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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 2
// + Copyright (c) Holger Buss, Ingo Busker
3
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1 ingob 4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 24
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 25
// + mit unserer Zustimmung zulässig
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
1051 killagreg 33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 34
// +     for non-commercial use (directly or indirectly)
1051 killagreg 35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 36
// +     with our written permission
1051 killagreg 37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
1338 ingob 39
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1 ingob 40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52
#include "main.h"
53
 
1438 ingob 54
 
173 holgerb 55
unsigned char PlatinenVersion = 10;
723 hbuss 56
unsigned char SendVersionToNavi = 1;
1232 hbuss 57
unsigned char BattLowVoltageWarning = 94;
1298 hbuss 58
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
1512 holgerb 59
unsigned int FlugSekunden = 0;
1444 ingob 60
pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
61
 
1 ingob 62
// -- Parametersatz aus EEPROM lesen ---
1051 killagreg 63
// number [1..5]
1 ingob 64
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
65
{
993 hbuss 66
   if((number > 5)||(number < 1)) number = 3;
1598 killagreg 67
   eeprom_read_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
921 hbuss 68
   LED_Init();
1 ingob 69
}
70
 
71
// -- Parametersatz ins EEPROM schreiben ---
1051 killagreg 72
// number [1..5]
1 ingob 73
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
74
{
1051 killagreg 75
   if(number > 5) number = 5;
993 hbuss 76
   if(number < 1) return;
1598 killagreg 77
   eeprom_write_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
78
   eeprom_write_byte((unsigned char*)(EEPROM_ADR_PARAM_LENGTH), length); // Länge der Datensätze merken
79
   eeprom_write_block(buffer, (void*)(EEPROM_ADR_CHANNELS), 12); // 12 Kanäle merken
1063 killagreg 80
   SetActiveParamSetNumber(number);
921 hbuss 81
   LED_Init();
1 ingob 82
}
83
 
84
unsigned char GetActiveParamSetNumber(void)
85
{
1063 killagreg 86
        unsigned char set;
1598 killagreg 87
        set = eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET));
1063 killagreg 88
        if((set > 5) || (set < 1))
89
        {
90
                set = 3;
91
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
92
        }
93
        return(set);
1 ingob 94
}
95
 
1063 killagreg 96
void SetActiveParamSetNumber(unsigned char number)
97
{
98
        if(number > 5) number = 5;
99
        if(number < 1) return;
1598 killagreg 100
        eeprom_write_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET), number);                             // diesen Parametersatz als aktuell merken
1063 killagreg 101
}
102
 
103
 
819 hbuss 104
void CalMk3Mag(void)
105
{
106
 static unsigned char stick = 1;
107
 
108
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
109
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
110
  {
111
   stick = 1;
112
   WinkelOut.CalcState++;
1051 killagreg 113
   if(WinkelOut.CalcState > 4)
114
    {
819 hbuss 115
//     WinkelOut.CalcState = 0; // in Uart.c
116
     beeptime = 1000;
1051 killagreg 117
    }
1232 hbuss 118
   else Piep(WinkelOut.CalcState,150);
819 hbuss 119
  }
120
  DebugOut.Analog[19] = WinkelOut.CalcState;
121
}
122
 
1438 ingob 123
 
124
 
1268 hbuss 125
void LipoDetection(unsigned char print)
126
{
127
   unsigned int timer;
128
   if(print) printf("\n\rBatt:");
129
   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
130
    {
131
         timer = SetDelay(500);
132
         if(print) while (!CheckDelay(timer));
133
         if(UBat < 130)
134
          {
135
           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
1420 killagreg 136
           if(print)
1268 hbuss 137
            {
138
                 Piep(3,200);
139
             printf(" 3 Cells  ");
1420 killagreg 140
                }
1268 hbuss 141
          }
142
         else
143
          {
144
           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
1420 killagreg 145
           if(print)
1268 hbuss 146
            {
147
                 Piep(4,200);
148
             printf(" 4 Cells  ");
1420 killagreg 149
                }
1268 hbuss 150
          }
151
    }
152
    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
1374 hbuss 153
//      if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
1268 hbuss 154
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
155
}
156
 
1 ingob 157
//############################################################################
158
//Hauptprogramm
159
int main (void)
160
//############################################################################
161
{
1424 ingob 162
        unsigned int timer,i,timer2 = 0, timerPolling;
1479 killagreg 163
        unsigned char RequiredMotors = 0;
164
 
