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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
1 ingob 10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
1 ingob 28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 29
// + Software LICENSING TERMS
1 ingob 30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + 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 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1 ingob 52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53
#include "main.h"
1913 holgerb 54
unsigned char DisableRcOffBeeping = 0;
173 holgerb 55
unsigned char PlatinenVersion = 10;
1232 hbuss 56
unsigned char BattLowVoltageWarning = 94;
2416 holgerb 57
unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0;
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;
1834 holgerb 62
unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
2333 holgerb 63
unsigned char ActiveParamSet = 3;
2402 holgerb 64
unsigned char LipoCells = 4;
1444 ingob 65
 
2030 holgerb 66
void PrintLine(void)
67
{
68
 printf("\n\r===================================");
69
}
70
 
71
 
819 hbuss 72
void CalMk3Mag(void)
73
{
74
 static unsigned char stick = 1;
75
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
76
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
77
  {
78
   stick = 1;
79
   WinkelOut.CalcState++;
1051 killagreg 80
   if(WinkelOut.CalcState > 4)
81
    {
819 hbuss 82
//     WinkelOut.CalcState = 0; // in Uart.c
83
     beeptime = 1000;
1051 killagreg 84
    }
1232 hbuss 85
   else Piep(WinkelOut.CalcState,150);
819 hbuss 86
  }
87
}
88
 
1438 ingob 89
 
1268 hbuss 90
void LipoDetection(unsigned char print)
91
{
2407 holgerb 92
        #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO
2408 holgerb 93
        if(print)
94
         {
95
          printf("\n\rBatt:");
96
          LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;
2416 holgerb 97
          if(LipoCells > 6) LipoCells = 6;
2408 holgerb 98
         }
2416 holgerb 99
 
2390 holgerb 100
        if(EE_Parameter.UnterspannungsWarnung < 50)
1654 killagreg 101
        {
2402 holgerb 102
                BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;
1654 killagreg 103
                if(print)
104
                {
2402 holgerb 105
                        Piep(LipoCells, 200);
106
                        printf(" %d Cells ", LipoCells);
1420 killagreg 107
                }
1654 killagreg 108
        }
109
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
2390 holgerb 110
 
111
        // automatische Zellenerkennung
2416 holgerb 112
        if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage;
113
        if(EE_Parameter.ComingHomeVoltage < 50)  BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage;
2390 holgerb 114
 
2416 holgerb 115
        if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1;
116
        if(BattComingHomeVoltage  >= BattLowVoltageWarning) BattComingHomeVoltage  = BattLowVoltageWarning - 1;
117
        if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1;
2408 holgerb 118
 
2390 holgerb 119
        if(print)
120
         {
2408 holgerb 121
          printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
2416 holgerb 122
          if(BattComingHomeVoltage) printf("  Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);
123
          if(BattAutoLandingVoltage) printf("  Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);
2390 holgerb 124
         }
2416 holgerb 125
 
1268 hbuss 126
}
127
 
1 ingob 128
//############################################################################
129
//Hauptprogramm
130
int main (void)
131
//############################################################################
132
{
1424 ingob 133
        unsigned int timer,i,timer2 = 0, timerPolling;
2341 holgerb 134
        unsigned char update_spi = 1;
1051 killagreg 135
    DDRB  = 0x00;
2330 holgerb 136
    PORTB = 0x00;
2309 holgerb 137
    DDRD  = 0x0A; // UART & J3 J4 J5
138
        PORTD = 0x5F; // PPM-Input & UART
188 holgerb 139
    for(timer = 0; timer < 1000; timer++); // verzögern
1660 holgerb 140
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
2334 holgerb 141
        unsigned char AccZ_ErrorCnt = 0;
2309 holgerb 142
    if(PINB & 0x02)
143
         {
144
          if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
145
          else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
146
         }
147
     else          
148
     {
2367 holgerb 149
          PlatinenVersion = 25; ACC_AltitudeControl = 1;
2309 holgerb 150
         }  
1660 holgerb 151
#else
152
        if(PINB & 0x01)
918 hbuss 153
     {
1051 killagreg 154
      if(PINB & 0x02) PlatinenVersion = 13;
155
       else           PlatinenVersion = 11;
918 hbuss 156
     }
1051 killagreg 157
    else
1021 hbuss 158
     {
1051 killagreg 159
      if(PINB & 0x02) PlatinenVersion = 20;
2309 holgerb 160
       else          
161
            {
162
                 PlatinenVersion = 10;
163
                 DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
164
             PORTD = 0x47; // 
165
                }
1021 hbuss 166
     }
1660 holgerb 167
#endif
2316 holgerb 168
 
