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Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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1 | ingob | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1338 | ingob | 24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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1051 | killagreg | 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
1 | ingob | 34 | // + for non-commercial use (directly or indirectly) |
1051 | killagreg | 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 36 | // + with our written permission |
1051 | killagreg | 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
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1338 | ingob | 39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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1051 | killagreg | 50 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include "main.h" |
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1913 | holgerb | 53 | unsigned char DisableRcOffBeeping = 0; |
173 | holgerb | 54 | unsigned char PlatinenVersion = 10; |
1232 | hbuss | 55 | unsigned char BattLowVoltageWarning = 94; |
1298 | hbuss | 56 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
1512 | holgerb | 57 | unsigned int FlugSekunden = 0; |
1444 | ingob | 58 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
1702 | holgerb | 59 | unsigned char FoundMotors = 0; |
1834 | holgerb | 60 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
1444 | ingob | 61 | |
2030 | holgerb | 62 | void PrintLine(void) |
63 | { |
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64 | printf("\n\r==================================="); |
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65 | } |
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66 | |||
67 | |||
819 | hbuss | 68 | void CalMk3Mag(void) |
69 | { |
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70 | static unsigned char stick = 1; |
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71 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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72 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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73 | { |
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74 | stick = 1; |
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75 | WinkelOut.CalcState++; |
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1051 | killagreg | 76 | if(WinkelOut.CalcState > 4) |
77 | { |
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819 | hbuss | 78 | // WinkelOut.CalcState = 0; // in Uart.c |
79 | beeptime = 1000; |
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1051 | killagreg | 80 | } |
1232 | hbuss | 81 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 82 | } |
83 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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84 | } |
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85 | |||
1438 | ingob | 86 | |
1268 | hbuss | 87 | void LipoDetection(unsigned char print) |
88 | { |
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1654 | killagreg | 89 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
90 | unsigned int timer, cells; |
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91 | if(print) printf("\n\rBatt:"); |
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92 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
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93 | { |
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94 | timer = SetDelay(500); |
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95 | if(print) while (!CheckDelay(timer)); |
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1657 | killagreg | 96 | // up to 6s LiPo, less than 2s is technical impossible |
97 | for(cells = 2; cells < 7; cells++) |
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1654 | killagreg | 98 | { |
99 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
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1420 | killagreg | 100 | } |
1654 | killagreg | 101 | |
102 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
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103 | if(print) |
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104 | { |
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105 | Piep(cells, 200); |
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106 | printf(" %d Cells ", cells); |
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1420 | killagreg | 107 | } |
1654 | killagreg | 108 | } |
109 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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2034 | holgerb | 110 | if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
1268 | hbuss | 111 | } |
112 | |||
1 | ingob | 113 | //############################################################################ |
114 | //Hauptprogramm |
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115 | int main (void) |
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116 | //############################################################################ |
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117 | { |
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1424 | ingob | 118 | unsigned int timer,i,timer2 = 0, timerPolling; |
1479 | killagreg | 119 | |
1051 | killagreg | 120 | DDRB = 0x00; |
121 | PORTB = 0x00; |
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188 | holgerb | 122 | for(timer = 0; timer < 1000; timer++); // verzögern |
1660 | holgerb | 123 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
124 | PlatinenVersion = 21; |
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125 | #else |
