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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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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. |
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13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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19 | // + des Mitverschuldens offen. |
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20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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27 | // + 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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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 |
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33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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34 | // + The Software may only be used with the Licensor's products. |
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35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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37 | // + agreement shall be the property of the Licensor. |
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38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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40 | // + The customer shall be responsible for taking reasonable precautions |
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41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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42 | // + 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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43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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50 | // + #### END OF LICENSING TERMS #### |
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51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | #include "main.h" |
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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 | { |
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68 | printf("\n\r==================================="); |
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69 | } |
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70 | |||
71 | |||
819 | hbuss | 72 | void CalMk3Mag(void) |
73 | { |
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74 | static unsigned char stick = 1; |
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2499 | holgerb | 75 | ChannelAssingment(); |
2496 | holgerb | 76 | if(ChannelNick > -20) stick = 0; |
77 | if((ChannelNick < -70) && !stick) |
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819 | hbuss | 78 | { |
79 | stick = 1; |
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80 | WinkelOut.CalcState++; |
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1051 | killagreg | 81 | if(WinkelOut.CalcState > 4) |
82 | { |
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2609 | holgerb | 83 | // WinkelOut.CalcState = 0; // in SPI.c |
819 | hbuss | 84 | beeptime = 1000; |
1051 | killagreg | 85 | } |
1232 | hbuss | 86 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 87 | } |
2609 | holgerb | 88 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
89 | ShowCmpsCalibrateTime = 6; |
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90 | #endif |
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819 | hbuss | 91 | } |
92 | |||
1268 | hbuss | 93 | void LipoDetection(unsigned char print) |
94 | { |
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2517 | holgerb | 95 | unsigned int warning; |
2407 | holgerb | 96 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
2408 | holgerb | 97 | if(print) |
98 | { |
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99 | printf("\n\rBatt:"); |
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100 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
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2416 | holgerb | 101 | if(LipoCells > 6) LipoCells = 6; |
2408 | holgerb | 102 | } |
2416 | holgerb | 103 | |
2390 | holgerb | 104 | if(EE_Parameter.UnterspannungsWarnung < 50) |
1654 | killagreg | 105 | { |
2517 | holgerb | 106 | warning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
1654 | killagreg | 107 | if(print) |
108 | { |
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2402 | holgerb | 109 | Piep(LipoCells, 200); |
110 | printf(" %d Cells ", LipoCells); |
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1420 | killagreg | 111 | } |
1654 | killagreg | 112 | } |
2517 | holgerb | 113 | else warning = EE_Parameter.UnterspannungsWarnung; |
114 | if(warning > 255) warning = 255; BattLowVoltageWarning = warning; |
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2390 | holgerb | 115 | // automatische Zellenerkennung |
2517 | holgerb | 116 | if(EE_Parameter.AutoLandingVoltage < 50) warning = LipoCells * EE_Parameter.AutoLandingVoltage; else warning = EE_Parameter.AutoLandingVoltage; |
117 | if(warning > 255) warning = 255; BattAutoLandingVoltage = warning; |
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118 | |||