2309 holgerb 169
    DDRC  = 0x81; // I2C, Spaker
1036 hbuss 170
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 171
    PORTC = 0xff; // Pullup SDA
172
    DDRB  = 0x1B; // LEDs und Druckoffset
173
    PORTB = 0x01; // LED_Rot
2309 holgerb 174
 
2146 holgerb 175
    HEF4017Reset_ON;
1 ingob 176
    MCUSR &=~(1<<WDRF);
177
    WDTCSR |= (1<<WDCE)|(1<<WDE);
178
    WDTCSR = 0;
179
 
1652 holgerb 180
    beeptime = 2500;
1660 holgerb 181
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
182
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 183
    ROT_OFF;
2193 holgerb 184
    GRN_ON;
1479 killagreg 185
 
1 ingob 186
    Timer_Init();
1156 hbuss 187
        TIMER2_Init();
1 ingob 188
        UART_Init();
189
    rc_sum_init();
190
        ADC_Init();
1743 holgerb 191
        I2C_Init(1);
597 ingob 192
        SPI_MasterInit();
1486 killagreg 193
        Capacity_Init();
2309 holgerb 194
        LIBFC_Init(LIB_FC_COMPATIBLE);
1431 ingob 195
        GRN_ON;
196
    sei();
1622 killagreg 197
        ParamSet_Init();
1211 hbuss 198
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2426 holgerb 199
    if(PlatinenVersion < 20)
200
        {
201
            wdt_enable(WDTO_250MS); // Reset-Commando
2462 holgerb 202
                while(1) printf("\n\rOld FC Hardware not supported by this Firmware!");
2426 holgerb 203
        }
2427 holgerb 204
#ifndef REDUNDANT_FC_SLAVE
2426 holgerb 205
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1211 hbuss 206
// + Check connected BL-Ctrls
207
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1648 killagreg 208
        // Check connected BL-Ctrls
209
        BLFlags |= BLFLAG_READ_VERSION;
1662 killagreg 210
        motor_read = 0;  // read the first I2C-Data
2466 holgerb 211
        for(i=0; i < 500; i++)
212
        {
213
         SendMotorData();
214
         timer = SetDelay(5);
215
         while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
216
    }
1648 killagreg 217
    printf("\n\rFound BL-Ctrl: ");
2466 holgerb 218
//    timer = SetDelay(1000);
1211 hbuss 219
        for(i=0; i < MAX_MOTORS; i++)
1622 killagreg 220
        {
2466 holgerb 221
//              SendMotorData();
222
//              while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
1622 killagreg 223
                if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
224
                {
1648 killagreg 225
                        while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
226
                        {
227
                                SendMotorData();
1683 killagreg 228
                                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
1648 killagreg 229
                        }
1232 hbuss 230
                }
1648 killagreg 231
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
232
                {
2466 holgerb 233
                    unsigned char vers;
234
                        printf("%d",(i+1)%10);
1702 holgerb 235
                        FoundMotors++;
2466 holgerb 236
                        vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04
237
                        if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers;
2380 holgerb 238
//                      if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");
239
//                      else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");
2466 holgerb 240
//                      printf(":V%03d\n\r",vers);
1648 killagreg 241
                }
1622 killagreg 242
        }
1211 hbuss 243
        for(i=0; i < MAX_MOTORS; i++)
1051 killagreg 244
        {
1622 killagreg 245
                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
246
                {
247
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
1701 holgerb 248
                        ServoActive = 2; // just in case the FC would be used as camera-stabilizer
1111 hbuss 249
                }
1622 killagreg 250
                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
1 ingob 251
        }
2466 holgerb 252
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
253
   if(VersionInfo.BL_Firmware != 255)
254
    {
255
         printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100);
256
         if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!");
257
        }
258
#endif
259
 