1051 killagreg 165
    DDRB  = 0x00;
166
    PORTB = 0x00;
188 holgerb 167
    for(timer = 0; timer < 1000; timer++); // verzögern
1051 killagreg 168
    if(PINB & 0x01)
918 hbuss 169
     {
1051 killagreg 170
      if(PINB & 0x02) PlatinenVersion = 13;
171
       else           PlatinenVersion = 11;
918 hbuss 172
     }
1051 killagreg 173
    else
1021 hbuss 174
     {
1051 killagreg 175
      if(PINB & 0x02) PlatinenVersion = 20;
176
       else           PlatinenVersion = 10;
1021 hbuss 177
     }
178
 
173 holgerb 179
    DDRC  = 0x81; // SCL
1036 hbuss 180
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 181
    PORTC = 0xff; // Pullup SDA
182
    DDRB  = 0x1B; // LEDs und Druckoffset
183
    PORTB = 0x01; // LED_Rot
184
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1153 hbuss 185
        PORTD = 0x47; // LED
1171 hbuss 186
    HEF4017R_ON;
1 ingob 187
    MCUSR &=~(1<<WDRF);
188
    WDTCSR |= (1<<WDCE)|(1<<WDE);
189
    WDTCSR = 0;
190
 
191
    beeptime = 2000;
192
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
1111 hbuss 193
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 194
    ROT_OFF;
1479 killagreg 195
 
1 ingob 196
    Timer_Init();
1156 hbuss 197
        TIMER2_Init();
1 ingob 198
        UART_Init();
199
    rc_sum_init();
200
        ADC_Init();
201
        i2c_init();
597 ingob 202
        SPI_MasterInit();
1486 killagreg 203
        Capacity_Init();
1435 killagreg 204
        LIBFC_Init();
1431 ingob 205
        GRN_ON;
206
    sei();
1344 hbuss 207
 
1377 hbuss 208
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
1435 killagreg 209
 
210
 
1598 killagreg 211
    if((eeprom_read_byte((unsigned char*)(EEPROM_ADR_MIXER_TABLE)) == MIXER_REVISION) && // Check Revision in the first Byte
212
       (eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != 0xff))                   // Settings reset via Koptertool
1209 hbuss 213
        {
1254 killagreg 214
     unsigned char i;
1598 killagreg 215
     eeprom_read_block(&Mixer, (unsigned char*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
1209 hbuss 216
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
1254 killagreg 217
        }
1209 hbuss 218
        else // default
219
        {
1254 killagreg 220
     unsigned char i;
1211 hbuss 221
         printf("\n\rGenerating default Mixer Table");
1209 hbuss 222
         for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
223
     // default = Quadro
224
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
225
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
226
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
227
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
1211 hbuss 228
         Mixer.Revision = MIXER_REVISION;
1254 killagreg 229
     memcpy(Mixer.Name, "Quadro\0", 11);
1598 killagreg 230
     eeprom_write_block(&Mixer, (void*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
1209 hbuss 231
    }
232
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
1431 ingob 233
 
1211 hbuss 234
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
235
// + Check connected BL-Ctrls
236
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1591 holgerb 237
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
1211 hbuss 238
        printf("\n\rFound BL-Ctrl: ");
1591 holgerb 239
    timer = SetDelay(4000);
1420 killagreg 240
 
1211 hbuss 241
        for(i=0; i < MAX_MOTORS; i++)
242
         {
243
          UpdateMotor = 0;
244
      SendMotorData();
245
          while(!UpdateMotor);
1591 holgerb 246
      if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
1232 hbuss 247
        {
1479 killagreg 248
             while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
1232 hbuss 249
                }
1479 killagreg 250
          if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
1211 hbuss 251
     }
252
        for(i=0; i < MAX_MOTORS; i++)
253
         {
1479 killagreg 254
          if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
1320 hbuss 255
           {
256
            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
257
                ServoActive = 1; // just in case the FC would be used as camera-stabilizer
1420 killagreg 258
           }
1479 killagreg 259
          Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
1211 hbuss 260
     }
1320 hbuss 261
        printf("\n\r===================================");
1356 hbuss 262
    SendMotorData();
1403 hbuss 263
//printf("\n size: %u",STRUCT_PARAM_LAENGE);
1320 hbuss 264
 
