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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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2628 | holgerb | 54 | unsigned char DisableRcOffBeeping = 1; |
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; |
2617 | holgerb | 65 | unsigned char IamMaster = 0; |
66 | unsigned char Delete_Stoppflag_Timer = 0; |
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2659 | holgerb | 67 | unsigned char OEM_String[17] = "Booting... \0\0\0\0\0"; |
2679 | holgerb | 68 | unsigned char TouchDownTimer = 0; |
1444 | ingob | 69 | |
2030 | holgerb | 70 | void PrintLine(void) |
71 | { |
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2671 | holgerb | 72 | printf("\r\n==================================="); |
2030 | holgerb | 73 | } |
74 | |||
75 | |||
819 | hbuss | 76 | void CalMk3Mag(void) |
77 | { |
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78 | static unsigned char stick = 1; |
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2499 | holgerb | 79 | ChannelAssingment(); |
2496 | holgerb | 80 | if(ChannelNick > -20) stick = 0; |
81 | if((ChannelNick < -70) && !stick) |
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819 | hbuss | 82 | { |
83 | stick = 1; |
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84 | WinkelOut.CalcState++; |
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1051 | killagreg | 85 | if(WinkelOut.CalcState > 4) |
86 | { |
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2609 | holgerb | 87 | // WinkelOut.CalcState = 0; // in SPI.c |
819 | hbuss | 88 | beeptime = 1000; |
1051 | killagreg | 89 | } |
1232 | hbuss | 90 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 91 | } |
2609 | holgerb | 92 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
93 | ShowCmpsCalibrateTime = 6; |
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94 | #endif |
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819 | hbuss | 95 | } |
96 | |||
1268 | hbuss | 97 | void LipoDetection(unsigned char print) |
98 | { |
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2517 | holgerb | 99 | unsigned int warning; |
2407 | holgerb | 100 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
2408 | holgerb | 101 | if(print) |
102 | { |
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2671 | holgerb | 103 | printf("\r\nBatt:"); |
2408 | holgerb | 104 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
2416 | holgerb | 105 | if(LipoCells > 6) LipoCells = 6; |
2408 | holgerb | 106 | } |
2416 | holgerb | 107 | |
2390 | holgerb | 108 | if(EE_Parameter.UnterspannungsWarnung < 50) |
1654 | killagreg | 109 | { |
2517 | holgerb | 110 | warning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
1654 | killagreg | 111 | if(print) |
112 | { |
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2402 | holgerb | 113 | Piep(LipoCells, 200); |
114 | printf(" %d Cells ", LipoCells); |
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1420 | killagreg | 115 | } |
1654 | killagreg | 116 | } |
2517 | holgerb | 117 | else warning = EE_Parameter.UnterspannungsWarnung; |
118 | if(warning > 255) warning = 255; BattLowVoltageWarning = warning; |
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2390 | holgerb | 119 | // automatische Zellenerkennung |
2517 | holgerb | 120 | if(EE_Parameter.AutoLandingVoltage < 50) warning = LipoCells * EE_Parameter.AutoLandingVoltage; else warning = EE_Parameter.AutoLandingVoltage; |
121 | if(warning > 255) warning = 255; BattAutoLandingVoltage = warning; |
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122 | |||
123 | if(EE_Parameter.ComingHomeVoltage < 50) warning = LipoCells * EE_Parameter.ComingHomeVoltage; else warning = EE_Parameter.ComingHomeVoltage; |
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124 | if(warning > 255) warning = 255; BattComingHomeVoltage = warning; |
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2390 | holgerb | 125 | |
2416 | holgerb | 126 | if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
127 | if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
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128 | if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
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2408 | holgerb | 129 | |
2390 | holgerb | 130 | if(print) |
131 | { |
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2408 | holgerb | 132 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
2416 | holgerb | 133 | if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
134 | if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
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2390 | holgerb | 135 | } |
2416 | holgerb | 136 | |
1268 | hbuss | 137 | } |
138 | |||
2575 | holgerb | 139 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
140 | void LoadStoreSingleWP(void) |
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141 | { |
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142 | // +++++++++++++++++++++++++++++++++++++++++++ |
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143 | // + Load/Store one single point |
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144 | // +++++++++++++++++++++++++++++++++++++++++++ |
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145 | static unsigned char switch_hyterese = 0, hyterese = 1, wp_tmp_s = 0, wp_tmp_l = 0; |