2030 holgerb 260
   PrintLine();// ("\n\r===================================");
1765 killagreg 261
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
2407 holgerb 262
        if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;
2437 holgerb 263
#else
2462 holgerb 264
 printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r");
2437 holgerb 265
#endif
266
 
267
#ifdef REDUNDANT_FC_MASTER
2462 holgerb 268
 printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r");
2437 holgerb 269
#endif
270
 
2427 holgerb 271
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
272
// Calibrating altitude sensor
273
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1529 killagreg 274
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1622 killagreg 275
        {
276
                printf("\n\rCalibrating pressure sensor..");
277
                timer = SetDelay(1000);
278
                SucheLuftruckOffset();
279
                while (!CheckDelay(timer));
280
                printf("OK\n\r");
1 ingob 281
        }
1051 killagreg 282
 
2427 holgerb 283
#ifdef REDUNDANT_FC_SLAVE
2418 holgerb 284
VersionInfo.HardwareError[0] = 0;
285
VersionInfo.HardwareError[1] = 0;
286
#endif
287
 
1622 killagreg 288
        SetNeutral(0);
1 ingob 289
 
290
        ROT_OFF;
1051 killagreg 291
 
1 ingob 292
    beeptime = 2000;
1051 killagreg 293
    ExternControl.Digital[0] = 0x55;
1 ingob 294
 
1051 killagreg 295
 
1652 holgerb 296
        FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
297
        FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
1622 killagreg 298
 
1702 holgerb 299
        if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF))
1622 killagreg 300
        {
301
                FlugMinuten = 0;
302
                FlugMinutenGesamt = 0;
303
        }
2034 holgerb 304
    printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
1 ingob 305
    LcdClear();
173 holgerb 306
    I2CTimeout = 5000;
819 hbuss 307
    WinkelOut.Orientation = 1;
1268 hbuss 308
    LipoDetection(1);
1626 killagreg 309
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
2030 holgerb 310
    PrintLine();// ("\n\r===================================");
1622 killagreg 311
        //SpektrumBinding();
1350 hbuss 312
    timer = SetDelay(2000);
1424 ingob 313
        timerPolling = SetDelay(250);
1648 killagreg 314
 
1636 ingob 315
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
2340 holgerb 316
//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);
317
 
