Rev 1793 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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1 | ingob | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 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. |
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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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1 | ingob | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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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1338 | ingob | 24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 25 | // + mit unserer Zustimmung zulässig |
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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1051 | killagreg | 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 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 |
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32 | // + from this software without specific prior written permission. |
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1051 | killagreg | 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
1 | ingob | 34 | // + for non-commercial use (directly or indirectly) |
1051 | killagreg | 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 36 | // + with our written permission |
1051 | killagreg | 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
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1338 | ingob | 39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 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 |
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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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1051 | killagreg | 50 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include "main.h" |
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53 | |||
1438 | ingob | 54 | |
173 | holgerb | 55 | unsigned char PlatinenVersion = 10; |
723 | hbuss | 56 | unsigned char SendVersionToNavi = 1; |
1232 | hbuss | 57 | unsigned char BattLowVoltageWarning = 94; |
1298 | hbuss | 58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
1512 | holgerb | 59 | unsigned int FlugSekunden = 0; |
1444 | ingob | 60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
1702 | holgerb | 61 | unsigned char FoundMotors = 0; |
1444 | ingob | 62 | |
819 | hbuss | 63 | void CalMk3Mag(void) |
64 | { |
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65 | static unsigned char stick = 1; |
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66 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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67 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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68 | { |
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69 | stick = 1; |
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70 | WinkelOut.CalcState++; |
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1051 | killagreg | 71 | if(WinkelOut.CalcState > 4) |
72 | { |
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819 | hbuss | 73 | // WinkelOut.CalcState = 0; // in Uart.c |
74 | beeptime = 1000; |
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1051 | killagreg | 75 | } |
1232 | hbuss | 76 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 77 | } |
78 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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79 | } |
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80 | |||
1438 | ingob | 81 | |
1268 | hbuss | 82 | void LipoDetection(unsigned char print) |
83 | { |
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1654 | killagreg | 84 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
85 | unsigned int timer, cells; |
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86 | if(print) printf("\n\rBatt:"); |
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87 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
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88 | { |
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89 | timer = SetDelay(500); |
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90 | if(print) while (!CheckDelay(timer)); |
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1657 | killagreg | 91 | // up to 6s LiPo, less than 2s is technical impossible |
92 | for(cells = 2; cells < 7; cells++) |
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1654 | killagreg | 93 | { |
94 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
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1420 | killagreg | 95 | } |
1654 | killagreg | 96 | |
97 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
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98 | if(print) |
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99 | { |
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100 | Piep(cells, 200); |
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101 | printf(" %d Cells ", cells); |
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1420 | killagreg | 102 | } |
1654 | killagreg | 103 | } |
104 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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105 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
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1268 | hbuss | 106 | } |
107 | |||
1 | ingob | 108 | //############################################################################ |
