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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
1 ingob 4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
32
// +     from this software without specific prior written permission.
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
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
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52
#include "main.h"
53
 
1438 ingob 54
 
1 ingob 55
unsigned char EEPromArray[E2END+1] EEMEM;
173 holgerb 56
unsigned char PlatinenVersion = 10;
723 hbuss 57
unsigned char SendVersionToNavi = 1;
1232 hbuss 58
unsigned char BattLowVoltageWarning = 94;
1298 hbuss 59
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
1444 ingob 60
 
61
pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
62
 
1 ingob 63
// -- Parametersatz aus EEPROM lesen ---
1051 killagreg 64
// number [1..5]
1 ingob 65
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
66
{
993 hbuss 67
   if((number > 5)||(number < 1)) number = 3;
1063 killagreg 68
   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
921 hbuss 69
   LED_Init();
1 ingob 70
}
71
 
72
// -- Parametersatz ins EEPROM schreiben ---
1051 killagreg 73
// number [1..5]
1 ingob 74
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
75
{
1051 killagreg 76
   if(number > 5) number = 5;
993 hbuss 77
   if(number < 1) return;
1063 killagreg 78
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
1171 hbuss 79
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
1377 hbuss 80
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken
1063 killagreg 81
   SetActiveParamSetNumber(number);
921 hbuss 82
   LED_Init();
1 ingob 83
}
84
 
85
unsigned char GetActiveParamSetNumber(void)
86
{
1063 killagreg 87
        unsigned char set;
88
        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
89
        if((set > 5) || (set < 1))
90
        {
91
                set = 3;
92
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
93
        }
94
        return(set);
1 ingob 95
}
96
 
1063 killagreg 97
void SetActiveParamSetNumber(unsigned char number)
98
{
99
        if(number > 5) number = 5;
100
        if(number < 1) return;
101
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
102
}
103
 
104
 
819 hbuss 105
void CalMk3Mag(void)
106
{
107
 static unsigned char stick = 1;
108
 
109
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
110
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
111
  {
112
   stick = 1;
113
   WinkelOut.CalcState++;
1051 killagreg 114
   if(WinkelOut.CalcState > 4)
115
    {
819 hbuss 116
//     WinkelOut.CalcState = 0; // in Uart.c
117
     beeptime = 1000;
1051 killagreg 118
    }
1232 hbuss 119
   else Piep(WinkelOut.CalcState,150);
819 hbuss 120
  }
121
  DebugOut.Analog[19] = WinkelOut.CalcState;
122
}
123
 
1438 ingob 124
 
125
 
1268 hbuss 126
void LipoDetection(unsigned char print)
127
{
128
   unsigned int timer;
129
   if(print) printf("\n\rBatt:");
130
   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
131
    {
132
         timer = SetDelay(500);
133
         if(print) while (!CheckDelay(timer));
134
         if(UBat < 130)
135
          {
136
           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
1420 killagreg 137
           if(print)
1268 hbuss 138
            {
139
                 Piep(3,200);
140
             printf(" 3 Cells  ");
1420 killagreg 141
                }
1268 hbuss 142
          }
143
         else
144
          {
145
           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
1420 killagreg 146
           if(print)
1268 hbuss 147
            {
148
                 Piep(4,200);
149
             printf(" 4 Cells  ");
1420 killagreg 150
                }
1268 hbuss 151
          }
152
    }
153
    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
1374 hbuss 154
//      if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
1268 hbuss 155
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
156
}
157
 
1 ingob 158
//############################################################################
159
//Hauptprogramm
160
int main (void)
161
//############################################################################
162
{
1424 ingob 163
        unsigned int timer,i,timer2 = 0, timerPolling;
1479 killagreg 164
        unsigned char RequiredMotors = 0;
165
 