1702 holgerb 318
    DebugOut.Status[0] = 0x01 | 0x02;
1834 holgerb 319
        JetiBeep = 0;
1913 holgerb 320
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
2466 holgerb 321
        ReadBlSize = 3; // don't read the version any more
2462 holgerb 322
#ifdef REDUNDANT_FC_SLAVE
323
        timer = SetDelay(2500);
324
        while(!CheckDelay(timer));
325
        printf("\n\rStart\n\r");
326
#endif
2330 holgerb 327
        while(1)
1 ingob 328
        {
2439 holgerb 329
        EEAR = EE_DUMMY;  // Set the EEPROM Address pointer to an unused space
1945 holgerb 330
        if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
1419 ingob 331
        if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 332
            {
2386 holgerb 333
cli();
334
                        UpdateMotor--;    
335
sei();
819 hbuss 336
            if(WinkelOut.CalcState) CalMk3Mag();
1644 holgerb 337
            else  MotorRegler();
338
                        SendMotorData();
1 ingob 339
            ROT_OFF;
1937 holgerb 340
            if(SenderOkay)  { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ }
1603 killagreg 341
                        else
342
                        {
343
                                TIMSK1 |= _BV(ICIE1); // enable PPM-Input
344
                                PPM_in[0] = 0; // set RSSI to zero on data timeout
1765 killagreg 345
                                VersionInfo.HardwareError[1] |= FC_ERROR1_PPM;
2486 holgerb 346
                                // Now clear the channel values - they would be wrong
347
                                PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
348
                                PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
349
                                PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
350
                                PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
351
                                PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
352
                                PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0;
1603 killagreg 353
                        }
1420 killagreg 354
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1481 holgerb 355
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
356
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
1309 hbuss 357
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1210 hbuss 358
            if(!--I2CTimeout || MissingMotor)
173 holgerb 359
                {
1254 killagreg 360
                  if(!I2CTimeout)
1210 hbuss 361
                                   {
1662 killagreg 362
                                    I2C_Reset();
1210 hbuss 363
                    I2CTimeout = 5;
1322 hbuss 364
                                        DebugOut.Analog[28]++; // I2C-Error
1765 killagreg 365
                                        VersionInfo.HardwareError[1] |= FC_ERROR1_I2C;
1702 holgerb 366
                                        DebugOut.Status[1] |= 0x02; // BL-Error-Status
1322 hbuss 367
                                   }
1051 killagreg 368
                  if((BeepMuster == 0xffff) && MotorenEin)
369
                   {
1936 holgerb 370
                    beeptime = 25000;
173 holgerb 371
                    BeepMuster = 0x0080;
1051 killagreg 372
                   }
1 ingob 373
                }
1051 killagreg 374
            else
1 ingob 375
                {
1051 killagreg 376
                 ROT_OFF;
1944 holgerb 377
                }
1916 holgerb 378
                  LIBFC_Polling();
379
 