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146 | static int delay; |
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147 | |||
148 | if(PPM_in[EE_Parameter.SingleWpControlChannel] > 50) // Switch Up -> load |
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149 | { |
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150 | if(switch_hyterese == 1 || switch_hyterese == 3) |
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151 | { |
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152 | ToNC_Load_SingePoint = 1; |
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153 | switch_hyterese = 2; |
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154 | SpeakHoTT = SPEAK_NEXT_WP; |
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155 | Show_Load_Time = 5; |
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156 | Show_Load_Value = 1; |
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157 | wp_tmp_l = 1; |
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158 | } |
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159 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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160 | // Bedienung per Taster am Sender |
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161 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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162 | { |
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163 | hyterese = 2; |
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164 | if(CheckDelay(delay)) { wp_tmp_l = 0; hyterese = 1;} |
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165 | } |
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166 | else |
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2605 | holgerb | 167 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
2575 | holgerb | 168 | { |
169 | delay = SetDelay(2500); |
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170 | if(hyterese == 2 && (wp_tmp_l < NaviData_MaxWpListIndex)) |
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171 | { |
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172 | wp_tmp_l++; |
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173 | ToNC_Load_SingePoint = wp_tmp_l; |
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174 | Show_Load_Time = 5; |
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175 | Show_Load_Value = wp_tmp_l; |
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176 | SpeakHoTT = SPEAK_NEXT_WP; |
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177 | } |
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178 | hyterese = 0; |
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179 | } |
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180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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181 | } |
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182 | else |
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183 | if(PPM_in[EE_Parameter.SingleWpControlChannel] < -50) // Switch Down -> store |
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184 | { |
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185 | if(switch_hyterese == 1 || switch_hyterese == 2) |
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186 | { |
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187 | ToNC_Store_SingePoint = 1; |
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188 | switch_hyterese = 3; |
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189 | SpeakHoTT = SPEAK_MIKROKOPTER; |
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190 | Show_Store_Time = 5; |
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191 | Show_Store_Value = 1; |
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192 | wp_tmp_s = 1; |
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193 | } |
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194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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195 | // Bedienung per Taster am Sender |
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196 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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197 | { |
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198 | hyterese = 2; |
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199 | if(CheckDelay(delay)) { wp_tmp_s = 0; hyterese = 1;} |
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200 | } |
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201 | else |
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2605 | holgerb | 202 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
2575 | holgerb | 203 | { |
204 | delay = SetDelay(2500); |
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205 | if(hyterese == 2 && (wp_tmp_s < NaviData_MaxWpListIndex)) |
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206 | { |
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207 | wp_tmp_s++; |
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208 | ToNC_Store_SingePoint = wp_tmp_s; |
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209 | Show_Store_Time = 5; |
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210 | Show_Store_Value = wp_tmp_s; |
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211 | SpeakHoTT = SPEAK_MIKROKOPTER; |
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212 | } |