1051 killagreg 166
    DDRB  = 0x00;
167
    PORTB = 0x00;
188 holgerb 168
    for(timer = 0; timer < 1000; timer++); // verzögern
1051 killagreg 169
    if(PINB & 0x01)
918 hbuss 170
     {
1051 killagreg 171
      if(PINB & 0x02) PlatinenVersion = 13;
172
       else           PlatinenVersion = 11;
918 hbuss 173
     }
1051 killagreg 174
    else
1021 hbuss 175
     {
1051 killagreg 176
      if(PINB & 0x02) PlatinenVersion = 20;
177
       else           PlatinenVersion = 10;
1021 hbuss 178
     }
179
 
173 holgerb 180
    DDRC  = 0x81; // SCL
1036 hbuss 181
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 182
    PORTC = 0xff; // Pullup SDA
183
    DDRB  = 0x1B; // LEDs und Druckoffset
184
    PORTB = 0x01; // LED_Rot
185
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1153 hbuss 186
        PORTD = 0x47; // LED
1171 hbuss 187
    HEF4017R_ON;
1 ingob 188
    MCUSR &=~(1<<WDRF);
189
    WDTCSR |= (1<<WDCE)|(1<<WDE);
190
    WDTCSR = 0;
191
 
192
    beeptime = 2000;
193
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
1111 hbuss 194
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 195
    ROT_OFF;
1479 killagreg 196
 
1 ingob 197
    Timer_Init();
1156 hbuss 198
        TIMER2_Init();
1 ingob 199
        UART_Init();
200
    rc_sum_init();
201
        ADC_Init();
202
        i2c_init();
597 ingob 203
        SPI_MasterInit();
1486 killagreg 204
        Capacity_Init();
1435 killagreg 205
        LIBFC_Init();
1431 ingob 206
        GRN_ON;
207
    sei();
1344 hbuss 208
 
1377 hbuss 209
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
1435 killagreg 210
 
211
 
1212 hbuss 212
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
213
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
1209 hbuss 214
        {
1254 killagreg 215
     unsigned char i;
1209 hbuss 216
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
217
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
1254 killagreg 218
        }
1209 hbuss 219
        else // default
220
        {
1254 killagreg 221
     unsigned char i;
1211 hbuss 222
         printf("\n\rGenerating default Mixer Table");
1209 hbuss 223
         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;};
224
     // default = Quadro
225
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
226
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
227
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
228
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
1211 hbuss 229
         Mixer.Revision = MIXER_REVISION;
1254 killagreg 230
     memcpy(Mixer.Name, "Quadro\0", 11);
1209 hbuss 231
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
232
    }
233
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
1431 ingob 234
 
1435 killagreg 235
 
236
 
1211 hbuss 237
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
238
// + Check connected BL-Ctrls
239
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
240
        printf("\n\rFound BL-Ctrl: ");
241
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
1232 hbuss 242
    timer = SetDelay(2000);
1420 killagreg 243
 
244
 
1211 hbuss 245
        for(i=0; i < MAX_MOTORS; i++)
246
         {
247
          UpdateMotor = 0;
248
      SendMotorData();
249
          while(!UpdateMotor);
1232 hbuss 250
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
251
        {
1479 killagreg 252
             while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
1232 hbuss 253
                }
1479 killagreg 254
          if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
1211 hbuss 255
     }
256
        for(i=0; i < MAX_MOTORS; i++)
257
         {
1479 killagreg 258
          if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
1320 hbuss 259
           {
260
            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
261
                ServoActive = 1; // just in case the FC would be used as camera-stabilizer
1420 killagreg 262
           }
1479 killagreg 263
          Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
1211 hbuss 264
     }
1320 hbuss 265
        printf("\n\r===================================");
1356 hbuss 266
    SendMotorData();
1403 hbuss 267
//printf("\n size: %u",STRUCT_PARAM_LAENGE);
1320 hbuss 268
 