1639 holgerb 380
          if(!UpdateMotor)
2012 holgerb 381
                  {
382
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
383
                   if(NewSBusData) ProcessSBus();  
384
                   else
385
#endif
1639 holgerb 386
                   {
2404 holgerb 387
                        if(BytegapSPI == 0)  SPI_TransmitByte();
1760 holgerb 388
                        if(CalculateServoSignals) CalculateServo();
389
                        DatenUebertragung();
390
                        BearbeiteRxDaten();
1254 killagreg 391
                        if(CheckDelay(timer))
392
                        {
1512 holgerb 393
                                static unsigned char second;
1420 killagreg 394
                                timer += 20; // 20 ms interval
2191 holgerb 395
                                CalcNickServoValue();
1925 holgerb 396
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1917 holgerb 397
                                if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
2263 holgerb 398
                                else
399
                                if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
2334 holgerb 400
                                // ++++++++++++++++++++++++++++
401
                                // + check the ACC-Z range
402
                                if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
403
                                 {
404
                                  if(++AccZ_ErrorCnt > 50)
405
                                   {
406
                                    if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP;
407
                                        else CalibrationDone = 0;
408
                                   }
409
                                 }
410
                                 else AccZ_ErrorCnt = 0;
411
                                // ++++++++++++++++++++++++++++
1925 holgerb 412
#endif
2390 holgerb 413
                                if(MissingMotor || Capacity.MinOfMaxPWM < 30)
1702 holgerb 414
                                 {
2390 holgerb 415
                                  if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
1702 holgerb 416
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
1765 killagreg 417
                                 }
418
                                 else
1702 holgerb 419
                                 {
1936 holgerb 420
                                   if(!beeptime)
421
                                    {
422
                                     if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
423
                                        }
1765 killagreg 424
                                 }
2029 holgerb 425
                                if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
1420 killagreg 426
                                if(PcZugriff) PcZugriff--;
427
                                else
428
                                {
429
                                        ExternControl.Config = 0;
430
                                        ExternStickNick = 0;
431
                                        ExternStickRoll = 0;
432
                                        ExternStickGier = 0;
1913 holgerb 433
                                        if(!SenderOkay)
1420 killagreg 434
                                        {
1914 holgerb 435
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
1913 holgerb 436
                                          {
437
                                                  beeptime = 15000;
438
                                                  BeepMuster = 0x0c00;
1914 holgerb 439
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
1913 holgerb 440
                                          }
1914 holgerb 441
                                        }
1420 killagreg 442
                                }
1682 holgerb 443
                                if(NaviDataOkay > 200)
1420 killagreg 444
                                {
445
                                        NaviDataOkay--;
1765 killagreg 446
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
2342 holgerb 447
                                        VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT;
1420 killagreg 448
                                }
449
                                else
450
                                {
1702 holgerb 451
                                        if(NC_Version.Compatible)
452
                                         {
1930 holgerb 453
                                           VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
454
                                           NC_ErrorCode = 9; // "ERR: no NC communication"
1702 holgerb 455
                       if(BeepMuster == 0xffff && MotorenEin)
456
                                                {
457
                                                        beeptime = 15000;
458
                                                        BeepMuster = 0xA800;
459
                                                }
1765 killagreg 460
                                         }
1420 killagreg 461
                                        GPS_Nick = 0;
462
                                        GPS_Roll = 0;
1945 holgerb 463
                                        GPS_Aid_StickMultiplikator = 0;
1916 holgerb 464
                                        GPSInfo.Flags = 0;
2348 holgerb 465
                                        FromNaviCtrl_Value.Kalman_K = -1;
1936 holgerb 466
                                        FromNaviCtrl.AccErrorN = 0;
467
                                        FromNaviCtrl.AccErrorR = 0;
1691 holgerb 468
                    FromNaviCtrl.CompassValue = -1;
2342 holgerb 469
                                        FromNC_AltitudeSpeed = 0;
470
                                        FromNC_AltitudeSetpoint = 0;
471
                                        VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
1703 holgerb 472
                    NaviDataOkay = 0;
1420 killagreg 473
                                }
2390 holgerb 474
                           if(UBat <= BattLowVoltageWarning)
1254 killagreg 475
                                {
1765 killagreg 476
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
2373 holgerb 477
                                        if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)
1254 killagreg 478
                                        {
479
                                                beeptime = 6000;
480
                                                BeepMuster = 0x0300;
481
                                        }
482
                                }
2009 holgerb 483
                                // +++++++++++++++++++++++++++++++++
484
                                // Sekundentakt
1512 holgerb 485
                if(++second == 49)
486
                                 {
487
                                   second = 0;
2346 holgerb 488
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
2345 holgerb 489
                                   if(ShowSettingNameTime) ShowSettingNameTime--;
2346 holgerb 490
#endif                             
2009 holgerb 491
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
2309 holgerb 492
                                   else timer2 = 1450; // 0,5 Minuten aufrunden
493
                                   if(modell_fliegt < 1024)
2009 holgerb 494
                                    {
2309 holgerb 495
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
2009 holgerb 496
                                         else
2309 holgerb 497
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
2009 holgerb 498
                                        }
2390 holgerb 499
                             if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
1512 holgerb 500
                                 }
2009 holgerb 501
                                // +++++++++++++++++++++++++++++++++
1320 hbuss 502
                                if(++timer2 == 2930)  // eine Minute
1298 hbuss 503
                                 {
504
                                   timer2 = 0;
505
                   FlugMinuten++;
506
                       FlugMinutenGesamt++;
1652 holgerb 507
                   SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
508
                   SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
509
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
510
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
1344 hbuss 511
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
1298 hbuss 512
                             }
1254 killagreg 513
                        }
921 hbuss 514
           LED_Update();
1486 killagreg 515
           Capacity_Update();
2386 holgerb 516
           }
517
          } //else DebugOut.Analog[18]++;
2341 holgerb 518
                  if(update_spi) update_spi--;
519
                 } // 500Hz
2386 holgerb 520
         if(update_spi == 0) // 41Hz
521
          {
522
            if(SPI_StartTransmitPacket()) update_spi = 12;
523
                else
524
                if(BytegapSPI == 0)  SPI_TransmitByte();  
525
           }  
526
         else if(BytegapSPI == 0)  SPI_TransmitByte();
1 ingob 527
    }
528
}
2482 holgerb 529
//DebugOut.Analog[16] 
1 ingob 530