119 | if(EE_Parameter.ComingHomeVoltage < 50) warning = LipoCells * EE_Parameter.ComingHomeVoltage; else warning = EE_Parameter.ComingHomeVoltage; |
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120 | if(warning > 255) warning = 255; BattComingHomeVoltage = warning; |
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2390 | holgerb | 121 | |
2416 | holgerb | 122 | if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
123 | if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
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124 | if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
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2408 | holgerb | 125 | |
2390 | holgerb | 126 | if(print) |
127 | { |
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2408 | holgerb | 128 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
2416 | holgerb | 129 | if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
130 | if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
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2390 | holgerb | 131 | } |
2416 | holgerb | 132 | |
1268 | hbuss | 133 | } |
134 | |||
2575 | holgerb | 135 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
136 | void LoadStoreSingleWP(void) |
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137 | { |
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138 | // +++++++++++++++++++++++++++++++++++++++++++ |
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139 | // + Load/Store one single point |
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140 | // +++++++++++++++++++++++++++++++++++++++++++ |
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141 | static unsigned char switch_hyterese = 0, hyterese = 1, wp_tmp_s = 0, wp_tmp_l = 0; |
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142 | static int delay; |
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143 | |||
144 | if(PPM_in[EE_Parameter.SingleWpControlChannel] > 50) // Switch Up -> load |
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145 | { |
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146 | if(switch_hyterese == 1 || switch_hyterese == 3) |
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147 | { |
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148 | ToNC_Load_SingePoint = 1; |
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149 | switch_hyterese = 2; |
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150 | SpeakHoTT = SPEAK_NEXT_WP; |
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151 | Show_Load_Time = 5; |
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152 | Show_Load_Value = 1; |
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153 | wp_tmp_l = 1; |
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154 | } |
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155 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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156 | // Bedienung per Taster am Sender |
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157 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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158 | { |
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159 | hyterese = 2; |
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160 | if(CheckDelay(delay)) { wp_tmp_l = 0; hyterese = 1;} |
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161 | } |
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162 | else |
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2605 | holgerb | 163 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
2575 | holgerb | 164 | { |
165 | delay = SetDelay(2500); |
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166 | if(hyterese == 2 && (wp_tmp_l < NaviData_MaxWpListIndex)) |
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167 | { |
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168 | wp_tmp_l++; |
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169 | ToNC_Load_SingePoint = wp_tmp_l; |
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170 | Show_Load_Time = 5; |
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171 | Show_Load_Value = wp_tmp_l; |
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172 | SpeakHoTT = SPEAK_NEXT_WP; |
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173 | } |
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174 | hyterese = 0; |
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175 | } |
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176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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177 | } |
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178 | else |
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179 | if(PPM_in[EE_Parameter.SingleWpControlChannel] < -50) // Switch Down -> store |
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180 | { |
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181 | if(switch_hyterese == 1 || switch_hyterese == 2) |
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182 | { |
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183 | ToNC_Store_SingePoint = 1; |
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184 | switch_hyterese = 3; |