109 | //Hauptprogramm |
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110 | int main (void) |
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111 | //############################################################################ |
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112 | { |
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1424 | ingob | 113 | unsigned int timer,i,timer2 = 0, timerPolling; |
1479 | killagreg | 114 | |
1051 | killagreg | 115 | DDRB = 0x00; |
116 | PORTB = 0x00; |
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188 | holgerb | 117 | for(timer = 0; timer < 1000; timer++); // verzögern |
1660 | holgerb | 118 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
119 | PlatinenVersion = 21; |
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120 | #else |
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121 | if(PINB & 0x01) |
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918 | hbuss | 122 | { |
1051 | killagreg | 123 | if(PINB & 0x02) PlatinenVersion = 13; |
124 | else PlatinenVersion = 11; |
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918 | hbuss | 125 | } |
1051 | killagreg | 126 | else |
1021 | hbuss | 127 | { |
1051 | killagreg | 128 | if(PINB & 0x02) PlatinenVersion = 20; |
129 | else PlatinenVersion = 10; |
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1021 | hbuss | 130 | } |
1660 | holgerb | 131 | #endif |
173 | holgerb | 132 | DDRC = 0x81; // SCL |
1036 | hbuss | 133 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 134 | PORTC = 0xff; // Pullup SDA |
135 | DDRB = 0x1B; // LEDs und Druckoffset |
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136 | PORTB = 0x01; // LED_Rot |
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137 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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1153 | hbuss | 138 | PORTD = 0x47; // LED |
1171 | hbuss | 139 | HEF4017R_ON; |
1 | ingob | 140 | MCUSR &=~(1<<WDRF); |
141 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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142 | WDTCSR = 0; |
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143 | |||
1652 | holgerb | 144 | beeptime = 2500; |
1660 | holgerb | 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 |
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1 | ingob | 147 | ROT_OFF; |
1479 | killagreg | 148 | |
1 | ingob | 149 | Timer_Init(); |
1156 | hbuss | 150 | TIMER2_Init(); |
1 | ingob | 151 | UART_Init(); |
152 | rc_sum_init(); |
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153 | ADC_Init(); |
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1743 | holgerb | 154 | I2C_Init(1); |
597 | ingob | 155 | SPI_MasterInit(); |
1486 | killagreg | 156 | Capacity_Init(); |
1435 | killagreg | 157 | LIBFC_Init(); |
1431 | ingob | 158 | GRN_ON; |
159 | sei(); |
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1622 | killagreg | 160 | ParamSet_Init(); |
1344 | hbuss | 161 | |
1435 | killagreg | 162 | |
1211 | hbuss | 163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
164 | // + Check connected BL-Ctrls |
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165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1648 | killagreg | 166 | // Check connected BL-Ctrls |
167 | BLFlags |= BLFLAG_READ_VERSION; |
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1662 | killagreg | 168 | motor_read = 0; // read the first I2C-Data |
1648 | killagreg | 169 | SendMotorData(); |
1683 | killagreg | 170 | timer = SetDelay(500); |
171 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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1654 | killagreg | 172 | |
1648 | killagreg | 173 | printf("\n\rFound BL-Ctrl: "); |
1591 | holgerb | 174 | timer = SetDelay(4000); |
1211 | hbuss | 175 | for(i=0; i < MAX_MOTORS; i++) |
1622 | killagreg | 176 | { |
177 | SendMotorData(); |
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1683 | killagreg | 178 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
1622 | killagreg | 179 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
180 | { |
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1648 | killagreg | 181 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
182 | { |
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183 | SendMotorData(); |
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1683 | killagreg | 184 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
1648 | killagreg | 185 | } |
1232 | hbuss | 186 | } |
1648 | killagreg | 187 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
188 | { |
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189 | printf("%d",i+1); |
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1702 | holgerb | 190 | FoundMotors++; |
1652 | holgerb | 191 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
1648 | killagreg | 192 | } |
1622 | killagreg | 193 | } |
1211 | hbuss | 194 | for(i=0; i < MAX_MOTORS; i++) |
1051 | killagreg | 195 | { |
1622 | killagreg | 196 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
197 | { |
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198 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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1701 | holgerb | 199 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
1111 | hbuss | 200 | } |
1622 | killagreg | 201 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
1 | ingob | 202 | } |
1622 | killagreg | 203 | printf("\n\r==================================="); |