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126 | if(PINB & 0x01) |
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918 | hbuss | 127 | { |
1051 | killagreg | 128 | if(PINB & 0x02) PlatinenVersion = 13; |
129 | else PlatinenVersion = 11; |
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918 | hbuss | 130 | } |
1051 | killagreg | 131 | else |
1021 | hbuss | 132 | { |
1051 | killagreg | 133 | if(PINB & 0x02) PlatinenVersion = 20; |
134 | else PlatinenVersion = 10; |
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1021 | hbuss | 135 | } |
1660 | holgerb | 136 | #endif |
173 | holgerb | 137 | DDRC = 0x81; // SCL |
1036 | hbuss | 138 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 139 | PORTC = 0xff; // Pullup SDA |
140 | DDRB = 0x1B; // LEDs und Druckoffset |
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141 | PORTB = 0x01; // LED_Rot |
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142 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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1153 | hbuss | 143 | PORTD = 0x47; // LED |
1171 | hbuss | 144 | HEF4017R_ON; |
1 | ingob | 145 | MCUSR &=~(1<<WDRF); |
146 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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147 | WDTCSR = 0; |
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148 | |||
1652 | holgerb | 149 | beeptime = 2500; |
1660 | holgerb | 150 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
151 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
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1 | ingob | 152 | ROT_OFF; |
1479 | killagreg | 153 | |
1 | ingob | 154 | Timer_Init(); |
1156 | hbuss | 155 | TIMER2_Init(); |
1 | ingob | 156 | UART_Init(); |
157 | rc_sum_init(); |
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158 | ADC_Init(); |
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1743 | holgerb | 159 | I2C_Init(1); |
597 | ingob | 160 | SPI_MasterInit(); |
1486 | killagreg | 161 | Capacity_Init(); |
1435 | killagreg | 162 | LIBFC_Init(); |
1431 | ingob | 163 | GRN_ON; |
164 | sei(); |
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1622 | killagreg | 165 | ParamSet_Init(); |
1344 | hbuss | 166 | |
1435 | killagreg | 167 | |
1211 | hbuss | 168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | // + Check connected BL-Ctrls |
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170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1648 | killagreg | 171 | // Check connected BL-Ctrls |
172 | BLFlags |= BLFLAG_READ_VERSION; |
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1662 | killagreg | 173 | motor_read = 0; // read the first I2C-Data |
1648 | killagreg | 174 | SendMotorData(); |
1683 | killagreg | 175 | timer = SetDelay(500); |
176 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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1654 | killagreg | 177 | |
1648 | killagreg | 178 | printf("\n\rFound BL-Ctrl: "); |
1591 | holgerb | 179 | timer = SetDelay(4000); |
1211 | hbuss | 180 | for(i=0; i < MAX_MOTORS; i++) |
1622 | killagreg | 181 | { |
182 | SendMotorData(); |
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1683 | killagreg | 183 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
1622 | killagreg | 184 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
185 | { |
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1648 | killagreg | 186 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
187 | { |
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188 | SendMotorData(); |
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1683 | killagreg | 189 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
1648 | killagreg | 190 | } |
1232 | hbuss | 191 | } |
1648 | killagreg | 192 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
193 | { |
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194 | printf("%d",i+1); |
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1702 | holgerb | 195 | FoundMotors++; |
1652 | holgerb | 196 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
1648 | killagreg | 197 | } |
1622 | killagreg | 198 | } |
1211 | hbuss | 199 | for(i=0; i < MAX_MOTORS; i++) |
1051 | killagreg | 200 | { |
1622 | killagreg | 201 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
202 | { |
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203 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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1701 | holgerb | 204 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
1111 | hbuss | 205 | } |
1622 | killagreg | 206 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
1 | ingob | 207 | } |
2030 | holgerb | 208 | PrintLine();// ("\n\r==================================="); |
1648 | killagreg | 209 | |
2030 | holgerb | 210 | |
1765 | killagreg | 211 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
1702 | holgerb | 212 | |
1529 | killagreg | 213 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1622 | killagreg | 214 | { |
215 | printf("\n\rCalibrating pressure sensor.."); |
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216 | timer = SetDelay(1000); |
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217 | SucheLuftruckOffset(); |
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218 | while (!CheckDelay(timer)); |
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219 | printf("OK\n\r"); |
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1 | ingob | 220 | } |
1051 | killagreg | 221 | |
1622 | killagreg | 222 | SetNeutral(0); |
1 | ingob | 223 | |
224 | ROT_OFF; |
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1051 | killagreg | 225 | |
1 | ingob | 226 | beeptime = 2000; |