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185 | SpeakHoTT = SPEAK_MIKROKOPTER; |
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186 | Show_Store_Time = 5; |
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187 | Show_Store_Value = 1; |
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188 | wp_tmp_s = 1; |
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189 | } |
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190 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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191 | // Bedienung per Taster am Sender |
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192 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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193 | { |
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194 | hyterese = 2; |
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195 | if(CheckDelay(delay)) { wp_tmp_s = 0; hyterese = 1;} |
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196 | } |
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197 | else |
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2605 | holgerb | 198 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
2575 | holgerb | 199 | { |
200 | delay = SetDelay(2500); |
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201 | if(hyterese == 2 && (wp_tmp_s < NaviData_MaxWpListIndex)) |
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202 | { |
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203 | wp_tmp_s++; |
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204 | ToNC_Store_SingePoint = wp_tmp_s; |
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205 | Show_Store_Time = 5; |
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206 | Show_Store_Value = wp_tmp_s; |
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207 | SpeakHoTT = SPEAK_MIKROKOPTER; |
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208 | } |
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209 | hyterese = 0; |
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210 | } |
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211 | } |
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212 | else // Middle |
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213 | { |
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214 | switch_hyterese = 1; |
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215 | } |
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216 | } |
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217 | // +++++++++++++++++++++++++++++++++++++++++++ |
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218 | #endif |
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1 | ingob | 219 | //############################################################################ |
220 | //Hauptprogramm |
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221 | int main (void) |
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222 | //############################################################################ |
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223 | { |
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1424 | ingob | 224 | unsigned int timer,i,timer2 = 0, timerPolling; |
2575 | holgerb | 225 | unsigned char update_spi = 1; |
1051 | killagreg | 226 | DDRB = 0x00; |
2330 | holgerb | 227 | PORTB = 0x00; |
2309 | holgerb | 228 | DDRD = 0x0A; // UART & J3 J4 J5 |
2609 | holgerb | 229 | PORTD = 0x7F; // PPM-Input & UART |
188 | holgerb | 230 | for(timer = 0; timer < 1000; timer++); // verzögern |
1660 | holgerb | 231 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2334 | holgerb | 232 | unsigned char AccZ_ErrorCnt = 0; |
2309 | holgerb | 233 | if(PINB & 0x02) |
234 | { |
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235 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
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236 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
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237 | } |
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238 | else |
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239 | { |
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2597 | holgerb | 240 | PlatinenVersion = LIBFC_Get_HW_Version(25); |
2579 | holgerb | 241 | ACC_AltitudeControl = 1; |
242 | J4Low; |
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2309 | holgerb | 243 | } |
1660 | holgerb | 244 | #else |
245 | if(PINB & 0x01) |
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918 | hbuss | 246 | { |
1051 | killagreg | 247 | if(PINB & 0x02) PlatinenVersion = 13; |
248 | else PlatinenVersion = 11; |
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918 | hbuss | 249 | } |
1051 | killagreg | 250 | else |
1021 | hbuss | 251 | { |
1051 | killagreg | 252 | if(PINB & 0x02) PlatinenVersion = 20; |
2309 | holgerb | 253 | else |
254 | { |
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255 | PlatinenVersion = 10; |
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256 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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257 | PORTD = 0x47; // |
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258 | } |
