParameterSet */ /*! |
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235 | Description: -- Parametersatz ins EEPROM schreiben --- |
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236 | number [0..5] |
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237 | |||
238 | @return void |
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239 | @pre - |
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240 | @post - |
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241 | @author H. Buss / I. Busker |
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242 | **************************************************************************** */ |
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243 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
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244 | { |
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966 | MikeW | 245 | if(number > 5) |
246 | { |
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247 | number = 5; |
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248 | } |
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249 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
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250 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
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838 | MikeW | 251 | } |
252 | |||
253 | /* **************************************************************************** |
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254 | Functionname: GetActiveParamSetNumber */ /*! |
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255 | Description: |
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256 | |||
257 | @return void |
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258 | @pre - |
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259 | @post - |
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260 | @author H. Buss / I. Busker |
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261 | **************************************************************************** */ |
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262 | unsigned char GetActiveParamSetNumber(void) |
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263 | { |
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966 | MikeW | 264 | unsigned char set; |
265 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
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266 | if(set > 5) |
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267 | { |
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268 | set = 2; |
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269 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
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270 | } |
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271 | return(set); |
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838 | MikeW | 272 | } |
273 | |||
966 | MikeW | 274 | /* **************************************************************************** |
275 | Functionname: GetAirPressureOffset */ /*! |
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276 | Description: |
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838 | MikeW | 277 | |
966 | MikeW | 278 | @return void |
279 | @pre - |
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280 | @post - |
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281 | @author H. Buss / I. Busker |
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282 | **************************************************************************** */ |
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283 | void GetAirPressureOffset(void) |
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284 | { |
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285 | unsigned int timer; |
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286 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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287 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
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288 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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289 | { |
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290 | printf("\n\rAbgleich Luftdrucksensor.."); |
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291 | timer = SetDelay(1000); |
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292 | SucheLuftruckOffset(); |
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293 | while (!CheckDelay(timer)); |
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294 | printf("OK\n\r"); |
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295 | } |
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296 | } |
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297 | |||
838 | MikeW | 298 | /* **************************************************************************** |
966 | MikeW | 299 | Functionname: GenerateDefaults */ /*! |
300 | Description: Generate the Default Paramter |
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838 | MikeW | 301 | |
302 | @return void |
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303 | @pre - |
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304 | @post - |
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305 | @author H. Buss / I. Busker |
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306 | **************************************************************************** */ |
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966 | MikeW | 307 | void GenerateDefaults() |
838 | MikeW | 308 | { |
966 | MikeW | 309 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
310 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
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311 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
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312 | |||
313 | #define EE_DATENREVISION 66 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
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314 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
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315 | { |
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316 | printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
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317 | DefaultKonstanten1(); |
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318 | for (unsigned char i=0;i<6;i++) |
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319 | { |
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320 | if(i==2) DefaultKonstanten2(); // Kamera |
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321 | if(i==3) DefaultKonstanten3(); // Beginner |
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322 | if(i>3) DefaultKonstanten2(); // Kamera |
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323 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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324 | } |
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325 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
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326 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
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327 | } |
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328 | } |
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838 | MikeW | 329 | |
330 | |||
966 | MikeW | 331 | /* **************************************************************************** |
332 | Functionname: InitPorts */ /*! |
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333 | Description: Init the IO Ports |
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838 | MikeW | 334 | |
966 | MikeW | 335 | @return void |
336 | @pre - |
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337 | @post - |
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338 | @author H. Buss / I. Busker |
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339 | **************************************************************************** */ |
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340 | void InitPorts() |
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341 | { |
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342 | unsigned int timer = 0; |
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343 | DDRB = 0x00; |
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344 | PORTB = 0x00; |
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345 | for(timer = 0; timer < 1000; timer++); // verzögern |
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346 | DDRC = 0x81; // SCL |
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347 | PORTC = 0xff; // Pullup SDA |
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348 | DDRB = 0x1B; // LEDs und Druckoffset |
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349 | PORTB = 0x01; // LED_Rot |
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350 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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351 | DDRD |=0x80; // J7 |
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352 | PORTD = 0xF7; // LED |
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353 | |||
354 | MCUSR &=~(1<<WDRF); |
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355 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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356 | WDTCSR = 0; |
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357 | } |
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358 | |||
359 | /* **************************************************************************** |
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360 | Functionname: TestIC2Link */ /*! |
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361 | Description: Test IC2- / RC-Link |
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362 | |||
363 | @return void |
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364 | @pre - |
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365 | @post - |
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366 | @author H. Buss / I. Busker |
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367 | **************************************************************************** */ |
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368 | void TestIC2Link() |
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369 | { |
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370 | if(PcZugriff) |