1211 hbuss 265
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
266
// + Check Settings
267
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1598 killagreg 268
    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != EE_DATENREVISION)
1051 killagreg 269
        {
1 ingob 270
          DefaultKonstanten1();
1171 hbuss 271
          printf("\n\rInit. EEPROM");
1051 killagreg 272
          for (unsigned char i=1;i<6;i++)
1 ingob 273
      {
395 hbuss 274
       if(i==2) DefaultKonstanten2(); // Kamera
275
       if(i==3) DefaultKonstanten3(); // Beginner
276
       if(i>3)  DefaultKonstanten2(); // Kamera
1254 killagreg 277
           if(PlatinenVersion >= 20)
278
            {
1167 hbuss 279
                 EE_Parameter.Gyro_D = 5;
1111 hbuss 280
                 EE_Parameter.Driftkomp = 0;
281
                 EE_Parameter.GyroAccFaktor = 27;
282
         EE_Parameter.WinkelUmschlagNick = 78;
283
         EE_Parameter.WinkelUmschlagRoll = 78;
284
                }
1171 hbuss 285
    // valid Stick-Settings?
1598 killagreg 286
           if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3)) < 12)
1171 hbuss 287
            {
1598 killagreg 288
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+0));
289
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1));
290
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2));
291
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3));
292
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+4));
293
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+5));
294
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+6));
295
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+7));
1420 killagreg 296
 
1598 killagreg 297
         if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8)) < 0xFF)
1377 hbuss 298
                  {
1598 killagreg 299
                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8));
300
           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+9));
301
           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+10));
302
           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+11));
1420 killagreg 303
                  }
304
                  else
1377 hbuss 305
                  {
306
           EE_Parameter.Kanalbelegung[K_POTI5] = 9;
307
           EE_Parameter.Kanalbelegung[K_POTI6] = 10;
308
           EE_Parameter.Kanalbelegung[K_POTI7] = 11;
309
           EE_Parameter.Kanalbelegung[K_POTI8] = 12;
310
                  }
1171 hbuss 311
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
312
                } else DefaultStickMapping();
1 ingob 313
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1051 killagreg 314
      }
1063 killagreg 315
          SetActiveParamSetNumber(3); // default-Setting
1598 killagreg 316
          eeprom_write_byte((unsigned char*)(EEPROM_ADR_VALID), EE_DATENREVISION);
1 ingob 317
        }
1435 killagreg 318
 
1598 killagreg 319
    FlugMinuten = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1));
320
    FlugMinutenGesamt = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES+1));
1350 hbuss 321
    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
1298 hbuss 322
         {
323
          FlugMinuten = 0;
324
          FlugMinutenGesamt = 0;
325
         }
326
    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
327
 
1598 killagreg 328
    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACC_NICK)) > 4)
513 hbuss 329
     {
1211 hbuss 330
       printf("\n\rACC not calibrated !");
513 hbuss 331
     }
1051 killagreg 332
 
1 ingob 333
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1211 hbuss 334
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
1 ingob 335
 
1051 killagreg 336
 
1529 killagreg 337
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 338
         {
1211 hbuss 339
           printf("\n\rCalibrating pressure sensor..");
1051 killagreg 340
           timer = SetDelay(1000);
1 ingob 341
       SucheLuftruckOffset();
342
           while (!CheckDelay(timer));
343
       printf("OK\n\r");
344
        }
1051 killagreg 345
 
1 ingob 346
        SetNeutral();
347
 
348
        ROT_OFF;
1051 killagreg 349
 
1 ingob 350
    beeptime = 2000;
1051 killagreg 351
    ExternControl.Digital[0] = 0x55;
1 ingob 352
 
1051 killagreg 353
 
1211 hbuss 354
        printf("\n\rControl: ");
1 ingob 355
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1211 hbuss 356
        else printf("Normal (ACC-Mode)");
1051 killagreg 357
 
1 ingob 358
    LcdClear();
173 holgerb 359
    I2CTimeout = 5000;
819 hbuss 360
    WinkelOut.Orientation = 1;
1268 hbuss 361
    LipoDetection(1);
1435 killagreg 362
 
363
        LIBFC_ReceiverInit();
1444 ingob 364
 
1232 hbuss 365
        printf("\n\r===================================\n\r");
1320 hbuss 366
//SpektrumBinding();
1350 hbuss 367
    timer = SetDelay(2000);
1424 ingob 368
        timerPolling = SetDelay(250);
1529 killagreg 369
 
1 ingob 370
        while (1)
371
        {
1420 killagreg 372
 
1424 ingob 373
        if(CheckDelay(timerPolling))
1419 ingob 374
        {
1424 ingob 375
          timerPolling = SetDelay(100);
1435 killagreg 376
          LIBFC_Polling();
1419 ingob 377
        }
1420 killagreg 378
 
