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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2506 | - | 1 | /* |
| 2 | * FlightCtrl.c |
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| 3 | * |
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| 4 | * Created: 03.02.2015 06:32:39 |
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| 5 | * Author: SIE-AV |
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| 6 | */ |
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| 7 | |||
| 8 | |||
| 9 | #include <avr/io.h> |
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| 10 | |||
| 11 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 12 | // + www.MikroKopter.com |
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| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 14 | // + Software Nutzungsbedingungen (english version: see below) |
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| 15 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 16 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 17 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 18 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 19 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 21 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 22 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 23 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 24 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 25 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 26 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 27 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 28 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 29 | // + des Mitverschuldens offen. |
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| 30 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 31 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 32 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 33 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 34 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 35 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 36 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 37 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 38 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 39 | // + Software LICENSING TERMS |
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| 40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 42 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 43 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 44 | // + The Software may only be used with the Licensor's products. |
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| 45 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 46 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 47 | // + agreement shall be the property of the Licensor. |
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| 48 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 49 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 50 | // + The customer shall be responsible for taking reasonable precautions |
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| 51 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 52 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 53 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 54 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 55 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 56 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 57 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 58 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 59 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 60 | // + #### END OF LICENSING TERMS #### |
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| 61 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 62 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 63 | #include "main.h" |
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| 64 | unsigned char DisableRcOffBeeping = 0; |
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| 65 | unsigned char PlatinenVersion = 10; |
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| 66 | unsigned char BattLowVoltageWarning = 94; |
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| 67 | unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0; |
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| 68 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
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| 69 | unsigned int FlugSekunden = 0; |
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| 70 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
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| 71 | unsigned char FoundMotors = 0; |
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| 72 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
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| 73 | unsigned char ActiveParamSet = 3; |
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| 74 | unsigned char LipoCells = 4; |
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| 75 | |||
| 76 | void PrintLine(void) |
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| 77 | { |
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| 78 | printf("\n\r==================================="); |
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| 79 | } |
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| 80 | |||
| 81 | |||
| 82 | void CalMk3Mag(void) |
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| 83 | { |
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| 84 | static unsigned char stick = 1; |
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| 85 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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| 86 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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| 87 | { |
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| 88 | stick = 1; |
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| 89 | WinkelOut.CalcState++; |
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| 90 | if(WinkelOut.CalcState > 4) |
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| 91 | { |
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| 92 | // WinkelOut.CalcState = 0; // in Uart.c |
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| 93 | beeptime = 1000; |
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| 94 | } |
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| 95 | else Piep(WinkelOut.CalcState,150); |
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| 96 | } |
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| 97 | } |
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| 98 | |||
| 99 | |||
| 100 | void LipoDetection(unsigned char print) |
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| 101 | { |
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| 102 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
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| 103 | if(print) |
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| 104 | { |
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| 105 | printf("\n\rBatt:"); |
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| 106 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
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| 107 | if(LipoCells > 6) LipoCells = 6; |
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| 108 | } |
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| 109 | |||
| 110 | if(EE_Parameter.UnterspannungsWarnung < 50) |
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| 111 | { |
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| 112 | BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
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| 113 | if(print) |
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| 114 | { |
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| 115 | Piep(LipoCells, 200); |
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| 116 | printf(" %d Cells ", LipoCells); |
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| 117 | } |
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| 118 | } |
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| 119 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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| 120 | |||
| 121 | // automatische Zellenerkennung |
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| 122 | if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage; |
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| 123 | if(EE_Parameter.ComingHomeVoltage < 50) BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage; |
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| 124 | |||
| 125 | if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
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| 126 | if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
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| 127 | if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