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1021 | hbuss | 259 | } |
1660 | holgerb | 260 | #endif |
2316 | holgerb | 261 | |
2309 | holgerb | 262 | DDRC = 0x81; // I2C, Spaker |
1036 | hbuss | 263 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 264 | PORTC = 0xff; // Pullup SDA |
265 | DDRB = 0x1B; // LEDs und Druckoffset |
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2609 | holgerb | 266 | PORTB = 0x05; // LED_Rot & pullup on PB2 (RC-Voltage detection) |
2597 | holgerb | 267 | |
2146 | holgerb | 268 | HEF4017Reset_ON; |
1 | ingob | 269 | MCUSR &=~(1<<WDRF); |
270 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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271 | WDTCSR = 0; |
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272 | |||
1652 | holgerb | 273 | beeptime = 2500; |
2496 | holgerb | 274 | StickGier = 0; StickRoll = 0; StickNick = 0; |
1660 | holgerb | 275 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
1 | ingob | 276 | ROT_OFF; |
2193 | holgerb | 277 | GRN_ON; |
1479 | killagreg | 278 | |
1 | ingob | 279 | Timer_Init(); |
1156 | hbuss | 280 | TIMER2_Init(); |
1 | ingob | 281 | UART_Init(); |
282 | rc_sum_init(); |
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283 | ADC_Init(); |
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1743 | holgerb | 284 | I2C_Init(1); |
597 | ingob | 285 | SPI_MasterInit(); |
1486 | killagreg | 286 | Capacity_Init(); |
2309 | holgerb | 287 | LIBFC_Init(LIB_FC_COMPATIBLE); |
1431 | ingob | 288 | GRN_ON; |
289 | sei(); |
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1622 | killagreg | 290 | ParamSet_Init(); |
1211 | hbuss | 291 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2426 | holgerb | 292 | if(PlatinenVersion < 20) |
293 | { |
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294 | wdt_enable(WDTO_250MS); // Reset-Commando |
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2462 | holgerb | 295 | while(1) printf("\n\rOld FC Hardware not supported by this Firmware!"); |
2426 | holgerb | 296 | } |
2427 | holgerb | 297 | #ifndef REDUNDANT_FC_SLAVE |
2426 | holgerb | 298 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1211 | hbuss | 299 | // + Check connected BL-Ctrls |
300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1648 | killagreg | 301 | // Check connected BL-Ctrls |
302 | BLFlags |= BLFLAG_READ_VERSION; |
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1662 | killagreg | 303 | motor_read = 0; // read the first I2C-Data |
2466 | holgerb | 304 | for(i=0; i < 500; i++) |
305 | { |
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306 | SendMotorData(); |
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307 | timer = SetDelay(5); |
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308 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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309 | } |
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1648 | killagreg | 310 | printf("\n\rFound BL-Ctrl: "); |
2466 | holgerb | 311 | // timer = SetDelay(1000); |
1211 | hbuss | 312 | for(i=0; i < MAX_MOTORS; i++) |
1622 | killagreg | 313 | { |
2466 | holgerb | 314 | // SendMotorData(); |
315 | // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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1622 | killagreg | 316 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
317 | { |
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1648 | killagreg | 318 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
319 | { |
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2496 | holgerb | 320 | if((BLFlags & BLFLAG_TX_COMPLETE)) SendMotorData(); |
321 | //while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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1648 | killagreg | 322 | } |
1232 | hbuss | 323 | } |
1648 | killagreg | 324 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
325 | { |
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2466 | holgerb | 326 | unsigned char vers; |
327 | printf("%d",(i+1)%10); |
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1702 | holgerb | 328 | FoundMotors++; |
2466 | holgerb | 329 | vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
330 | if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
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2527 | holgerb | 331 | //if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)"); |
332 | //if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)"); |
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333 | //printf(":V%03d\n\r",vers); |
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1648 | killagreg | 334 | } |
1622 | killagreg | 335 | } |
1211 | hbuss | 336 | for(i=0; i < MAX_MOTORS; i++) |
1051 | killagreg | 337 | { |
1622 | killagreg | 338 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
339 | { |
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340 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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1701 | holgerb | 341 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
1111 | hbuss | 342 | } |
1622 | killagreg | 343 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
1 | ingob | 344 | } |
2466 | holgerb | 345 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