1419 ingob 379
        if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 380
            {
1171 hbuss 381
                    UpdateMotor=0;
819 hbuss 382
            if(WinkelOut.CalcState) CalMk3Mag();
1051 killagreg 383
            else MotorRegler();
1 ingob 384
            SendMotorData();
385
            ROT_OFF;
386
            if(SenderOkay)  SenderOkay--;
1309 hbuss 387
                        else TIMSK1 |= _BV(ICIE1); // enable PPM-Input
1420 killagreg 388
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1481 holgerb 389
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
390
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
1309 hbuss 391
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1420 killagreg 392
 
1210 hbuss 393
            if(!--I2CTimeout || MissingMotor)
173 holgerb 394
                {
1254 killagreg 395
                  if(!I2CTimeout)
1210 hbuss 396
                                   {
397
                                    i2c_reset();
398
                    I2CTimeout = 5;
1322 hbuss 399
                                        DebugOut.Analog[28]++; // I2C-Error
1423 hbuss 400
                                        FCFlags |= FCFLAG_I2CERR;
1322 hbuss 401
                                   }
1051 killagreg 402
                  if((BeepMuster == 0xffff) && MotorenEin)
403
                   {
173 holgerb 404
                    beeptime = 10000;
405
                    BeepMuster = 0x0080;
1051 killagreg 406
                   }
1 ingob 407
                }
1051 killagreg 408
            else
1 ingob 409
                {
1051 killagreg 410
                 ROT_OFF;
1423 hbuss 411
                                 if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
1 ingob 412
                }
805 hbuss 413
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
1 ingob 414
              {
415
               DatenUebertragung();
416
               BearbeiteRxDaten();
417
              }
1254 killagreg 418
                        else BearbeiteRxDaten();
419
                        if(CheckDelay(timer))
420
                        {
1512 holgerb 421
                                static unsigned char second;
1420 killagreg 422
                                timer += 20; // 20 ms interval
423
                                if(PcZugriff) PcZugriff--;
424
                                else
425
                                {
426
                                        ExternControl.Config = 0;
427
                                        ExternStickNick = 0;
428
                                        ExternStickRoll = 0;
429
                                        ExternStickGier = 0;
430
                                        if(BeepMuster == 0xffff && SenderOkay == 0)
431
                                        {
432
                                                beeptime = 15000;
433
                                                BeepMuster = 0x0c00;
434
                                        }
435
                                }
436
                                if(NaviDataOkay)
437
                                {
438
                                        NaviDataOkay--;
439
                                        FCFlags &= ~FCFLAG_SPI_RX_ERR;
440
                                }
441
                                else
442
                                {
443
                                        GPS_Nick = 0;
444
                                        GPS_Roll = 0;
1423 hbuss 445
                                        if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR;
1420 killagreg 446
                                }
1309 hbuss 447
                           if(UBat < BattLowVoltageWarning)
1254 killagreg 448
                                {
1420 killagreg 449
                                        FCFlags |= FCFLAG_LOWBAT;
1254 killagreg 450
                                        if(BeepMuster == 0xffff)
451
                                        {
452
                                                beeptime = 6000;
453
                                                BeepMuster = 0x0300;
454
                                        }
455
                                }
1423 hbuss 456
                                else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
1420 killagreg 457
 
1254 killagreg 458
                                SPI_StartTransmitPacket();
459
                                SendSPI = 4;
1320 hbuss 460
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
1529 killagreg 461
                                else
1512 holgerb 462
                if(++second == 49)
463
                                 {
464
                                   second = 0;
465
                                   FlugSekunden++;
466
                                 }
1529 killagreg 467
 
1320 hbuss 468
                                if(++timer2 == 2930)  // eine Minute
1298 hbuss 469
                                 {
470
                                   timer2 = 0;
471
                   FlugMinuten++;
472
                       FlugMinutenGesamt++;
1598 killagreg 473
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2),FlugMinuten / 256);
474
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1),FlugMinuten % 256);
475
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES),FlugMinutenGesamt / 256);
476
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES+1),FlugMinutenGesamt % 256);
1344 hbuss 477
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
1298 hbuss 478
                             }
1254 killagreg 479
                        }
921 hbuss 480
           LED_Update();
1486 killagreg 481
           Capacity_Update();
604 hbuss 482
          }
723 hbuss 483
     if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 484
    }
485
 return (1);
486
}
487
 
1219 hbuss 488