1211 hbuss 269
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
270
// + Check Settings
271
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 272
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
273
        {
1 ingob 274
          DefaultKonstanten1();
1171 hbuss 275
          printf("\n\rInit. EEPROM");
1051 killagreg 276
          for (unsigned char i=1;i<6;i++)
1 ingob 277
      {
395 hbuss 278
       if(i==2) DefaultKonstanten2(); // Kamera
279
       if(i==3) DefaultKonstanten3(); // Beginner
280
       if(i>3)  DefaultKonstanten2(); // Kamera
1254 killagreg 281
           if(PlatinenVersion >= 20)
282
            {
1167 hbuss 283
                 EE_Parameter.Gyro_D = 5;
1111 hbuss 284
                 EE_Parameter.Driftkomp = 0;
285
                 EE_Parameter.GyroAccFaktor = 27;
286
         EE_Parameter.WinkelUmschlagNick = 78;
287
         EE_Parameter.WinkelUmschlagRoll = 78;
288
                }
1171 hbuss 289
    // valid Stick-Settings?
290
           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)
291
            {
292
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
293
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
294
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
295
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
296
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
297
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
298
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
299
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
1420 killagreg 300
 
1377 hbuss 301
         if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
302
                  {
303
                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
304
           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
305
           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
306
           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);
1420 killagreg 307
                  }
308
                  else
1377 hbuss 309
                  {
310
           EE_Parameter.Kanalbelegung[K_POTI5] = 9;
311
           EE_Parameter.Kanalbelegung[K_POTI6] = 10;
312
           EE_Parameter.Kanalbelegung[K_POTI7] = 11;
313
           EE_Parameter.Kanalbelegung[K_POTI8] = 12;
314
                  }
1171 hbuss 315
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
316
                } else DefaultStickMapping();
1 ingob 317
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1051 killagreg 318
      }
1063 killagreg 319
          SetActiveParamSetNumber(3); // default-Setting
173 holgerb 320
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
1 ingob 321
        }
1435 killagreg 322
 
323
 
324
 
1298 hbuss 325
    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
326
    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
1350 hbuss 327
    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
1298 hbuss 328
         {
329
          FlugMinuten = 0;
330
          FlugMinutenGesamt = 0;
331
         }
332
    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
333
 
1051 killagreg 334
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 335
     {
1211 hbuss 336
       printf("\n\rACC not calibrated !");
513 hbuss 337
     }
1051 killagreg 338
 
1 ingob 339
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1211 hbuss 340
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
1 ingob 341
 
1051 killagreg 342
 
1 ingob 343
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 344
         {
1211 hbuss 345
           printf("\n\rCalibrating pressure sensor..");
1051 killagreg 346
           timer = SetDelay(1000);
1 ingob 347
       SucheLuftruckOffset();
348
           while (!CheckDelay(timer));
349
       printf("OK\n\r");
350
        }
1051 killagreg 351
 
1 ingob 352
        SetNeutral();
353
 
354
        ROT_OFF;
1051 killagreg 355
 
1 ingob 356
    beeptime = 2000;
1051 killagreg 357
    ExternControl.Digital[0] = 0x55;
1 ingob 358
 
1051 killagreg 359
 
1211 hbuss 360
        printf("\n\rControl: ");
1 ingob 361
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1211 hbuss 362
        else printf("Normal (ACC-Mode)");
1051 killagreg 363
 
1 ingob 364
    LcdClear();
173 holgerb 365
    I2CTimeout = 5000;
819 hbuss 366
    WinkelOut.Orientation = 1;
1268 hbuss 367
    LipoDetection(1);
1435 killagreg 368
 
369
        LIBFC_ReceiverInit();
1444 ingob 370
 
1232 hbuss 371
        printf("\n\r===================================\n\r");
1320 hbuss 372
//SpektrumBinding();
1350 hbuss 373
    timer = SetDelay(2000);
1424 ingob 374
        timerPolling = SetDelay(250);
1 ingob 375
        while (1)
376
        {
1420 killagreg 377
 
1424 ingob 378
        if(CheckDelay(timerPolling))
1419 ingob 379
        {
1424 ingob 380
          timerPolling = SetDelay(100);
1435 killagreg 381
          LIBFC_Polling();
1419 ingob 382
        }
1420 killagreg 383
 
