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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1446 | rain-er | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 52 | #include "main.h" |
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| 53 | |||
| 54 | unsigned char EEPromArray[E2END+1] EEMEM; |
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| 55 | unsigned char PlatinenVersion = 10; |
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| 56 | unsigned char SendVersionToNavi = 1; |
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| 57 | unsigned char BattLowVoltageWarning = 94; |
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| 58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
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| 59 | // -- Parametersatz aus EEPROM lesen --- |
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| 60 | // number [1..5] |
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| 61 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
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| 62 | { |
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| 63 | if((number > 5)||(number < 1)) number = 3; |
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| 64 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
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| 65 | LED_Init(); |
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| 66 | } |
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| 67 | |||
| 68 | // -- Parametersatz ins EEPROM schreiben --- |
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| 69 | // number [1..5] |
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| 70 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
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| 71 | { |
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| 72 | if(number > 5) number = 5; |
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| 73 | if(number < 1) return; |
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| 74 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
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| 75 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken |
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| 76 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken |
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| 77 | SetActiveParamSetNumber(number); |
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| 78 | LED_Init(); |
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| 79 | } |
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| 80 | |||
| 81 | unsigned char GetActiveParamSetNumber(void) |
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| 82 | { |
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| 83 | unsigned char set; |
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| 84 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
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| 85 | if((set > 5) || (set < 1)) |
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| 86 | { |
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| 87 | set = 3; |
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| 88 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
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| 89 | } |
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| 90 | return(set); |
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| 91 | } |
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| 92 | |||
| 93 | |||
| 94 | void SetActiveParamSetNumber(unsigned char number) |
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| 95 | { |
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| 96 | if(number > 5) number = 5; |
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| 97 | if(number < 1) return; |
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| 98 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
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| 99 | } |
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| 100 | |||
| 101 | |||
| 102 | void CalMk3Mag(void) |
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| 103 | { |
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| 104 | static unsigned char stick = 1; |
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| 105 | |||
| 106 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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| 107 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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| 108 | { |
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| 109 | stick = 1; |
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| 110 | WinkelOut.CalcState++; |
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| 111 | if(WinkelOut.CalcState > 4) |
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| 112 | { |
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| 113 | // WinkelOut.CalcState = 0; // in Uart.c |
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| 114 | beeptime = 1000; |
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| 115 | } |
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| 116 | else Piep(WinkelOut.CalcState,150); |
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| 117 | } |
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| 118 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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| 119 | } |
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| 120 | |||
| 121 | void LipoDetection(unsigned char print) |
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| 122 | { |
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| 123 | unsigned int timer; |
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| 124 | if(print) printf("\n\rBatt:"); |
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| 125 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
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| 126 | { |
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| 127 | timer = SetDelay(500); |
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| 128 | if(print) while (!CheckDelay(timer)); |
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| 129 | if(UBat < 130) |
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| 130 | { |
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| 131 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
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| 132 | if(print) |
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| 133 | { |
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| 134 | Piep(3,200); |
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| 135 | printf(" 3 Cells "); |
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| 136 | } |
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| 137 | } |
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| 138 | else |
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| 139 | { |
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| 140 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
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| 141 | if(print) |
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| 142 | { |
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| 143 | Piep(4,200); |
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| 144 | printf(" 4 Cells "); |
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| 145 | } |
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| 146 | } |
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| 147 | } |
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| 148 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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| 149 | // if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93; |
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| 150 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
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| 151 | } |
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| 152 | |||
| 153 | //############################################################################ |
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| 154 | //Hauptprogramm |
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| 155 | int main (void) |
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| 156 | //############################################################################ |
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| 157 | { |
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| 158 | unsigned int timer,i,timer2 = 0; |
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| 159 | DDRB = 0x00; |
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| 160 | PORTB = 0x00; |
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| 161 | for(timer = 0; timer < 1000; timer++); // verzögern |
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| 162 | if(PINB & 0x01) |
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| 163 | { |
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| 164 | if(PINB & 0x02) PlatinenVersion = 13; |
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| 165 | else PlatinenVersion = 11; |
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| 166 | } |
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| 167 | else |
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| 168 | { |
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| 169 | if(PINB & 0x02) PlatinenVersion = 20; |
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| 170 | else PlatinenVersion = 10; |
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| 171 | } |
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| 172 | |||
| 173 | DDRC = 0x81; // SCL |
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| 174 | DDRC |=0x40; // HEF4017 Reset |