1648 | killagreg | 204 | |
1765 | killagreg | 205 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
1702 | holgerb | 206 | |
1529 | killagreg | 207 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1622 | killagreg | 208 | { |
209 | printf("\n\rCalibrating pressure sensor.."); |
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210 | timer = SetDelay(1000); |
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211 | SucheLuftruckOffset(); |
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212 | while (!CheckDelay(timer)); |
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213 | printf("OK\n\r"); |
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1 | ingob | 214 | } |
1051 | killagreg | 215 | |
1622 | killagreg | 216 | SetNeutral(0); |
1 | ingob | 217 | |
218 | ROT_OFF; |
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1051 | killagreg | 219 | |
1 | ingob | 220 | beeptime = 2000; |
1051 | killagreg | 221 | ExternControl.Digital[0] = 0x55; |
1 | ingob | 222 | |
1051 | killagreg | 223 | |
1652 | holgerb | 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); |
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1622 | killagreg | 226 | |
1702 | holgerb | 227 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
1622 | killagreg | 228 | { |
229 | FlugMinuten = 0; |
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230 | FlugMinutenGesamt = 0; |
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231 | } |
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232 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
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233 | |||
1211 | hbuss | 234 | printf("\n\rControl: "); |
1 | ingob | 235 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
1211 | hbuss | 236 | else printf("Normal (ACC-Mode)"); |
1051 | killagreg | 237 | |
1 | ingob | 238 | LcdClear(); |
173 | holgerb | 239 | I2CTimeout = 5000; |
819 | hbuss | 240 | WinkelOut.Orientation = 1; |
1268 | hbuss | 241 | LipoDetection(1); |
1435 | killagreg | 242 | |
1626 | killagreg | 243 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1444 | ingob | 244 | |
1232 | hbuss | 245 | printf("\n\r===================================\n\r"); |
1622 | killagreg | 246 | //SpektrumBinding(); |
1350 | hbuss | 247 | timer = SetDelay(2000); |
1424 | ingob | 248 | timerPolling = SetDelay(250); |
1648 | killagreg | 249 | |
1636 | ingob | 250 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
1702 | holgerb | 251 | DebugOut.Status[0] = 0x01 | 0x02; |
1648 | killagreg | 252 | |
1 | ingob | 253 | while (1) |
254 | { |
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1777 | ingob | 255 | |
256 | if (JetiUpdateModeActive) while (1); |
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257 | |||
1424 | ingob | 258 | if(CheckDelay(timerPolling)) |
1419 | ingob | 259 | { |
1424 | ingob | 260 | timerPolling = SetDelay(100); |
1435 | killagreg | 261 | LIBFC_Polling(); |
1419 | ingob | 262 | } |
263 | if(UpdateMotor && AdReady) // ReglerIntervall |
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1051 | killagreg | 264 | { |
1171 | hbuss | 265 | UpdateMotor=0; |
819 | hbuss | 266 | if(WinkelOut.CalcState) CalMk3Mag(); |
1644 | holgerb | 267 | else MotorRegler(); |
268 | SendMotorData(); |
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1 | ingob | 269 | ROT_OFF; |
1765 | killagreg | 270 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
1603 | killagreg | 271 | else |
272 | { |
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273 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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274 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
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1765 | killagreg | 275 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
1603 | killagreg | 276 | } |
1420 | killagreg | 277 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1481 | holgerb | 278 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
279 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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1309 | hbuss | 280 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | hbuss | 281 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 282 | { |
1254 | killagreg | 283 | if(!I2CTimeout) |
1210 | hbuss | 284 | { |
1662 | killagreg | 285 | I2C_Reset(); |
1210 | hbuss | 286 | I2CTimeout = 5; |
1322 | hbuss | 287 | DebugOut.Analog[28]++; // I2C-Error |
1765 | killagreg | 288 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
1702 | holgerb | 289 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1322 | hbuss | 290 | } |
1051 | killagreg | 291 | if((BeepMuster == 0xffff) && MotorenEin) |
292 | { |
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173 | holgerb | 293 | beeptime = 10000; |
294 | BeepMuster = 0x0080; |
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1051 | killagreg | 295 | } |
1 | ingob | 296 | } |
1051 | killagreg | 297 | else |
1 | ingob | 298 | { |
1051 | killagreg | 299 | ROT_OFF; |
1765 | killagreg | 300 | if(!beeptime) |
1702 | holgerb | 301 | { |
1765 | killagreg | 302 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
303 | } |
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1 | ingob | 304 | } |
1639 | holgerb | 305 | if(!UpdateMotor) |
306 | { |
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1760 | holgerb | 307 | if(CalculateServoSignals) CalculateServo(); |
308 | DatenUebertragung(); |
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309 | BearbeiteRxDaten(); |