346 | if(VersionInfo.BL_Firmware != 255) |
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347 | { |
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348 | printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
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349 | if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
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350 | } |
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351 | #endif |
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352 | |||
2030 | holgerb | 353 | PrintLine();// ("\n\r==================================="); |
1765 | killagreg | 354 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
2407 | holgerb | 355 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
2437 | holgerb | 356 | #else |
2462 | holgerb | 357 | printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r"); |
2437 | holgerb | 358 | #endif |
359 | |||
360 | #ifdef REDUNDANT_FC_MASTER |
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2462 | holgerb | 361 | printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r"); |
2437 | holgerb | 362 | #endif |
363 | |||
2427 | holgerb | 364 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
365 | // Calibrating altitude sensor |
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366 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1529 | killagreg | 367 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1622 | killagreg | 368 | { |
369 | printf("\n\rCalibrating pressure sensor.."); |
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370 | timer = SetDelay(1000); |
||
371 | SucheLuftruckOffset(); |
||
372 | while (!CheckDelay(timer)); |
||
373 | printf("OK\n\r"); |
||
1 | ingob | 374 | } |
1051 | killagreg | 375 | |
2427 | holgerb | 376 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 377 | VersionInfo.HardwareError[0] = 0; |
378 | VersionInfo.HardwareError[1] = 0; |
||
379 | #endif |
||
380 | |||
1622 | killagreg | 381 | SetNeutral(0); |
1 | ingob | 382 | |
383 | ROT_OFF; |
||
1051 | killagreg | 384 | |
1 | ingob | 385 | beeptime = 2000; |
386 | |||
1652 | holgerb | 387 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
388 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
||
1622 | killagreg | 389 | |
1702 | holgerb | 390 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
1622 | killagreg | 391 | { |
392 | FlugMinuten = 0; |
||
393 | FlugMinutenGesamt = 0; |
||
394 | } |
||
2034 | holgerb | 395 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
1 | ingob | 396 | LcdClear(); |
173 | holgerb | 397 | I2CTimeout = 5000; |
819 | hbuss | 398 | WinkelOut.Orientation = 1; |
1268 | hbuss | 399 | LipoDetection(1); |
1626 | killagreg | 400 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
2030 | holgerb | 401 | PrintLine();// ("\n\r==================================="); |
1622 | killagreg | 402 | //SpektrumBinding(); |
1350 | hbuss | 403 | timer = SetDelay(2000); |
1424 | ingob | 404 | timerPolling = SetDelay(250); |
1648 | killagreg | 405 | |
1636 | ingob | 406 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
2340 | holgerb | 407 | //printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN); |
408 | |||
1702 | holgerb | 409 | DebugOut.Status[0] = 0x01 | 0x02; |
1834 | holgerb | 410 | JetiBeep = 0; |
1913 | holgerb | 411 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
2466 | holgerb | 412 | ReadBlSize = 3; // don't read the version any more |
2462 | holgerb | 413 | #ifdef REDUNDANT_FC_SLAVE |
414 | timer = SetDelay(2500); |
||
415 | while(!CheckDelay(timer)); |
||
416 | printf("\n\rStart\n\r"); |
||
417 | #endif |
||
2597 | holgerb | 418 | // printf("\n\rSize %i\n\r", sizeof(HugeBlockToNavi)); |
419 | |||
2330 | holgerb | 420 | while(1) |
1 | ingob | 421 | { |
2439 | holgerb | 422 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
1945 | holgerb | 423 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
1419 | ingob | 424 | if(UpdateMotor && AdReady) // ReglerIntervall |
1051 | killagreg | 425 | { |
2386 | holgerb | 426 | cli(); |
427 | UpdateMotor--; |
||
428 | sei(); |
||
819 | hbuss | 429 | if(WinkelOut.CalcState) CalMk3Mag(); |
1644 | holgerb | 430 | else MotorRegler(); |
431 | SendMotorData(); |
||
1 | ingob | 432 | ROT_OFF; |
2597 | holgerb | 433 | |
434 | if(SenderOkay > ReceiverOkay) ReceiverOkay = SenderOkay; |
||
435 | |||
436 | if(ReceiverOkay) ReceiverOkay--; |
||
437 | else |
||
438 | { |
||
439 | ChannelNick = 0; |
||
440 | ChannelRoll = 0; |
||
441 | ChannelYaw = 0; |
||
442 | ChannelGas = 0; |
||
443 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
||
444 | } |
||
445 | |||
1937 | holgerb | 446 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
1603 | killagreg | 447 | else |
448 | { |
||
449 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
||
450 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
||
2486 | holgerb | 451 | // Now clear the channel values - they would be wrong |
452 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
453 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
454 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
455 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
456 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