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213 | hyterese = 0; |
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214 | } |
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215 | } |
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216 | else // Middle |
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217 | { |
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218 | switch_hyterese = 1; |
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219 | } |
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220 | } |
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221 | // +++++++++++++++++++++++++++++++++++++++++++ |
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222 | #endif |
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2627 | holgerb | 223 | |
224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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225 | // check if ServoControl is serial Poti and if yes: check if there is valid data |
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226 | void InitSerialPoti(void) |
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227 | { |
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228 | unsigned char i; |
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229 | if(!SerialChannelDataOkay) |
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230 | { |
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231 | if(EE_Parameter.ServoNickControl >= 248) // Poti-Value |
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232 | { |
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233 | i = 255 - EE_Parameter.ServoNickControl; // Poti-number |
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234 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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235 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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236 | { |
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237 | if(EE_Parameter.ServoFS_Pos[0]) PPM_in[i] = EE_Parameter.ServoFS_Pos[0] - 127; // there is a failsafe position |
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238 | else PPM_in[i] = 0; // middle position |
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239 | } |
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240 | } |
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241 | if(EE_Parameter.ServoRollControl >= 248) // Poti-Value |
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242 | { |
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243 | i = 255 - EE_Parameter.ServoRollControl; // Poti-number |
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244 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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245 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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246 | { |
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247 | if(EE_Parameter.ServoFS_Pos[1]) PPM_in[i] = EE_Parameter.ServoFS_Pos[1] - 127; |
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248 | else PPM_in[i] = 0; // middle position |
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249 | } |
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250 | } |
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251 | if(EE_Parameter.Servo3 >= 248) // Poti-Value |
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252 | { |
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253 | i = 255 - EE_Parameter.Servo3; // Poti-number |
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254 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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255 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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256 | { |
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257 | if(EE_Parameter.ServoFS_Pos[2]) PPM_in[i] = EE_Parameter.ServoFS_Pos[2] - 127; |
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258 | else PPM_in[i] = 0; // middle position |
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259 | } |
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260 | } |
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261 | if(EE_Parameter.Servo4 >= 248) // Poti-Value |
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262 | { |
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263 | i = 255 - EE_Parameter.Servo4; // Poti-number |
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264 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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265 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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266 | { |
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267 | if(EE_Parameter.ServoFS_Pos[3]) PPM_in[i] = EE_Parameter.ServoFS_Pos[3] - 127; |
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268 | else PPM_in[i] = 0; // middle position |
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269 | } |
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270 | } |
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271 | if(EE_Parameter.Servo5 >= 248) // Poti-Value |
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272 | { |
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273 | i = 255 - EE_Parameter.Servo5; // Poti-number |