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371 | { |
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372 | PcZugriff--; |
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373 | } |
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374 | |||
375 | if(SenderOkay) |
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376 | { |
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377 | SenderOkay--; |
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378 | } |
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379 | |||
380 | if(!I2CTimeout) |
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381 | { |
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382 | I2CTimeout = 5; |
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383 | i2c_reset(); |
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384 | if((BeepMuster == 0xffff) && MotorenEin) |
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385 | { |
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386 | beeptime = 10000; |
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387 | BeepMuster = 0x0080; |
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388 | } |
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389 | } |
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390 | else |
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391 | { |
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392 | I2CTimeout--; |
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393 | } |
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394 | } |
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395 | |||
396 | |||
397 | /* **************************************************************************** |
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398 | Functionname: SendDebugData */ /*! |
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399 | Description: Send Debug Data over RS232 |
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400 | |||
401 | @return void |
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402 | @pre - |
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403 | @post - |
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404 | @author H. Buss / I. Busker |
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405 | **************************************************************************** */ |
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406 | void SendDebugData() |
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407 | { |
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408 | if(SIO_DEBUG) |
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409 | { |
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410 | DatenUebertragung(); |
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411 | BearbeiteRxDaten(); |
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412 | } |
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413 | else |
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414 | { |
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415 | BearbeiteRxDaten(); |
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416 | } |
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417 | } |
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418 | |||
419 | |||
420 | /* **************************************************************************** |
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421 | Functionname: TestBattery */ /*! |
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422 | Description: Check the Battery Voltage |
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423 | |||
424 | @return void |
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425 | @pre - |
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426 | @post - |
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427 | @author H. Buss / I. Busker |
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428 | **************************************************************************** */ |
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429 | void TestBattery() |
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430 | { |
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431 | unsigned int timer = 0; |
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432 | if(CheckDelay(timer)) |
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433 | { /* Voltage is Below Threshhod ? */ |
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434 | if(UBat < EE_Parameter.UnterspannungsWarnung) |
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435 | { |
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436 | if(BeepMuster == 0xffff) |
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437 | { |
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438 | beeptime = 6000; |
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439 | BeepMuster = 0x0300; |
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440 | } |
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441 | } |
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442 | timer = SetDelay(100); |
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443 | } |
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444 | DebugOut.Analog[15] = UBat; |
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445 | } |
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446 | |||
447 | /* **************************************************************************** |
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448 | Functionname: TestRemote */ /*! |
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449 | Description: |
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450 | |||
451 | @param[in] |
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452 | |||
453 | @return void |
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454 | @pre - |
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455 | @post - |
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456 | @author Michael Walter |
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457 | **************************************************************************** */ |
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458 | void TestRemote() |
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459 | { |
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460 | /*--- (SYMBOLIC) CONSTANTS ---*/ |
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461 | |||
462 | /*--- VARIABLES ---*/ |
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463 | static unsigned int TimeSinceRC_BelowThreshhold = 0; |
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464 | static unsigned int TimeSinceRC_AboveThreshhold = 0; |
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465 | |||
466 | if (MotorenEin == 1) |
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467 | { |
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468 | if (RemoteLinkLost == 0) |
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469 | { |
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470 | if (RCQuality < 60) |
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471 | { |
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472 | if (TimeSinceRC_BelowThreshhold < 10000) |
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473 | { |
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474 | TimeSinceRC_BelowThreshhold++; |
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838 | MikeW | 475 | } |
966 | MikeW | 476 | } |
477 | else |
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478 | { |
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479 | TimeSinceRC_BelowThreshhold = 0; |
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480 | } |
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481 | if ((TimeSinceRC_BelowThreshhold > 500) || /* aprox. 5 seconds */ |
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482 | (SenderOkay < 100)) |
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483 | { |
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484 | RemoteLinkLost = 1; |
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485 | TimeSinceRC_AboveThreshhold = 0; |
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486 | } |
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487 | } |
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488 | else |
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489 | { |
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490 | if (RCQuality > 80) |
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491 | { |
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492 | if (TimeSinceRC_AboveThreshhold < 10000) |
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493 | { |
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494 | TimeSinceRC_AboveThreshhold++; |
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495 | } |
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496 | } |
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497 | else |
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498 | { |
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499 | TimeSinceRC_AboveThreshhold = 0; |
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500 | } |
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501 | if (TimeSinceRC_AboveThreshhold > 100) /* aprox. 1 seconds */ |
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502 | { |
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503 | RemoteLinkLost = 0; |
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504 | TimeSinceRC_BelowThreshhold = 0; |
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505 | } |
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506 | } |
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507 | } |
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508 | else |
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509 | { |
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510 | RemoteLinkLost = 0; |
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511 | TimeSinceRC_BelowThreshhold = 0; |
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512 | TimeSinceRC_AboveThreshhold = 0; |
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513 | } |
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514 | /*DebugOut.Analog[14] = TimeSinceRC_BelowThreshhold;*/ |
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515 | /*DebugOut.Analog[15] = TimeSinceRC_AboveThreshhold;*/ |
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838 | MikeW | 516 | } |