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| 128 | |||
| 129 | if(print) |
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| 130 | { |
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| 131 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
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| 132 | if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
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| 133 | if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
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| 134 | } |
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| 135 | |||
| 136 | } |
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| 137 | |||
| 138 | //############################################################################ |
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| 139 | //Hauptprogramm |
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| 140 | int main (void) |
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| 141 | //############################################################################ |
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| 142 | { |
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| 143 | unsigned int timer,i,timer2 = 0, timerPolling; |
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| 144 | unsigned char update_spi = 1; |
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| 145 | DDRB = 0x00; |
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| 146 | PORTB = 0x00; |
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| 147 | DDRD = 0x0A; // UART & J3 J4 J5 |
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| 148 | PORTD = 0x5F; // PPM-Input & UART |
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| 149 | for(timer = 0; timer < 1000; timer++); // verzögern |
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| 150 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 151 | unsigned char AccZ_ErrorCnt = 0; |
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| 152 | if(PINB & 0x02) |
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| 153 | { |
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| 154 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
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| 155 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
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| 156 | } |
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| 157 | else |
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| 158 | { |
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| 159 | PlatinenVersion = 25; ACC_AltitudeControl = 1; |
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| 160 | } |
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| 161 | #else |
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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 |
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| 171 | { |
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| 172 | PlatinenVersion = 10; |
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| 173 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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| 174 | PORTD = 0x47; // |
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| 175 | } |
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| 176 | } |
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| 177 | #endif |
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| 178 | |||
| 179 | DDRC = 0x81; // I2C, Spaker |
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| 180 | DDRC |=0x40; // HEF4017 Reset |
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| 181 | PORTC = 0xff; // Pullup SDA |
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| 182 | DDRB = 0x1B; // LEDs und Druckoffset |
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| 183 | PORTB = 0x01; // LED_Rot |
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| 184 | |||
| 185 | HEF4017Reset_ON; |
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| 186 | MCUSR &=~(1<<WDRF); |
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| 187 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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| 188 | WDTCSR = 0; |
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| 189 | |||
| 190 | beeptime = 2500; |
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| 191 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
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| 192 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
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| 193 | ROT_OFF; |
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| 194 | GRN_ON; |
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| 195 | |||
| 196 | Timer_Init(); |
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| 197 | TIMER2_Init(); |
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| 198 | UART_Init(); |
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| 199 | rc_sum_init(); |
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| 200 | ADC_Init(); |
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| 201 | I2C_Init(1); |
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| 202 | SPI_MasterInit(); |
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| 203 | Capacity_Init(); |
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| 204 | LIBFC_Init(LIB_FC_COMPATIBLE); |
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| 205 | GRN_ON; |
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| 206 | sei(); |
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| 207 | ParamSet_Init(); |
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| 208 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 209 | if(PlatinenVersion < 20) |
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| 210 | { |
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| 211 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 212 | while(1) printf("\n\rOld FC Hardware not supported by this Firmware!"); |
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| 213 | } |
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| 214 | #ifndef REDUNDANT_FC_SLAVE |
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| 215 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 216 | // + Check connected BL-Ctrls |
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| 217 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 218 | // Check connected BL-Ctrls |
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| 219 | BLFlags |= BLFLAG_READ_VERSION; |
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| 220 | motor_read = 0; // read the first I2C-Data |
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| 221 | for(i=0; i < 500; i++) |
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| 222 | { |
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| 223 | SendMotorData(); |
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| 224 | timer = SetDelay(5); |
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| 225 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 226 | } |
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| 227 | printf("\n\rFound BL-Ctrl: "); |
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| 228 | // timer = SetDelay(1000); |
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| 229 | for(i=0; i < MAX_MOTORS; i++) |
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| 230 | { |
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| 231 | // SendMotorData(); |
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| 232 | // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 233 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
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| 234 | { |
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| 235 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
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| 236 | { |
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| 237 | SendMotorData(); |
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| 238 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 239 | } |
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| 240 | } |
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| 241 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
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| 242 | { |
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| 243 | unsigned char vers; |
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| 244 | printf("%d",(i+1)%10); |
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| 245 | FoundMotors++; |
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| 246 | vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
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| 247 | if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
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| 248 | // if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r"); |