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274 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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275 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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276 | { |
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277 | if(EE_Parameter.ServoFS_Pos[4]) PPM_in[i] = EE_Parameter.ServoFS_Pos[4] - 127; |
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278 | else PPM_in[i] = 0; // middle position |
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279 | } |
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280 | } |
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281 | } |
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282 | } |
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283 | |||
1 | ingob | 284 | //############################################################################ |
285 | //Hauptprogramm |
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286 | int main (void) |
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287 | //############################################################################ |
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288 | { |
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1424 | ingob | 289 | unsigned int timer,i,timer2 = 0, timerPolling; |
2575 | holgerb | 290 | unsigned char update_spi = 1; |
1051 | killagreg | 291 | DDRB = 0x00; |
2330 | holgerb | 292 | PORTB = 0x00; |
2309 | holgerb | 293 | DDRD = 0x0A; // UART & J3 J4 J5 |
2609 | holgerb | 294 | PORTD = 0x7F; // PPM-Input & UART |
188 | holgerb | 295 | for(timer = 0; timer < 1000; timer++); // verzögern |
1660 | holgerb | 296 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2334 | holgerb | 297 | unsigned char AccZ_ErrorCnt = 0; |
2309 | holgerb | 298 | if(PINB & 0x02) |
299 | { |
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300 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
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301 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
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302 | } |
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303 | else |
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304 | { |
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2597 | holgerb | 305 | PlatinenVersion = LIBFC_Get_HW_Version(25); |
2579 | holgerb | 306 | ACC_AltitudeControl = 1; |
307 | J4Low; |
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2309 | holgerb | 308 | } |
2617 | holgerb | 309 | /* |
310 | if(PlatinenVersion >= 30) -> wird noch der #define gemacht |
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311 | { |
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312 | if(!(PIND & 0x20)) IamMaster = SLAVE; // Slave |
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313 | else IamMaster = MASTER; // Master |
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314 | } |
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315 | */ |
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1660 | holgerb | 316 | #else |
317 | if(PINB & 0x01) |
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918 | hbuss | 318 | { |
1051 | killagreg | 319 | if(PINB & 0x02) PlatinenVersion = 13; |
320 | else PlatinenVersion = 11; |
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918 | hbuss | 321 | } |
1051 | killagreg | 322 | else |
1021 | hbuss | 323 | { |
1051 | killagreg | 324 | if(PINB & 0x02) PlatinenVersion = 20; |
2309 | holgerb | 325 | else |
326 | { |
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327 | PlatinenVersion = 10; |
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328 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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329 | PORTD = 0x47; // |
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330 | } |
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1021 | hbuss | 331 | } |
1660 | holgerb | 332 | #endif |
2316 | holgerb | 333 | |
2309 | holgerb | 334 | DDRC = 0x81; // I2C, Spaker |
1036 | hbuss | 335 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 336 | PORTC = 0xff; // Pullup SDA |
337 | DDRB = 0x1B; // LEDs und Druckoffset |
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2609 | holgerb | 338 | PORTB = 0x05; // LED_Rot & pullup on PB2 (RC-Voltage detection) |
2597 | holgerb | 339 | |
2146 | holgerb | 340 | HEF4017Reset_ON; |
1 | ingob | 341 | MCUSR &=~(1<<WDRF); |
342 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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343 | WDTCSR = 0; |
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344 | |||
1652 | holgerb | 345 | beeptime = 2500; |
2496 | holgerb | 346 | StickGier = 0; StickRoll = 0; StickNick = 0; |
1660 | holgerb | 347 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
1 | ingob | 348 | ROT_OFF; |
2193 | holgerb | 349 | GRN_ON; |
1479 | killagreg | 350 | |
1 | ingob | 351 | Timer_Init(); |
1156 | hbuss | 352 | TIMER2_Init(); |
1 | ingob | 353 | UART_Init(); |
354 | rc_sum_init(); |
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355 | ADC_Init(); |
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1743 | holgerb | 356 | I2C_Init(1); |
597 | ingob | 357 | SPI_MasterInit(); |
1486 | killagreg | 358 | Capacity_Init(); |