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1254 | killagreg | 310 | if(CheckDelay(timer)) |
311 | { |
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1512 | holgerb | 312 | static unsigned char second; |
1420 | killagreg | 313 | timer += 20; // 20 ms interval |
1702 | holgerb | 314 | if(MissingMotor) |
315 | { |
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1765 | killagreg | 316 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
1702 | holgerb | 317 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1765 | killagreg | 318 | } |
319 | else |
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1702 | holgerb | 320 | { |
1765 | killagreg | 321 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
1702 | holgerb | 322 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
1765 | killagreg | 323 | } |
1702 | holgerb | 324 | |
1765 | killagreg | 325 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
326 | |||
1420 | killagreg | 327 | if(PcZugriff) PcZugriff--; |
328 | else |
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329 | { |
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330 | ExternControl.Config = 0; |
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331 | ExternStickNick = 0; |
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332 | ExternStickRoll = 0; |
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333 | ExternStickGier = 0; |
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334 | if(BeepMuster == 0xffff && SenderOkay == 0) |
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335 | { |
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336 | beeptime = 15000; |
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337 | BeepMuster = 0x0c00; |
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338 | } |
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339 | } |
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1682 | holgerb | 340 | if(NaviDataOkay > 200) |
1420 | killagreg | 341 | { |
342 | NaviDataOkay--; |
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1765 | killagreg | 343 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
1420 | killagreg | 344 | } |
345 | else |
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346 | { |
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1702 | holgerb | 347 | if(NC_Version.Compatible) |
348 | { |
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1765 | killagreg | 349 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
1702 | holgerb | 350 | if(BeepMuster == 0xffff && MotorenEin) |
351 | { |
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352 | beeptime = 15000; |
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353 | BeepMuster = 0xA800; |
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354 | } |
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1765 | killagreg | 355 | } |
1420 | killagreg | 356 | GPS_Nick = 0; |
357 | GPS_Roll = 0; |
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1683 | killagreg | 358 | //if(!beeptime) |
1691 | holgerb | 359 | FromNaviCtrl.CompassValue = -1; |
1703 | holgerb | 360 | NaviDataOkay = 0; |
1420 | killagreg | 361 | } |
1309 | hbuss | 362 | if(UBat < BattLowVoltageWarning) |
1254 | killagreg | 363 | { |
1765 | killagreg | 364 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
1254 | killagreg | 365 | if(BeepMuster == 0xffff) |
366 | { |
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367 | beeptime = 6000; |
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368 | BeepMuster = 0x0300; |
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369 | } |
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370 | } |
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1765 | killagreg | 371 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
1420 | killagreg | 372 | |
1254 | killagreg | 373 | SPI_StartTransmitPacket(); |
374 | SendSPI = 4; |
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1320 | hbuss | 375 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
1529 | killagreg | 376 | else |
1512 | holgerb | 377 | if(++second == 49) |
378 | { |
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379 | second = 0; |
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380 | FlugSekunden++; |
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381 | } |
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1320 | hbuss | 382 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 383 | { |
384 | timer2 = 0; |
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385 | FlugMinuten++; |
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386 | FlugMinutenGesamt++; |
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1652 | holgerb | 387 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
388 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
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389 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
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390 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
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1344 | hbuss | 391 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 392 | } |
1254 | killagreg | 393 | } |
921 | hbuss | 394 | LED_Update(); |
1486 | killagreg | 395 | Capacity_Update(); |
1639 | holgerb | 396 | } |
604 | hbuss | 397 | } |
723 | hbuss | 398 | if(!SendSPI) { SPI_TransmitByte(); } |
1 | ingob | 399 | } |
400 | return (1); |
||
401 | } |
||
402 | |||
1219 | hbuss | 403 |