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| 249 | // else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r"); |
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| 250 | // printf(":V%03d\n\r",vers); |
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| 251 | } |
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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(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && 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 = 2; // just in case the FC would be used as camera-stabilizer |
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| 259 | } |
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| 260 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
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| 261 | } |
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| 262 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 263 | if(VersionInfo.BL_Firmware != 255) |
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| 264 | { |
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| 265 | printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
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| 266 | if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
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| 267 | } |
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| 268 | #endif |
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| 269 | |||
| 270 | PrintLine();// ("\n\r==================================="); |
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| 271 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
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| 272 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
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| 273 | #else |
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| 274 | printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r"); |
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| 275 | #endif |
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| 276 | |||
| 277 | #ifdef REDUNDANT_FC_MASTER |
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| 278 | printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r"); |
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| 279 | #endif |
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| 280 | |||
| 281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 282 | // Calibrating altitude sensor |
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| 283 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 284 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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| 285 | { |
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| 286 | printf("\n\rCalibrating pressure sensor.."); |
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| 287 | timer = SetDelay(1000); |
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| 288 | SucheLuftruckOffset(); |
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| 289 | while (!CheckDelay(timer)); |
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| 290 | printf("OK\n\r"); |
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| 291 | } |
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| 292 | |||
| 293 | #ifdef REDUNDANT_FC_SLAVE |
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| 294 | VersionInfo.HardwareError[0] = 0; |
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| 295 | VersionInfo.HardwareError[1] = 0; |
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| 296 | #endif |
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| 297 | |||
| 298 | SetNeutral(0); |
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| 299 | |||
| 300 | ROT_OFF; |
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| 301 | |||
| 302 | beeptime = 2000; |
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| 303 | ExternControl.Digital[0] = 0x55; |
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| 304 | |||
| 305 | |||
| 306 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
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| 307 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
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| 308 | |||
| 309 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
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| 310 | { |
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| 311 | FlugMinuten = 0; |
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| 312 | FlugMinutenGesamt = 0; |
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| 313 | } |
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| 314 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
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| 315 | LcdClear(); |
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| 316 | I2CTimeout = 5000; |
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| 317 | WinkelOut.Orientation = 1; |
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| 318 | LipoDetection(1); |
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| 319 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
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| 320 | PrintLine();// ("\n\r==================================="); |
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| 321 | //SpektrumBinding(); |
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| 322 | timer = SetDelay(2000); |
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| 323 | timerPolling = SetDelay(250); |
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| 324 | |||
| 325 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
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| 326 | //printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN); |
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| 327 | |||
| 328 | DebugOut.Status[0] = 0x01 | 0x02; |
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| 329 | JetiBeep = 0; |
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| 330 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
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| 331 | ReadBlSize = 3; // don't read the version any more |
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| 332 | #ifdef REDUNDANT_FC_SLAVE |
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| 333 | timer = SetDelay(2500); |
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| 334 | while(!CheckDelay(timer)); |
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| 335 | printf("\n\rStart\n\r"); |
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| 336 | #endif |
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| 337 | while(1) |
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| 338 | { |
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| 339 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
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| 340 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
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| 341 | if(UpdateMotor && AdReady) // ReglerIntervall |
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| 342 | { |
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| 343 | cli(); |
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| 344 | UpdateMotor--; |
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| 345 | sei(); |
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| 346 | if(WinkelOut.CalcState) CalMk3Mag(); |
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| 347 | else MotorRegler(); |
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| 348 | SendMotorData(); |
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| 349 | ROT_OFF; |
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| 350 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
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| 351 | else |
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| 352 | { |
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| 353 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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| 354 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
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| 355 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
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| 356 | // Now clear the channel values - they would be wrong |
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| 357 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
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| 358 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
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| 359 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
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| 360 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
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| 361 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
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| 362 | PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