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| 175 | PORTC = 0xff; // Pullup SDA |
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| 176 | DDRB = 0x1B; // LEDs und Druckoffset |
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| 177 | PORTB = 0x01; // LED_Rot |
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| 178 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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| 179 | PORTD = 0x47; // LED |
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| 180 | HEF4017R_ON; |
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| 181 | MCUSR &=~(1<<WDRF); |
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| 182 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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| 183 | WDTCSR = 0; |
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| 184 | |||
| 185 | beeptime = 2000; |
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| 186 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
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| 187 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
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| 188 | ROT_OFF; |
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| 189 | |||
| 190 | Timer_Init(); |
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| 191 | TIMER2_Init(); |
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| 192 | UART_Init(); |
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| 193 | rc_sum_init(); |
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| 194 | ADC_Init(); |
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| 195 | i2c_init(); |
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| 196 | SPI_MasterInit(); |
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| 197 | |||
| 198 | sei(); |
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| 199 | |||
| 200 | printf("\n\r==================================="); |
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| 201 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
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| 202 | printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware"); |
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| 203 | printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH"); |
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| 204 | printf("\n\r==================================="); |
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| 205 | |||
| 206 | if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
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| 207 | { |
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| 208 | Uart1Init(); |
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| 209 | } |
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| 210 | GRN_ON; |
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| 211 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
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| 212 | |||
| 213 | if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte |
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| 214 | (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool |
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| 215 | { |
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| 216 | unsigned char i; |
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| 217 | RequiredMotors = 0; |
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| 218 | eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 219 | for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
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| 220 | } |
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| 221 | else // default |
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| 222 | { |
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| 223 | unsigned char i; |
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| 224 | printf("\n\rGenerating default Mixer Table"); |
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| 225 | for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;}; |
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| 226 | // default = Quadro |
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| 227 | Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; |
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| 228 | Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; |
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| 229 | Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
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| 230 | Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
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| 231 | Mixer.Revision = MIXER_REVISION; |
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| 232 | memcpy(Mixer.Name, "Quadro\0", 11); |
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| 233 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 234 | } |
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| 235 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
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| 236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 237 | // + Check connected BL-Ctrls |
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| 238 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 239 | printf("\n\rFound BL-Ctrl: "); |
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| 240 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
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| 241 | timer = SetDelay(2000); |
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| 242 | for(i=0; i < MAX_MOTORS; i++) |
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| 243 | { |
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| 244 | UpdateMotor = 0; |
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| 245 | SendMotorData(); |
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| 246 | while(!UpdateMotor); |
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| 247 | if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up |
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| 248 | { |
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| 249 | while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
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| 250 | } |
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| 251 | if(MotorPresent[i]) printf("%d ",i+1); |
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| 252 | } |
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| 253 | for(i=0; i < MAX_MOTORS; i++) |
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| 254 | { |
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| 255 | if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) |
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| 256 | { |
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| 257 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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| 258 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
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| 259 | } |
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| 260 | MotorError[i] = 0; |
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| 261 | } |
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| 262 | printf("\n\r==================================="); |
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| 263 | SendMotorData(); |
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| 264 | |||
| 265 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 266 | // + Check Settings |
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| 267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 268 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
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| 269 | { |
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| 270 | DefaultKonstanten1(); |
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| 271 | printf("\n\rInit. EEPROM"); |
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| 272 | for (unsigned char i=1;i<6;i++) |
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| 273 | { |
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| 274 | if(i==2) DefaultKonstanten2(); // Kamera |
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| 275 | if(i==3) DefaultKonstanten3(); // Beginner |
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| 276 | if(i>3) DefaultKonstanten2(); // Kamera |
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| 277 | if(PlatinenVersion >= 20) |
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| 278 | { |
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| 279 | EE_Parameter.Gyro_D = 5; |
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| 280 | EE_Parameter.Driftkomp = 0; |
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| 281 | EE_Parameter.GyroAccFaktor = 27; |
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| 282 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 283 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 284 | } |
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| 285 | // valid Stick-Settings? |
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| 286 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
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| 287 | { |
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| 288 | EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
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| 289 | EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
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| 290 | EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
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| 291 | EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