2309 | holgerb | 359 | LIBFC_Init(LIB_FC_COMPATIBLE); |
1431 | ingob | 360 | GRN_ON; |
361 | sei(); |
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1622 | killagreg | 362 | ParamSet_Init(); |
1211 | hbuss | 363 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2659 | holgerb | 364 | if(PlatinenVersion < 20) |
2426 | holgerb | 365 | { |
366 | wdt_enable(WDTO_250MS); // Reset-Commando |
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2671 | holgerb | 367 | while(1) printf("\r\nOld FC Hardware not supported by this Firmware!"); |
2426 | holgerb | 368 | } |
2427 | holgerb | 369 | #ifndef REDUNDANT_FC_SLAVE |
2426 | holgerb | 370 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1211 | hbuss | 371 | // + Check connected BL-Ctrls |
372 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1648 | killagreg | 373 | // Check connected BL-Ctrls |
374 | BLFlags |= BLFLAG_READ_VERSION; |
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1662 | killagreg | 375 | motor_read = 0; // read the first I2C-Data |
2466 | holgerb | 376 | for(i=0; i < 500; i++) |
377 | { |
||
378 | SendMotorData(); |
||
379 | timer = SetDelay(5); |
||
380 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
381 | } |
||
2671 | holgerb | 382 | printf("\r\nFound BL-Ctrl: "); |
2466 | holgerb | 383 | // timer = SetDelay(1000); |
1211 | hbuss | 384 | for(i=0; i < MAX_MOTORS; i++) |
1622 | killagreg | 385 | { |
2466 | holgerb | 386 | // SendMotorData(); |
387 | // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
1622 | killagreg | 388 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
389 | { |
||
1648 | killagreg | 390 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
391 | { |
||
2496 | holgerb | 392 | if((BLFlags & BLFLAG_TX_COMPLETE)) SendMotorData(); |
393 | //while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
1648 | killagreg | 394 | } |
1232 | hbuss | 395 | } |
1648 | killagreg | 396 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
397 | { |
||
2466 | holgerb | 398 | unsigned char vers; |
399 | printf("%d",(i+1)%10); |
||
1702 | holgerb | 400 | FoundMotors++; |
2466 | holgerb | 401 | vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
402 | if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
||
2527 | holgerb | 403 | //if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)"); |
404 | //if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)"); |
||
2671 | holgerb | 405 | //printf(":V%03d\r\n",vers); |
1648 | killagreg | 406 | } |
1622 | killagreg | 407 | } |
1211 | hbuss | 408 | for(i=0; i < MAX_MOTORS; i++) |
1051 | killagreg | 409 | { |
1622 | killagreg | 410 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
411 | { |
||
2671 | holgerb | 412 | printf("\r\n\r\n!! MISSING BL-CTRL: %d !!",i+1); |
1701 | holgerb | 413 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
1111 | hbuss | 414 | } |
1622 | killagreg | 415 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
1 | ingob | 416 | } |
2466 | holgerb | 417 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
418 | if(VersionInfo.BL_Firmware != 255) |
||
419 | { |
||
2671 | holgerb | 420 | printf("\r\nBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
2466 | holgerb | 421 | if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
422 | } |
||
423 | #endif |
||
424 | |||
2671 | holgerb | 425 | PrintLine();// ("\r\n==================================="); |
1765 | killagreg | 426 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
2407 | holgerb | 427 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
2437 | holgerb | 428 | #else |
2671 | holgerb | 429 | printf("\r\n\r\n--> REDUNDANT SLAVE <---\r\n"); |
2617 | holgerb | 430 | IamMaster = SLAVE; |
2437 | holgerb | 431 | #endif |
432 | |||
433 | #ifdef REDUNDANT_FC_MASTER |
||
2671 | holgerb | 434 | printf("\r\n\r\n--> REDUNDANT MASTER <---\r\n"); |
2617 | holgerb | 435 | IamMaster = MASTER; |
2437 | holgerb | 436 | #endif |
2427 | holgerb | 437 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
438 | // Calibrating altitude sensor |
||
439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1529 | killagreg | 440 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1622 | killagreg | 441 | { |
2671 | holgerb | 442 | printf("\r\nCalibrating pressure sensor.."); |
1622 | killagreg | 443 | timer = SetDelay(1000); |
444 | SucheLuftruckOffset(); |
||
445 | while (!CheckDelay(timer)); |
||
2671 | holgerb | 446 | printf("OK\r\n"); |
1 | ingob | 447 | } |
1051 | killagreg | 448 | |
2427 | holgerb | 449 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 450 | VersionInfo.HardwareError[0] = 0; |
451 | VersionInfo.HardwareError[1] = 0; |
||
452 | #endif |
||
453 | |||
1622 | killagreg | 454 | SetNeutral(0); |
1 | ingob | 455 | |
456 | ROT_OFF; |
||
1051 | killagreg | 457 | |
1 | ingob | 458 | beeptime = 2000; |
459 | |||
1652 | holgerb | 460 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
461 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
||
1622 | killagreg | 462 | |
1702 | holgerb | 463 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
1622 | killagreg | 464 | { |
465 | FlugMinuten = 0; |
||
466 | FlugMinutenGesamt = 0; |
||
467 | } |
||
2671 | holgerb | 468 | printf("\r\nFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
1 | ingob | 469 | LcdClear(); |
173 | holgerb | 470 | I2CTimeout = 5000; |
819 | hbuss | 471 | WinkelOut.Orientation = 1; |