1051 | killagreg | 227 | ExternControl.Digital[0] = 0x55; |
1 | ingob | 228 | |
1051 | killagreg | 229 | |
1652 | holgerb | 230 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
231 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
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1622 | killagreg | 232 | |
1702 | holgerb | 233 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
1622 | killagreg | 234 | { |
235 | FlugMinuten = 0; |
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236 | FlugMinutenGesamt = 0; |
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237 | } |
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2034 | holgerb | 238 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
1622 | killagreg | 239 | |
1 | ingob | 240 | LcdClear(); |
173 | holgerb | 241 | I2CTimeout = 5000; |
819 | hbuss | 242 | WinkelOut.Orientation = 1; |
1268 | hbuss | 243 | LipoDetection(1); |
1626 | killagreg | 244 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
2030 | holgerb | 245 | PrintLine();// ("\n\r==================================="); |
1622 | killagreg | 246 | //SpektrumBinding(); |
1350 | hbuss | 247 | timer = SetDelay(2000); |
1424 | ingob | 248 | timerPolling = SetDelay(250); |
1648 | killagreg | 249 | |
1636 | ingob | 250 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
1702 | holgerb | 251 | DebugOut.Status[0] = 0x01 | 0x02; |
1834 | holgerb | 252 | JetiBeep = 0; |
1913 | holgerb | 253 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
1 | ingob | 254 | while (1) |
255 | { |
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1945 | holgerb | 256 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
1907 | ingob | 257 | |
1930 | holgerb | 258 | //GRN_ON; |
1419 | ingob | 259 | if(UpdateMotor && AdReady) // ReglerIntervall |
1051 | killagreg | 260 | { |
1930 | holgerb | 261 | //GRN_OFF; |
1907 | ingob | 262 | UpdateMotor=0; |
819 | hbuss | 263 | if(WinkelOut.CalcState) CalMk3Mag(); |
1644 | holgerb | 264 | else MotorRegler(); |
265 | SendMotorData(); |
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1 | ingob | 266 | ROT_OFF; |
1937 | holgerb | 267 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
1603 | killagreg | 268 | else |
269 | { |
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270 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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271 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
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1765 | killagreg | 272 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
1603 | killagreg | 273 | } |
1420 | killagreg | 274 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1481 | holgerb | 275 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
276 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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1309 | hbuss | 277 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | hbuss | 278 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 279 | { |
1254 | killagreg | 280 | if(!I2CTimeout) |
1210 | hbuss | 281 | { |
1662 | killagreg | 282 | I2C_Reset(); |
1210 | hbuss | 283 | I2CTimeout = 5; |
1322 | hbuss | 284 | DebugOut.Analog[28]++; // I2C-Error |
1765 | killagreg | 285 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
1702 | holgerb | 286 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1322 | hbuss | 287 | } |
1051 | killagreg | 288 | if((BeepMuster == 0xffff) && MotorenEin) |
289 | { |
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1936 | holgerb | 290 | beeptime = 25000; |
173 | holgerb | 291 | BeepMuster = 0x0080; |
1051 | killagreg | 292 | } |
1 | ingob | 293 | } |
1051 | killagreg | 294 | else |
1 | ingob | 295 | { |
1051 | killagreg | 296 | ROT_OFF; |
1944 | holgerb | 297 | } |
1916 | holgerb | 298 | LIBFC_Polling(); |
299 | |||
1639 | holgerb | 300 | if(!UpdateMotor) |
2012 | holgerb | 301 | { |
302 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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303 | if(NewSBusData) ProcessSBus(); |
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304 | else |
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305 | #endif |
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1639 | holgerb | 306 | { |
1760 | holgerb | 307 | if(CalculateServoSignals) CalculateServo(); |
308 | DatenUebertragung(); |
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309 | BearbeiteRxDaten(); |
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1254 | killagreg | 310 | if(CheckDelay(timer)) |
311 | { |
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1512 | holgerb | 312 | static unsigned char second; |
1420 | killagreg | 313 | timer += 20; // 20 ms interval |
1925 | holgerb | 314 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1917 | holgerb | 315 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
1925 | holgerb | 316 | #endif |
1702 | holgerb | 317 | if(MissingMotor) |
318 | { |
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1765 | killagreg | 319 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
1702 | holgerb | 320 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1765 | killagreg | 321 | } |
322 | else |
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1702 | holgerb | 323 | { |
1936 | holgerb | 324 | if(!beeptime) |
325 | { |
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326 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
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327 | } |
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1765 | killagreg | 328 | } |
2029 | holgerb | 329 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
1420 | killagreg | 330 | if(PcZugriff) PcZugriff--; |