457 | PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
||
1603 | killagreg | 458 | } |
1420 | killagreg | 459 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1481 | holgerb | 460 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
461 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
||
1309 | hbuss | 462 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | hbuss | 463 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 464 | { |
1254 | killagreg | 465 | if(!I2CTimeout) |
1210 | hbuss | 466 | { |
1662 | killagreg | 467 | I2C_Reset(); |
1210 | hbuss | 468 | I2CTimeout = 5; |
1322 | hbuss | 469 | DebugOut.Analog[28]++; // I2C-Error |
1765 | killagreg | 470 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
1702 | holgerb | 471 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1322 | hbuss | 472 | } |
1051 | killagreg | 473 | if((BeepMuster == 0xffff) && MotorenEin) |
474 | { |
||
1936 | holgerb | 475 | beeptime = 25000; |
173 | holgerb | 476 | BeepMuster = 0x0080; |
1051 | killagreg | 477 | } |
1 | ingob | 478 | } |
1051 | killagreg | 479 | else |
1 | ingob | 480 | { |
1051 | killagreg | 481 | ROT_OFF; |
1944 | holgerb | 482 | } |
1916 | holgerb | 483 | LIBFC_Polling(); |
484 | |||
1639 | holgerb | 485 | if(!UpdateMotor) |
2012 | holgerb | 486 | { |
487 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
488 | if(NewSBusData) ProcessSBus(); |
||
489 | else |
||
2543 | holgerb | 490 | if(NewMlinkData) ProcessMlinkData(); |
491 | else |
||
2012 | holgerb | 492 | #endif |
1639 | holgerb | 493 | { |
2404 | holgerb | 494 | if(BytegapSPI == 0) SPI_TransmitByte(); |
1760 | holgerb | 495 | if(CalculateServoSignals) CalculateServo(); |
496 | DatenUebertragung(); |
||
497 | BearbeiteRxDaten(); |
||
2609 | holgerb | 498 | if(!(PINB & 0x04)) VersionInfo.HardwareError[1] |= FC_ERROR1_RC_VOLTAGE; |
1254 | killagreg | 499 | if(CheckDelay(timer)) |
500 | { |
||
1512 | holgerb | 501 | static unsigned char second; |
1420 | killagreg | 502 | timer += 20; // 20 ms interval |
2191 | holgerb | 503 | CalcNickServoValue(); |
2609 | holgerb | 504 | if(!CalibrationDone) FC_StatusFlags3 |= FC_STATUS3_NOT_CALIBRATED; else FC_StatusFlags3 &= ~FC_STATUS3_NOT_CALIBRATED; |
2497 | holgerb | 505 | // ++++++++++++++++++++++++++++ |
506 | // + New direction setpoint from NC |
||
2605 | holgerb | 507 | if((NC_CompassSetpoint != -1) && !NeueKompassRichtungMerken) |
2497 | holgerb | 508 | { |
509 | int diff; |
||
2605 | holgerb | 510 | if((KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
2497 | holgerb | 511 | { |
512 | diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
||
513 | if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
||
514 | else |
||
515 | if(diff < -2) diff = -2; |
||
516 | KompassSollWert -= diff; |
||
517 | } |
||
2500 | holgerb | 518 | else |
519 | { |
||
520 | NC_CompassSetpoint = -1; |
||
521 | NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
||
522 | } |
||
2497 | holgerb | 523 | } |
524 | // ++++++++++++++++++++++++++++ |
||
1925 | holgerb | 525 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1917 | holgerb | 526 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
2263 | holgerb | 527 | else |
528 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
||
2334 | holgerb | 529 | // ++++++++++++++++++++++++++++ |
530 | // + check the ACC-Z range |
||
531 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
||
532 | { |
||
533 | if(++AccZ_ErrorCnt > 50) |
||
534 | { |
||
535 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
||
536 | else CalibrationDone = 0; |
||
537 | } |
||
538 | } |
||
539 | else AccZ_ErrorCnt = 0; |
||
540 | // ++++++++++++++++++++++++++++ |
||
1925 | holgerb | 541 | #endif |
2390 | holgerb | 542 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
1702 | holgerb | 543 | { |
2390 | holgerb | 544 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
1702 | holgerb | 545 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1765 | killagreg | 546 | } |
547 | else |
||
1702 | holgerb | 548 | { |
1936 | holgerb | 549 | if(!beeptime) |
550 | { |
||
551 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
||
552 | } |
||
1765 | killagreg | 553 | } |
2597 | holgerb | 554 | if(DisableRcOffBeeping) if(ReceiverOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
1420 | killagreg | 555 | if(PcZugriff) PcZugriff--; |
556 | else |
||
557 | { |
||
2597 | holgerb | 558 | if(!ReceiverOkay) |
1420 | killagreg | 559 | { |
1914 | holgerb | 560 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
1913 | holgerb | 561 | { |
562 | beeptime = 15000; |
||
563 | BeepMuster = 0x0c00; |
||
1914 | holgerb | 564 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
1913 | holgerb | 565 | } |
1914 | holgerb | 566 | } |
1420 | killagreg | 567 | } |
1682 | holgerb | 568 | if(NaviDataOkay > 200) |
1420 | killagreg | 569 | { |
570 | NaviDataOkay--; |
||
1765 | killagreg | 571 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
2342 | holgerb | 572 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
1420 | killagreg | 573 | } |
574 | else |
||
575 | { |
||
1702 | holgerb | 576 | if(NC_Version.Compatible) |
577 | { |
||
1930 | holgerb | 578 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
579 | NC_ErrorCode = 9; // "ERR: no NC communication" |