1419 ingob 384
        if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 385
            {
1171 hbuss 386
                    UpdateMotor=0;
819 hbuss 387
            if(WinkelOut.CalcState) CalMk3Mag();
1051 killagreg 388
            else MotorRegler();
1 ingob 389
            SendMotorData();
390
            ROT_OFF;
391
            if(SenderOkay)  SenderOkay--;
1309 hbuss 392
                        else TIMSK1 |= _BV(ICIE1); // enable PPM-Input
1420 killagreg 393
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1481 holgerb 394
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
395
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
1309 hbuss 396
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1420 killagreg 397
 
1210 hbuss 398
            if(!--I2CTimeout || MissingMotor)
173 holgerb 399
                {
1254 killagreg 400
                  if(!I2CTimeout)
1210 hbuss 401
                                   {
402
                                    i2c_reset();
403
                    I2CTimeout = 5;
1322 hbuss 404
                                        DebugOut.Analog[28]++; // I2C-Error
1423 hbuss 405
                                        FCFlags |= FCFLAG_I2CERR;
1322 hbuss 406
                                   }
1051 killagreg 407
                  if((BeepMuster == 0xffff) && MotorenEin)
408
                   {
173 holgerb 409
                    beeptime = 10000;
410
                    BeepMuster = 0x0080;
1051 killagreg 411
                   }
1 ingob 412
                }
1051 killagreg 413
            else
1 ingob 414
                {
1051 killagreg 415
                 ROT_OFF;
1423 hbuss 416
                                 if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
1 ingob 417
                }
805 hbuss 418
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
1 ingob 419
              {
420
               DatenUebertragung();
421
               BearbeiteRxDaten();
422
              }
1254 killagreg 423
                        else BearbeiteRxDaten();
424
                        if(CheckDelay(timer))
425
                        {
1420 killagreg 426
                                timer += 20; // 20 ms interval
427
                                if(PcZugriff) PcZugriff--;
428
                                else
429
                                {
430
                                        ExternControl.Config = 0;
431
                                        ExternStickNick = 0;
432
                                        ExternStickRoll = 0;
433
                                        ExternStickGier = 0;
434
                                        if(BeepMuster == 0xffff && SenderOkay == 0)
435
                                        {
436
                                                beeptime = 15000;
437
                                                BeepMuster = 0x0c00;
438
                                        }
439
                                }
440
                                if(NaviDataOkay)
441
                                {
442
                                        NaviDataOkay--;
443
                                        FCFlags &= ~FCFLAG_SPI_RX_ERR;
444
                                }
445
                                else
446
                                {
447
                                        GPS_Nick = 0;
448
                                        GPS_Roll = 0;
1423 hbuss 449
                                        if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR;
1420 killagreg 450
                                }
1309 hbuss 451
                           if(UBat < BattLowVoltageWarning)
1254 killagreg 452
                                {
1420 killagreg 453
                                        FCFlags |= FCFLAG_LOWBAT;
1254 killagreg 454
                                        if(BeepMuster == 0xffff)
455
                                        {
456
                                                beeptime = 6000;
457
                                                BeepMuster = 0x0300;
458
                                        }
459
                                }
1423 hbuss 460
                                else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
1420 killagreg 461
 
1254 killagreg 462
                                SPI_StartTransmitPacket();
463
                                SendSPI = 4;
1420 killagreg 464
 
1320 hbuss 465
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
1420 killagreg 466
 
1320 hbuss 467
                                if(++timer2 == 2930)  // eine Minute
1298 hbuss 468
                                 {
469
                                   timer2 = 0;
470
                   FlugMinuten++;
471
                       FlugMinutenGesamt++;
1420 killagreg 472
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
473
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
474
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
475
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
1344 hbuss 476
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
1298 hbuss 477
                             }
1254 killagreg 478
                        }
921 hbuss 479
           LED_Update();
1486 killagreg 480
           Capacity_Update();
604 hbuss 481
          }
723 hbuss 482
     if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 483
    }
484
 return (1);
485
}
486
 
1219 hbuss 487