331 | else |
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332 | { |
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333 | ExternControl.Config = 0; |
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334 | ExternStickNick = 0; |
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335 | ExternStickRoll = 0; |
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336 | ExternStickGier = 0; |
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1913 | holgerb | 337 | if(!SenderOkay) |
1420 | killagreg | 338 | { |
1914 | holgerb | 339 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
1913 | holgerb | 340 | { |
341 | beeptime = 15000; |
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342 | BeepMuster = 0x0c00; |
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1914 | holgerb | 343 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
1913 | holgerb | 344 | } |
1914 | holgerb | 345 | } |
1420 | killagreg | 346 | } |
1682 | holgerb | 347 | if(NaviDataOkay > 200) |
1420 | killagreg | 348 | { |
349 | NaviDataOkay--; |
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1765 | killagreg | 350 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
1420 | killagreg | 351 | } |
352 | else |
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353 | { |
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1702 | holgerb | 354 | if(NC_Version.Compatible) |
355 | { |
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1930 | holgerb | 356 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
357 | NC_ErrorCode = 9; // "ERR: no NC communication" |
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1702 | holgerb | 358 | if(BeepMuster == 0xffff && MotorenEin) |
359 | { |
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360 | beeptime = 15000; |
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361 | BeepMuster = 0xA800; |
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362 | } |
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1765 | killagreg | 363 | } |
1420 | killagreg | 364 | GPS_Nick = 0; |
365 | GPS_Roll = 0; |
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1945 | holgerb | 366 | GPS_Aid_StickMultiplikator = 0; |
1916 | holgerb | 367 | GPSInfo.Flags = 0; |
1936 | holgerb | 368 | FromNaviCtrl.AccErrorN = 0; |
369 | FromNaviCtrl.AccErrorR = 0; |
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1691 | holgerb | 370 | FromNaviCtrl.CompassValue = -1; |
1703 | holgerb | 371 | NaviDataOkay = 0; |
1420 | killagreg | 372 | } |
1309 | hbuss | 373 | if(UBat < BattLowVoltageWarning) |
1254 | killagreg | 374 | { |
1765 | killagreg | 375 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
1254 | killagreg | 376 | if(BeepMuster == 0xffff) |
377 | { |
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378 | beeptime = 6000; |
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379 | BeepMuster = 0x0300; |
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380 | } |
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381 | } |
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1765 | killagreg | 382 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
1420 | killagreg | 383 | |
1254 | killagreg | 384 | SPI_StartTransmitPacket(); |
385 | SendSPI = 4; |
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2009 | holgerb | 386 | // +++++++++++++++++++++++++++++++++ |
387 | // Sekundentakt |
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1512 | holgerb | 388 | if(++second == 49) |
389 | { |
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390 | second = 0; |
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2009 | holgerb | 391 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
392 | else |
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393 | { |
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394 | timer2 = 1450; // 0,5 Minuten aufrunden |
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395 | if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
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396 | else |
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397 | if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
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398 | } |
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1512 | holgerb | 399 | } |
2009 | holgerb | 400 | // +++++++++++++++++++++++++++++++++ |
1320 | hbuss | 401 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 402 | { |
403 | timer2 = 0; |
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404 | FlugMinuten++; |
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405 | FlugMinutenGesamt++; |
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1652 | holgerb | 406 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
407 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
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408 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
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409 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
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1344 | hbuss | 410 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 411 | } |
1254 | killagreg | 412 | } |
921 | hbuss | 413 | LED_Update(); |
1486 | killagreg | 414 | Capacity_Update(); |
1936 | holgerb | 415 | } //else DebugOut.Analog[26]++; |
604 | hbuss | 416 | } |
2012 | holgerb | 417 | } |
418 | if(!SendSPI) { SPI_TransmitByte(); } |
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1 | ingob | 419 | } |
420 | return (1); |
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421 | } |
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1944 | holgerb | 422 | //DebugOut.Analog[16] |
1 | ingob | 423 |