1268 | hbuss | 472 | LipoDetection(1); |
1626 | killagreg | 473 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
2671 | holgerb | 474 | PrintLine();// ("\r\n==================================="); |
1622 | killagreg | 475 | //SpektrumBinding(); |
1350 | hbuss | 476 | timer = SetDelay(2000); |
1424 | ingob | 477 | timerPolling = SetDelay(250); |
1648 | killagreg | 478 | |
2671 | holgerb | 479 | Debug(ANSI_CLEAR "FC-Start!\r\nFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
480 | if(PARAMSET_STRUCT_LEN != 179) while(1) printf("\r\nEE_Parameter size:%i", PARAMSET_STRUCT_LEN); |
||
2340 | holgerb | 481 | |
1702 | holgerb | 482 | DebugOut.Status[0] = 0x01 | 0x02; |
1834 | holgerb | 483 | JetiBeep = 0; |
2628 | holgerb | 484 | if(!(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)) DisableRcOffBeeping = 0; |
2466 | holgerb | 485 | ReadBlSize = 3; // don't read the version any more |
2659 | holgerb | 486 | if(PlatinenVersion < 30) OEM_String[0] = 0xff; |
2462 | holgerb | 487 | #ifdef REDUNDANT_FC_SLAVE |
488 | timer = SetDelay(2500); |
||
489 | while(!CheckDelay(timer)); |
||
2671 | holgerb | 490 | printf("\r\nStart\r\n"); |
2462 | holgerb | 491 | #endif |
2330 | holgerb | 492 | while(1) |
1 | ingob | 493 | { |
2439 | holgerb | 494 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
1945 | holgerb | 495 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
1419 | ingob | 496 | if(UpdateMotor && AdReady) // ReglerIntervall |
1051 | killagreg | 497 | { |
2386 | holgerb | 498 | cli(); |
499 | UpdateMotor--; |
||
500 | sei(); |
||
819 | hbuss | 501 | if(WinkelOut.CalcState) CalMk3Mag(); |
1644 | holgerb | 502 | else MotorRegler(); |
503 | SendMotorData(); |
||
1 | ingob | 504 | ROT_OFF; |
2597 | holgerb | 505 | |
506 | if(SenderOkay > ReceiverOkay) ReceiverOkay = SenderOkay; |
||
507 | |||
508 | if(ReceiverOkay) ReceiverOkay--; |
||
509 | else |
||
510 | { |
||
511 | ChannelNick = 0; |
||
512 | ChannelRoll = 0; |
||
513 | ChannelYaw = 0; |
||
514 | ChannelGas = 0; |
||
515 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
||
516 | } |
||
517 | |||
1937 | holgerb | 518 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
1603 | killagreg | 519 | else |
520 | { |
||
521 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
||
522 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
||
2486 | holgerb | 523 | // Now clear the channel values - they would be wrong |
524 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
525 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
526 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
527 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
528 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
529 | PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
||
1603 | killagreg | 530 | } |
1420 | killagreg | 531 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1481 | holgerb | 532 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
533 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
||
1309 | hbuss | 534 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | hbuss | 535 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 536 | { |
1254 | killagreg | 537 | if(!I2CTimeout) |
1210 | hbuss | 538 | { |
1662 | killagreg | 539 | I2C_Reset(); |
1210 | hbuss | 540 | I2CTimeout = 5; |
1322 | hbuss | 541 | DebugOut.Analog[28]++; // I2C-Error |
1765 | killagreg | 542 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
1702 | holgerb | 543 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1322 | hbuss | 544 | } |
1051 | killagreg | 545 | if((BeepMuster == 0xffff) && MotorenEin) |
546 | { |
||
1936 | holgerb | 547 | beeptime = 25000; |
173 | holgerb | 548 | BeepMuster = 0x0080; |
1051 | killagreg | 549 | } |
1 | ingob | 550 | } |
1051 | killagreg | 551 | else |
1 | ingob | 552 | { |
1051 | killagreg | 553 | ROT_OFF; |
1944 | holgerb | 554 | } |
1916 | holgerb | 555 | LIBFC_Polling(); |
556 | |||
1639 | holgerb | 557 | if(!UpdateMotor) |
2012 | holgerb | 558 | { |
559 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
560 | if(NewSBusData) ProcessSBus(); |
||
561 | else |
||
2543 | holgerb | 562 | if(NewMlinkData) ProcessMlinkData(); |
563 | else |
||
2012 | holgerb | 564 | #endif |
1639 | holgerb | 565 | { |
2404 | holgerb | 566 | if(BytegapSPI == 0) SPI_TransmitByte(); |
2627 | holgerb | 567 | if(CalculateServoSignals) CalculateServo(0); |
1760 | holgerb | 568 | DatenUebertragung(); |
569 | BearbeiteRxDaten(); |
||
2609 | holgerb | 570 | if(!(PINB & 0x04)) VersionInfo.HardwareError[1] |= FC_ERROR1_RC_VOLTAGE; |
1254 | killagreg | 571 | if(CheckDelay(timer)) |
572 | { |
||
1512 | holgerb | 573 | static unsigned char second; |
1420 | killagreg | 574 | timer += 20; // 20 ms interval |
2676 | holgerb | 575 | //DebugOut.Analog[] = LuftdruckTemperaturOffset; |
2191 | holgerb | 576 | CalcNickServoValue(); |
2609 | holgerb | 577 | if(!CalibrationDone) FC_StatusFlags3 |= FC_STATUS3_NOT_CALIBRATED; else FC_StatusFlags3 &= ~FC_STATUS3_NOT_CALIBRATED; |
2497 | holgerb | 578 | // ++++++++++++++++++++++++++++ |
579 | // + New direction setpoint from NC |
||
2605 | holgerb | 580 | if((NC_CompassSetpoint != -1) && !NeueKompassRichtungMerken) |
2497 | holgerb | 581 | { |
582 | int diff; |
||
2605 | holgerb | 583 | if((KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
2497 | holgerb | 584 | { |
585 | diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