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| 363 | } |
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| 364 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 365 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
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| 366 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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| 367 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 368 | if(!--I2CTimeout || MissingMotor) |
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| 369 | { |
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| 370 | if(!I2CTimeout) |
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| 371 | { |
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| 372 | I2C_Reset(); |
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| 373 | I2CTimeout = 5; |
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| 374 | DebugOut.Analog[28]++; // I2C-Error |
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| 375 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
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| 376 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
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| 377 | } |
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| 378 | if((BeepMuster == 0xffff) && MotorenEin) |
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| 379 | { |
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| 380 | beeptime = 25000; |
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| 381 | BeepMuster = 0x0080; |
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| 382 | } |
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| 383 | } |
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| 384 | else |
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| 385 | { |
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| 386 | ROT_OFF; |
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| 387 | } |
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| 388 | LIBFC_Polling(); |
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| 389 | |||
| 390 | if(!UpdateMotor) |
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| 391 | { |
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| 392 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 393 | if(NewSBusData) ProcessSBus(); |
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| 394 | else |
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| 395 | #endif |
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| 396 | { |
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| 397 | if(BytegapSPI == 0) SPI_TransmitByte(); |
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| 398 | if(CalculateServoSignals) CalculateServo(); |
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| 399 | DatenUebertragung(); |
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| 400 | BearbeiteRxDaten(); |
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| 401 | if(CheckDelay(timer)) |
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| 402 | { |
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| 403 | static unsigned char second; |
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| 404 | timer += 20; // 20 ms interval |
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| 405 | CalcNickServoValue(); |
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| 406 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 407 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
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| 408 | else |
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| 409 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
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| 410 | // ++++++++++++++++++++++++++++ |
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| 411 | // + check the ACC-Z range |
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| 412 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
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| 413 | { |
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| 414 | if(++AccZ_ErrorCnt > 50) |
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| 415 | { |
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| 416 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
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| 417 | else CalibrationDone = 0; |
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| 418 | } |
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| 419 | } |
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| 420 | else AccZ_ErrorCnt = 0; |
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| 421 | // ++++++++++++++++++++++++++++ |
||
| 422 | #endif |
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| 423 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
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| 424 | { |
||
| 425 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
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| 426 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
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| 427 | } |
||
| 428 | else |
||
| 429 | { |
||
| 430 | if(!beeptime) |
||
| 431 | { |
||
| 432 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
||
| 433 | } |
||
| 434 | } |
||
| 435 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
||
| 436 | if(PcZugriff) PcZugriff--; |
||
| 437 | else |
||
| 438 | { |
||
| 439 | ExternControl.Config = 0; |
||
| 440 | ExternStickNick = 0; |
||
| 441 | ExternStickRoll = 0; |
||
| 442 | ExternStickGier = 0; |
||
| 443 | if(!SenderOkay) |
||
| 444 | { |
||
| 445 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
||
| 446 | { |
||
| 447 | beeptime = 15000; |
||
| 448 | BeepMuster = 0x0c00; |
||
| 449 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
||
| 450 | } |
||
| 451 | } |
||
| 452 | } |
||
| 453 | if(NaviDataOkay > 200) |
||
| 454 | { |
||
| 455 | NaviDataOkay--; |
||
| 456 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
||
| 457 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
||
| 458 | } |
||
| 459 | else |
||
| 460 | { |
||
| 461 | if(NC_Version.Compatible) |
||
| 462 | { |
||
| 463 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
||
| 464 | NC_ErrorCode = 9; // "ERR: no NC communication" |
||
| 465 | if(BeepMuster == 0xffff && MotorenEin) |
||
| 466 | { |
||
| 467 | beeptime = 15000; |
||
| 468 | BeepMuster = 0xA800; |
||
| 469 | } |
||
| 470 | } |
||
| 471 | GPS_Nick = 0; |
||
| 472 | GPS_Roll = 0; |
||
| 473 | GPS_Aid_StickMultiplikator = 0; |
||
| 474 | GPSInfo.Flags = 0; |
||
| 475 | FromNaviCtrl_Value.Kalman_K = -1; |
||
| 476 | FromNaviCtrl.AccErrorN = 0; |
||
| 477 | FromNaviCtrl.AccErrorR = 0; |
||
| 478 | FromNaviCtrl.CompassValue = -1; |
||
| 479 | FromNC_AltitudeSpeed = 0; |
||
| 480 | FromNC_AltitudeSetpoint = 0; |
||
| 481 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
||
| 482 | NaviDataOkay = 0; |
||
| 483 | } |
||
| 484 | if(UBat <= BattLowVoltageWarning) |
||
| 485 | { |
||
| 486 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
||
| 487 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
||
| 488 | { |
||
| 489 | beeptime = 6000; |
||
| 490 | BeepMuster = 0x0300; |
||
| 491 | } |
||
| 492 | } |
||
| 493 | // +++++++++++++++++++++++++++++++++ |
||
| 494 | // Sekundentakt |
||
| 495 | if(++second == 49) |
||
| 496 | { |
||
| 497 | second = 0; |
||
| 498 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 499 | if(ShowSettingNameTime) ShowSettingNameTime--; |
||
| 500 | #endif |
||
| 501 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
||
| 502 | else timer2 = 1450; // 0,5 Minuten aufrunden |
||
| 503 | if(modell_fliegt < 1024) |
||
| 504 | { |
||
| 505 | if(StartLuftdruck < Luftdruck) StartLuftdruck += 5; |
||
| 506 | else |
||
| 507 | if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5; |
||
| 508 | } |
||
| 509 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
||
| 510 | } |
||
| 511 | // +++++++++++++++++++++++++++++++++ |
||
| 512 | if(++timer2 == 2930) // eine Minute |
||
| 513 | { |
||
| 514 | timer2 = 0; |
||
| 515 | FlugMinuten++; |
||
| 516 | FlugMinutenGesamt++; |
||
| 517 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
||
| 518 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
||
| 519 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
||
| 520 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
||
| 521 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
||
| 522 | } |
||
| 523 | } |
||
| 524 | LED_Update(); |
||
| 525 | Capacity_Update(); |
||
| 526 | } |
||
| 527 | } //else DebugOut.Analog[18]++; |
||
| 528 | if(update_spi) update_spi--; |
||
| 529 | } // 500Hz |
||
| 530 | if(update_spi == 0) // 41Hz |
||
| 531 | { |
||
| 532 | if(SPI_StartTransmitPacket()) update_spi = 12; |
||
| 533 | else |
||
| 534 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
| 535 | } |
||
| 536 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
||
| 537 | } |
||
| 538 | } |
||
| 539 | //DebugOut.Analog[16] |
||
| 540 |