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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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819 | hbuss | 83 | // WinkelOut.CalcState = 0; // in Uart.c |
84 | beeptime = 1000; |
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1051 | killagreg | 85 | } |
1232 | hbuss | 86 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 87 | } |
88 | } |
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89 | |||
1438 | ingob | 90 | |
1268 | hbuss | 91 | void LipoDetection(unsigned char print) |
92 | { |
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2517 | holgerb | 93 | unsigned int warning; |
2407 | holgerb | 94 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
2408 | holgerb | 95 | if(print) |
96 | { |
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97 | printf("\n\rBatt:"); |
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98 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
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2416 | holgerb | 99 | if(LipoCells > 6) LipoCells = 6; |
2408 | holgerb | 100 | } |
2416 | holgerb | 101 | |
2390 | holgerb | 102 | if(EE_Parameter.UnterspannungsWarnung < 50) |
1654 | killagreg | 103 | { |
2517 | holgerb | 104 | warning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
1654 | killagreg | 105 | if(print) |
106 | { |
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2402 | holgerb | 107 | Piep(LipoCells, 200); |
108 | printf(" %d Cells ", LipoCells); |
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1420 | killagreg | 109 | } |
1654 | killagreg | 110 | } |
2517 | holgerb | 111 | else warning = EE_Parameter.UnterspannungsWarnung; |
112 | if(warning > 255) warning = 255; BattLowVoltageWarning = warning; |
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2390 | holgerb | 113 | // automatische Zellenerkennung |
2517 | holgerb | 114 | if(EE_Parameter.AutoLandingVoltage < 50) warning = LipoCells * EE_Parameter.AutoLandingVoltage; else warning = EE_Parameter.AutoLandingVoltage; |
115 | if(warning > 255) warning = 255; BattAutoLandingVoltage = warning; |
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116 | |||
117 | if(EE_Parameter.ComingHomeVoltage < 50) warning = LipoCells * EE_Parameter.ComingHomeVoltage; else warning = EE_Parameter.ComingHomeVoltage; |
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118 | if(warning > 255) warning = 255; BattComingHomeVoltage = warning; |
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2390 | holgerb | 119 | |
2416 | holgerb | 120 | if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
121 | if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
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122 | if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
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2408 | holgerb | 123 | |
2390 | holgerb | 124 | if(print) |
125 | { |
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2408 | holgerb | 126 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
2416 | holgerb | 127 | if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
128 | if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
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2390 | holgerb | 129 | } |
2416 | holgerb | 130 | |
1268 | hbuss | 131 | } |
132 | |||
2575 | holgerb | 133 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
134 | void LoadStoreSingleWP(void) |
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135 | { |
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136 | // +++++++++++++++++++++++++++++++++++++++++++ |
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137 | // + Load/Store one single point |
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138 | // +++++++++++++++++++++++++++++++++++++++++++ |
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139 | static unsigned char switch_hyterese = 0, hyterese = 1, wp_tmp_s = 0, wp_tmp_l = 0; |
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140 | static int delay; |
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141 | |||
142 | if(PPM_in[EE_Parameter.SingleWpControlChannel] > 50) // Switch Up -> load |
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143 | { |
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144 | if(switch_hyterese == 1 || switch_hyterese == 3) |
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145 | { |
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146 | ToNC_Load_SingePoint = 1; |
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147 | switch_hyterese = 2; |
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148 | SpeakHoTT = SPEAK_NEXT_WP; |
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149 | Show_Load_Time = 5; |
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150 | Show_Load_Value = 1; |
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151 | wp_tmp_l = 1; |
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152 | } |
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153 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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154 | // Bedienung per Taster am Sender |
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155 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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156 | { |
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157 | hyterese = 2; |
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158 | if(CheckDelay(delay)) { wp_tmp_l = 0; hyterese = 1;} |
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159 | } |
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160 | else |
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161 | if(PPM_in[EE_Parameter.MenuKeyChannel] < -50) |
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162 | { |
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163 | delay = SetDelay(2500); |
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164 | if(hyterese == 2 && (wp_tmp_l < NaviData_MaxWpListIndex)) |
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165 | { |
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166 | wp_tmp_l++; |
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167 | ToNC_Load_SingePoint = wp_tmp_l; |
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168 | Show_Load_Time = 5; |
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169 | Show_Load_Value = wp_tmp_l; |
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170 | SpeakHoTT = SPEAK_NEXT_WP; |
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171 | } |
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172 | hyterese = 0; |
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173 | } |
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174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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175 | } |
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176 | else |
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177 | if(PPM_in[EE_Parameter.SingleWpControlChannel] < -50) // Switch Down -> store |
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178 | { |
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179 | if(switch_hyterese == 1 || switch_hyterese == 2) |
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180 | { |
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181 | ToNC_Store_SingePoint = 1; |
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182 | switch_hyterese = 3; |
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183 | SpeakHoTT = SPEAK_MIKROKOPTER; |
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184 | Show_Store_Time = 5; |
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185 | Show_Store_Value = 1; |
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186 | wp_tmp_s = 1; |
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187 | } |
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188 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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189 | // Bedienung per Taster am Sender |