||
586 | if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
||
587 | else |
||
588 | if(diff < -2) diff = -2; |
||
589 | KompassSollWert -= diff; |
||
590 | } |
||
2500 | holgerb | 591 | else |
592 | { |
||
593 | NC_CompassSetpoint = -1; |
||
594 | NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
||
595 | } |
||
2497 | holgerb | 596 | } |
597 | // ++++++++++++++++++++++++++++ |
||
1925 | holgerb | 598 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1917 | holgerb | 599 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
2263 | holgerb | 600 | else |
601 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
||
2334 | holgerb | 602 | // ++++++++++++++++++++++++++++ |
603 | // + check the ACC-Z range |
||
604 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
||
605 | { |
||
606 | if(++AccZ_ErrorCnt > 50) |
||
607 | { |
||
608 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
||
609 | else CalibrationDone = 0; |
||
610 | } |
||
611 | } |
||
612 | else AccZ_ErrorCnt = 0; |
||
613 | // ++++++++++++++++++++++++++++ |
||
1925 | holgerb | 614 | #endif |
2390 | holgerb | 615 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
1702 | holgerb | 616 | { |
2390 | holgerb | 617 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
1702 | holgerb | 618 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1765 | killagreg | 619 | } |
620 | else |
||
1702 | holgerb | 621 | { |
1936 | holgerb | 622 | if(!beeptime) |
623 | { |
||
624 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
||
625 | } |
||
1765 | killagreg | 626 | } |
2597 | holgerb | 627 | if(DisableRcOffBeeping) if(ReceiverOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
1420 | killagreg | 628 | if(PcZugriff) PcZugriff--; |
629 | else |
||
630 | { |
||
2597 | holgerb | 631 | if(!ReceiverOkay) |
1420 | killagreg | 632 | { |
1914 | holgerb | 633 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
1913 | holgerb | 634 | { |
635 | beeptime = 15000; |
||
636 | BeepMuster = 0x0c00; |
||
1914 | holgerb | 637 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
1913 | holgerb | 638 | } |
1914 | holgerb | 639 | } |
1420 | killagreg | 640 | } |
1682 | holgerb | 641 | if(NaviDataOkay > 200) |
1420 | killagreg | 642 | { |
643 | NaviDataOkay--; |
||
1765 | killagreg | 644 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
2342 | holgerb | 645 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
1420 | killagreg | 646 | } |
647 | else |
||
648 | { |
||
1702 | holgerb | 649 | if(NC_Version.Compatible) |
650 | { |
||
1930 | holgerb | 651 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
652 | NC_ErrorCode = 9; // "ERR: no NC communication" |
||
1702 | holgerb | 653 | if(BeepMuster == 0xffff && MotorenEin) |
654 | { |
||
655 | beeptime = 15000; |
||
656 | BeepMuster = 0xA800; |
||
657 | } |
||
1765 | killagreg | 658 | } |
1420 | killagreg | 659 | GPS_Nick = 0; |
660 | GPS_Roll = 0; |
||
1945 | holgerb | 661 | GPS_Aid_StickMultiplikator = 0; |
1916 | holgerb | 662 | GPSInfo.Flags = 0; |
2348 | holgerb | 663 | FromNaviCtrl_Value.Kalman_K = -1; |
1936 | holgerb | 664 | FromNaviCtrl.AccErrorN = 0; |
665 | FromNaviCtrl.AccErrorR = 0; |
||
1691 | holgerb | 666 | FromNaviCtrl.CompassValue = -1; |
2342 | holgerb | 667 | FromNC_AltitudeSpeed = 0; |
668 | FromNC_AltitudeSetpoint = 0; |
||
669 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
||
2553 | holgerb | 670 | NC_To_FC_Flags = 0; |
1703 | holgerb | 671 | NaviDataOkay = 0; |
1420 | killagreg | 672 | } |
2390 | holgerb | 673 | if(UBat <= BattLowVoltageWarning) |
1254 | killagreg | 674 | { |
1765 | killagreg | 675 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
2373 | holgerb | 676 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
1254 | killagreg | 677 | { |
678 | beeptime = 6000; |
||
679 | BeepMuster = 0x0300; |
||
680 | } |
||
681 | } |
||
2009 | holgerb | 682 | // +++++++++++++++++++++++++++++++++ |
2496 | holgerb | 683 | if(ExternalControlTimeout) |
684 | { |
||
685 | ExternalControlTimeout--; |
||
2577 | holgerb | 686 | if(ExternalControlTimeout == 1) |
687 | { |
||
688 | ExternalControl.Config = 0; |
||
689 | beeptime = 2000; |
||
690 | } |
||
2496 | holgerb | 691 | } |
2346 | holgerb | 692 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2563 | holgerb | 693 | // +++++++++++++++++++++++++++++++++++++++++++ |
694 | // + Load/Store one single point |
||
695 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
2575 | holgerb | 696 | if(EE_Parameter.SingleWpControlChannel) LoadStoreSingleWP(); |
2563 | holgerb | 697 | // +++++++++++++++++++++++++++++++++++++++++++ |
698 | #endif |
||
2576 | holgerb | 699 | #ifdef NO_RECEIVER |
700 | 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; |
||
701 | PPM_in[EE_Parameter.HoeheChannel] = (unsigned char) 200; |
||
702 | PPM_in[EE_Parameter.NaviGpsModeChannel] = (unsigned char) 200; |
||
703 | PPM_in[EE_Parameter.CareFreeChannel] = (unsigned char) 200; |
||
704 | SenderOkay = 180; |
||
705 | MotorenEin = 0; |
||
706 | #endif |
||
2659 | holgerb | 707 | if(BaroExpandCnt > 0) BaroExpandCnt--; |
708 | else |
||
709 | if(BaroExpandCnt < 0) BaroExpandCnt++; |
||
710 | |||
2575 | holgerb | 711 | // +++++++++++++++++++++++++++++++++ |
712 | // Sekundentakt |
||
713 | if(++second == 49) |
||
714 | { |
||
2679 | holgerb | 715 | static long altitudeOld = 0; |
716 | static char threeseconds = 3; |
||
717 | |||