||
1702 | holgerb | 580 | if(BeepMuster == 0xffff && MotorenEin) |
581 | { |
||
582 | beeptime = 15000; |
||
583 | BeepMuster = 0xA800; |
||
584 | } |
||
1765 | killagreg | 585 | } |
1420 | killagreg | 586 | GPS_Nick = 0; |
587 | GPS_Roll = 0; |
||
1945 | holgerb | 588 | GPS_Aid_StickMultiplikator = 0; |
1916 | holgerb | 589 | GPSInfo.Flags = 0; |
2348 | holgerb | 590 | FromNaviCtrl_Value.Kalman_K = -1; |
1936 | holgerb | 591 | FromNaviCtrl.AccErrorN = 0; |
592 | FromNaviCtrl.AccErrorR = 0; |
||
1691 | holgerb | 593 | FromNaviCtrl.CompassValue = -1; |
2342 | holgerb | 594 | FromNC_AltitudeSpeed = 0; |
595 | FromNC_AltitudeSetpoint = 0; |
||
596 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
||
2553 | holgerb | 597 | NC_To_FC_Flags = 0; |
1703 | holgerb | 598 | NaviDataOkay = 0; |
1420 | killagreg | 599 | } |
2390 | holgerb | 600 | if(UBat <= BattLowVoltageWarning) |
1254 | killagreg | 601 | { |
1765 | killagreg | 602 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
2373 | holgerb | 603 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
1254 | killagreg | 604 | { |
605 | beeptime = 6000; |
||
606 | BeepMuster = 0x0300; |
||
607 | } |
||
608 | } |
||
2009 | holgerb | 609 | // +++++++++++++++++++++++++++++++++ |
2496 | holgerb | 610 | if(ExternalControlTimeout) |
611 | { |
||
612 | ExternalControlTimeout--; |
||
2577 | holgerb | 613 | if(ExternalControlTimeout == 1) |
614 | { |
||
615 | ExternalControl.Config = 0; |
||
616 | beeptime = 2000; |
||
617 | } |
||
2496 | holgerb | 618 | } |
2346 | holgerb | 619 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2563 | holgerb | 620 | // +++++++++++++++++++++++++++++++++++++++++++ |
621 | // + Load/Store one single point |
||
622 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
2575 | holgerb | 623 | if(EE_Parameter.SingleWpControlChannel) LoadStoreSingleWP(); |
2563 | holgerb | 624 | // +++++++++++++++++++++++++++++++++++++++++++ |
625 | #endif |
||
2576 | holgerb | 626 | #ifdef NO_RECEIVER |
627 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
||
628 | PPM_in[EE_Parameter.HoeheChannel] = (unsigned char) 200; |
||
629 | PPM_in[EE_Parameter.NaviGpsModeChannel] = (unsigned char) 200; |
||
630 | PPM_in[EE_Parameter.CareFreeChannel] = (unsigned char) 200; |
||
631 | SenderOkay = 180; |
||
632 | MotorenEin = 0; |
||
633 | #endif |
||
2575 | holgerb | 634 | // +++++++++++++++++++++++++++++++++ |
635 | // Sekundentakt |
||
636 | if(++second == 49) |
||
637 | { |
||
638 | second = 0; |
||
2563 | holgerb | 639 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2345 | holgerb | 640 | if(ShowSettingNameTime) ShowSettingNameTime--; |
2575 | holgerb | 641 | if(Show_Load_Time) Show_Load_Time--; |
642 | if(Show_Store_Time) Show_Store_Time--; |
||
2609 | holgerb | 643 | if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
2346 | holgerb | 644 | #endif |
2541 | holgerb | 645 | if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
646 | else |
||
647 | if(ServoFailsafeActive) ServoFailsafeActive--; |
||
648 | |||
2009 | holgerb | 649 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
2309 | holgerb | 650 | else timer2 = 1450; // 0,5 Minuten aufrunden |
651 | if(modell_fliegt < 1024) |
||
2009 | holgerb | 652 | { |
2309 | holgerb | 653 | if(StartLuftdruck < Luftdruck) StartLuftdruck += 5; |
2009 | holgerb | 654 | else |
2309 | holgerb | 655 | if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5; |
2534 | holgerb | 656 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
2009 | holgerb | 657 | } |
2534 | holgerb | 658 | else |
659 | { |
||
660 | #ifdef REDUNDANT_FC_MASTER |
||
661 | if(!(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_ERROR; |
||
662 | else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
||
663 | #endif |
||
664 | } |
||
2390 | holgerb | 665 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
1512 | holgerb | 666 | } |
2009 | holgerb | 667 | // +++++++++++++++++++++++++++++++++ |
1320 | hbuss | 668 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 669 | { |
670 | timer2 = 0; |
||
671 | FlugMinuten++; |
||
672 | FlugMinutenGesamt++; |
||
1652 | holgerb | 673 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
674 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
||
675 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
||
676 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
||
1344 | hbuss | 677 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 678 | } |
1254 | killagreg | 679 | } |
921 | hbuss | 680 | LED_Update(); |
1486 | killagreg | 681 | Capacity_Update(); |
2386 | holgerb | 682 | } |
683 | } //else DebugOut.Analog[18]++; |
||
2341 | holgerb | 684 | if(update_spi) update_spi--; |
685 | } // 500Hz |
||
2386 | holgerb | 686 | if(update_spi == 0) // 41Hz |
687 | { |
||
2604 | holgerb | 688 | if(!MotorenEin && NC_RequestsConfig) { SendSettingToNC(); NC_RequestsConfig = 0;} |
689 | else |
||
2386 | holgerb | 690 | if(SPI_StartTransmitPacket()) update_spi = 12; |
691 | else |
||
692 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
693 | } |
||
694 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
||
1 | ingob | 695 | } |
696 | } |
||
2534 | holgerb | 697 | //DebugOut.Analog[] |
1 | ingob | 698 | |
2604 | holgerb | 699 |