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| 292 | EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
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| 293 | EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
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| 294 | EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
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| 295 | EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
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| 296 | if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
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| 297 | } else DefaultStickMapping(); |
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| 298 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 299 | } |
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| 300 | SetActiveParamSetNumber(3); // default-Setting |
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| 301 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
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| 302 | } |
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| 303 | |||
| 304 | FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]); |
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| 305 | FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]); |
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| 306 | if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff) |
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| 307 | { |
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| 308 | FlugMinuten = 0; |
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| 309 | FlugMinutenGesamt = 0; |
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| 310 | } |
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| 311 | printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt); |
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| 312 | |||
| 313 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
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| 314 | { |
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| 315 | printf("\n\rACC not calibrated !"); |
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| 316 | } |
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| 317 | |||
| 318 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 319 | printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
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| 320 | |||
| 321 | |||
| 322 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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| 323 | { |
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| 324 | printf("\n\rCalibrating pressure sensor.."); |
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| 325 | timer = SetDelay(1000); |
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| 326 | SucheLuftruckOffset(); |
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| 327 | while (!CheckDelay(timer)); |
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| 328 | printf("OK\n\r"); |
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| 329 | } |
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| 330 | |||
| 331 | SetNeutral(); |
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| 332 | |||
| 333 | ROT_OFF; |
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| 334 | |||
| 335 | beeptime = 2000; |
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| 336 | ExternControl.Digital[0] = 0x55; |
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| 337 | |||
| 338 | |||
| 339 | printf("\n\rControl: "); |
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| 340 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
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| 341 | else printf("Normal (ACC-Mode)"); |
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| 342 | |||
| 343 | LcdClear(); |
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| 344 | I2CTimeout = 5000; |
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| 345 | WinkelOut.Orientation = 1; |
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| 346 | LipoDetection(1); |
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| 347 | printf("\n\r===================================\n\r"); |
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| 348 | //SpektrumBinding(); |
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| 349 | timer = SetDelay(2000); |
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| 350 | while (1) |
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| 351 | { |
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| 352 | if(UpdateMotor && AdReady) // ReglerIntervall |
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| 353 | { |
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| 354 | UpdateMotor=0; |
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| 355 | if(WinkelOut.CalcState) CalMk3Mag(); |
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| 356 | else MotorRegler(); |
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| 357 | SendMotorData(); |
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| 358 | ROT_OFF; |
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| 359 | if(SenderOkay) SenderOkay--; |
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| 360 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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| 361 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 362 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
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| 363 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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| 364 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 365 | if(NaviDataOkay) |
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| 366 | { |
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| 367 | if(--NaviDataOkay == 0) |
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| 368 | { |
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| 369 | GPS_Nick = 0; |
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| 370 | GPS_Roll = 0; |
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| 371 | } |
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| 372 | } |
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| 373 | if(!--I2CTimeout || MissingMotor) |
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| 374 | { |
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| 375 | if(!I2CTimeout) |
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| 376 | { |
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| 377 | i2c_reset(); |
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| 378 | I2CTimeout = 5; |
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| 379 | DebugOut.Analog[28]++; // I2C-Error |
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| 380 | } |
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| 381 | if((BeepMuster == 0xffff) && MotorenEin) |
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| 382 | { |
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| 383 | beeptime = 10000; |
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| 384 | BeepMuster = 0x0080; |
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| 385 | } |
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| 386 | } |
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| 387 | else |
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| 388 | { |
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| 389 | ROT_OFF; |
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| 390 | } |
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| 391 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
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| 392 | { |
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| 393 | DatenUebertragung(); |
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| 394 | BearbeiteRxDaten(); |
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| 395 | } |
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| 396 | else BearbeiteRxDaten(); |
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| 397 | if(CheckDelay(timer)) |
||
| 398 | { |
||
| 399 | timer += 20; |
||
| 400 | if(PcZugriff) PcZugriff--; |
||
| 401 | else |
||
| 402 | { |
||
| 403 | ExternControl.Config = 0; |
||
| 404 | ExternStickNick = 0; |
||
| 405 | ExternStickRoll = 0; |
||
| 406 | ExternStickGier = 0; |
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| 407 | if(BeepMuster == 0xffff && SenderOkay == 0) |
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| 408 | { |
||
| 409 | beeptime = 15000; |
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| 410 | BeepMuster = 0x0c00; |
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| 411 | } |
||
| 412 | } |
||
| 413 | if(UBat < BattLowVoltageWarning) |
||
| 414 | { |
||
| 415 | MikroKopterFlags |= FLAG_LOWBAT; |
||
| 416 | if(BeepMuster == 0xffff) |
||
| 417 | { |
||
| 418 | beeptime = 6000; |
||
| 419 | BeepMuster = 0x0300; |
||
| 420 | } |
||
| 421 | } |
||
| 422 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
||
| 423 | SPI_StartTransmitPacket(); |
||
| 424 | SendSPI = 4; |
||
| 425 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
||
| 426 | if(++timer2 == 2930) // eine Minute |
||
| 427 | { |
||
| 428 | timer2 = 0; |
||
| 429 | FlugMinuten++; |
||
| 430 | FlugMinutenGesamt++; |
||
| 431 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); |
||
| 432 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); |
||
| 433 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); |
||
| 434 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); |
||
| 435 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
||
| 436 | } |
||
| 437 | } |
||
| 438 | LED_Update(); |
||
| 439 | } |
||
| 440 | if(!SendSPI) { SPI_TransmitByte(); } |
||
| 441 | } |
||
| 442 | return (1); |
||
| 443 | } |
||
| 444 | |||
| 445 |