2575 | holgerb | 718 | second = 0; |
2563 | holgerb | 719 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2345 | holgerb | 720 | if(ShowSettingNameTime) ShowSettingNameTime--; |
2575 | holgerb | 721 | if(Show_Load_Time) Show_Load_Time--; |
722 | if(Show_Store_Time) Show_Store_Time--; |
||
2609 | holgerb | 723 | if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
2617 | holgerb | 724 | if(Delete_Stoppflag_Timer) Delete_Stoppflag_Timer--; else FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
2346 | holgerb | 725 | #endif |
2693 | holgerb | 726 | if(NC_To_FC_Flags & (NC_TO_FC_EMERGENCY_LANDING | NC_TO_FC_FLYING_RANGE | NC_TO_FC_OUTSIDE_FLYZONE)) |
727 | { |
||
728 | if(!beeptime) |
||
729 | { |
||
730 | beeptime = 10000; |
||
731 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) BeepMuster = 0x1500; |
||
732 | else BeepMuster = 0x2800; |
||
733 | } |
||
734 | } |
||
2679 | holgerb | 735 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
736 | // + for auto switch - off |
||
737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
738 | if(--threeseconds == 0) |
||
739 | { |
||
740 | int AltitudeDeviationPer3Seconds = 0; |
||
741 | threeseconds = 3; |
||
742 | AltitudeDeviationPer3Seconds = HoehenWert - altitudeOld; |
||
743 | altitudeOld = HoehenWert; |
||
744 | if(abs(AltitudeDeviationPer3Seconds) > 90) TouchDownTimer = 0; |
||
745 | if(!MotorenEin) TouchDownTimer = 0; |
||
746 | } |
||
747 | if(ACC_AltitudeControl && HoehenReglerAktiv && (SollHoehe < (HoehenWert-1100)) && !(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE)) // 11m unter Sollwert |
||
748 | { |
||
749 | if(TouchDownTimer < 255) TouchDownTimer++; |
||
750 | } |
||
751 | else TouchDownTimer = 0; |
||
752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
753 | if( (NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) || // for auto landing waypoints points |
||
754 | (NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) || // for RC failsafe |
||
755 | (LowVoltageLandingActive) || // undervoltage |
||
756 | (FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) // Auto landing by switch |
||
757 | ) |
||
758 | { |
||
759 | if(TouchDownTimer == 6) SpeakHoTT = SPEAK_SINKING; |
||
760 | else |
||
761 | if(TouchDownTimer == 9) |
||
762 | { |
||
763 | SpeakHoTT = SPEAK_LANDING; |
||
764 | } |
||
765 | else |
||
766 | if(TouchDownTimer == 16) |
||
767 | { |
||
768 | FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
||
769 | Delete_Stoppflag_Timer = 2; // 1-2 seconds |
||
770 | MotorenEin = 0; |
||
771 | modell_fliegt = 0; |
||
772 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
773 | SpeakHoTT = SPEAK_MK_OFF; |
||
774 | } |
||
775 | } |
||
776 | else TouchDownTimer = 0; |
||
777 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
778 | |||
2627 | holgerb | 779 | if(SerialChannelDataOkay) if(--SerialChannelDataOkay == 0) InitSerialPoti(); |
2541 | holgerb | 780 | if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
781 | else |
||
782 | if(ServoFailsafeActive) ServoFailsafeActive--; |
||
783 | |||
2009 | holgerb | 784 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
2309 | holgerb | 785 | else timer2 = 1450; // 0,5 Minuten aufrunden |
2676 | holgerb | 786 | if(modell_fliegt < 1024 && !BaroCalState) |
2009 | holgerb | 787 | { |
2676 | holgerb | 788 | if(StartLuftdruck < LuftdruckKompensiert) StartLuftdruck += 5; |
2009 | holgerb | 789 | else |
2676 | holgerb | 790 | if(StartLuftdruck > LuftdruckKompensiert) StartLuftdruck -= 5; |
2534 | holgerb | 791 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
2009 | holgerb | 792 | } |
2534 | holgerb | 793 | else |
794 | { |
||
795 | #ifdef REDUNDANT_FC_MASTER |
||
796 | if(!(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_ERROR; |
||
797 | else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
||
798 | #endif |
||
799 | } |
||
2390 | holgerb | 800 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
2627 | holgerb | 801 | TIMSK2 |= (1<<OCIE2A); // enable Servo-Interrupt now |
1512 | holgerb | 802 | } |
2009 | holgerb | 803 | // +++++++++++++++++++++++++++++++++ |
1320 | hbuss | 804 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 805 | { |
806 | timer2 = 0; |
||
807 | FlugMinuten++; |
||
808 | FlugMinutenGesamt++; |
||
1652 | holgerb | 809 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
810 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
||
811 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
||
812 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
||
1344 | hbuss | 813 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 814 | } |
1254 | killagreg | 815 | } |
921 | hbuss | 816 | LED_Update(); |
1486 | killagreg | 817 | Capacity_Update(); |
2386 | holgerb | 818 | } |
819 | } //else DebugOut.Analog[18]++; |
||
2341 | holgerb | 820 | if(update_spi) update_spi--; |
821 | } // 500Hz |
||
2386 | holgerb | 822 | if(update_spi == 0) // 41Hz |
823 | { |
||
2628 | holgerb | 824 | if(!MotorenEin && NC_RequestsConfig) { SendSettingToNC(); update_spi = 12;} |
2604 | holgerb | 825 | else |
2386 | holgerb | 826 | if(SPI_StartTransmitPacket()) update_spi = 12; |
827 | else |
||
828 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
829 | } |
||
830 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
||
1 | ingob | 831 | } |
832 | } |
||
2676 | holgerb | 833 | //DebugOut.Analog[] |
1 | ingob | 834 | |
2604 | holgerb | 835 |