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190 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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191 | { |
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192 | hyterese = 2; |
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193 | if(CheckDelay(delay)) { wp_tmp_s = 0; hyterese = 1;} |
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194 | } |
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195 | else |
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196 | if(PPM_in[EE_Parameter.MenuKeyChannel] < -50) |
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197 | { |
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198 | delay = SetDelay(2500); |
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199 | if(hyterese == 2 && (wp_tmp_s < NaviData_MaxWpListIndex)) |
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200 | { |
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201 | wp_tmp_s++; |
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202 | ToNC_Store_SingePoint = wp_tmp_s; |
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203 | Show_Store_Time = 5; |
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204 | Show_Store_Value = wp_tmp_s; |
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205 | SpeakHoTT = SPEAK_MIKROKOPTER; |
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206 | } |
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207 | hyterese = 0; |
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208 | } |
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209 | } |
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210 | else // Middle |
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211 | { |
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212 | switch_hyterese = 1; |
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213 | } |
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214 | } |
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215 | // +++++++++++++++++++++++++++++++++++++++++++ |
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216 | #endif |
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1 | ingob | 217 | //############################################################################ |
218 | //Hauptprogramm |
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219 | int main (void) |
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220 | //############################################################################ |
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221 | { |
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1424 | ingob | 222 | unsigned int timer,i,timer2 = 0, timerPolling; |
2575 | holgerb | 223 | unsigned char update_spi = 1; |
1051 | killagreg | 224 | DDRB = 0x00; |
2330 | holgerb | 225 | PORTB = 0x00; |
2309 | holgerb | 226 | DDRD = 0x0A; // UART & J3 J4 J5 |
227 | PORTD = 0x5F; // PPM-Input & UART |
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188 | holgerb | 228 | for(timer = 0; timer < 1000; timer++); // verzögern |
1660 | holgerb | 229 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2334 | holgerb | 230 | unsigned char AccZ_ErrorCnt = 0; |
2309 | holgerb | 231 | if(PINB & 0x02) |
232 | { |
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233 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
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234 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
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235 | } |
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236 | else |
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237 | { |
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2367 | holgerb | 238 | PlatinenVersion = 25; ACC_AltitudeControl = 1; |
2309 | holgerb | 239 | } |
1660 | holgerb | 240 | #else |
241 | if(PINB & 0x01) |
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918 | hbuss | 242 | { |
1051 | killagreg | 243 | if(PINB & 0x02) PlatinenVersion = 13; |
244 | else PlatinenVersion = 11; |
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918 | hbuss | 245 | } |
1051 | killagreg | 246 | else |
1021 | hbuss | 247 | { |
1051 | killagreg | 248 | if(PINB & 0x02) PlatinenVersion = 20; |
2309 | holgerb | 249 | else |
250 | { |
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251 | PlatinenVersion = 10; |
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252 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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253 | PORTD = 0x47; // |
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254 | } |
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1021 | hbuss | 255 | } |
1660 | holgerb | 256 | #endif |
2316 | holgerb | 257 | |
2309 | holgerb | 258 | DDRC = 0x81; // I2C, Spaker |
1036 | hbuss | 259 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 260 | PORTC = 0xff; // Pullup SDA |
261 | DDRB = 0x1B; // LEDs und Druckoffset |
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262 | PORTB = 0x01; // LED_Rot |
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2309 | holgerb | 263 | |
2146 | holgerb | 264 | HEF4017Reset_ON; |
1 | ingob | 265 | MCUSR &=~(1<<WDRF); |
266 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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267 | WDTCSR = 0; |
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268 | |||
1652 | holgerb | 269 | beeptime = 2500; |
2496 | holgerb | 270 | StickGier = 0; StickRoll = 0; StickNick = 0; |
1660 | holgerb | 271 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
1 | ingob | 272 | ROT_OFF; |
2193 | holgerb | 273 | GRN_ON; |
1479 | killagreg | 274 | |
1 | ingob | 275 | Timer_Init(); |
1156 | hbuss | 276 | TIMER2_Init(); |
1 | ingob | 277 | UART_Init(); |
278 | rc_sum_init(); |
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279 | ADC_Init(); |
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1743 | holgerb | 280 | I2C_Init(1); |
597 | ingob | 281 | SPI_MasterInit(); |
1486 | killagreg | 282 | Capacity_Init(); |
2309 | holgerb | 283 | LIBFC_Init(LIB_FC_COMPATIBLE); |
1431 | ingob | 284 | GRN_ON; |
285 | sei(); |
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1622 | killagreg | 286 | ParamSet_Init(); |
1211 | hbuss | 287 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2426 | holgerb | 288 | if(PlatinenVersion < 20) |
289 | { |
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290 | wdt_enable(WDTO_250MS); // Reset-Commando |
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2462 | holgerb | 291 | while(1) printf("\n\rOld FC Hardware not supported by this Firmware!"); |
2426 | holgerb | 292 | } |
2427 | holgerb | 293 | #ifndef REDUNDANT_FC_SLAVE |
2426 | holgerb | 294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1211 | hbuss | 295 | // + Check connected BL-Ctrls |
296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1648 | killagreg | 297 | // Check connected BL-Ctrls |
298 | BLFlags |= BLFLAG_READ_VERSION; |
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1662 | killagreg | 299 | motor_read = 0; // read the first I2C-Data |
2466 | holgerb | 300 | for(i=0; i < 500; i++) |
301 | { |
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302 | SendMotorData(); |
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303 | timer = SetDelay(5); |
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304 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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305 | } |
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1648 | killagreg | 306 | printf("\n\rFound BL-Ctrl: "); |
2466 | holgerb | 307 | // timer = SetDelay(1000); |
1211 | hbuss | 308 | for(i=0; i < MAX_MOTORS; i++) |
1622 | killagreg | 309 | { |
2466 | holgerb | 310 | // SendMotorData(); |
311 | // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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1622 | killagreg | 312 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
313 | { |
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1648 | killagreg | 314 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
315 | { |
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2496 | holgerb | 316 | if((BLFlags & BLFLAG_TX_COMPLETE)) SendMotorData(); |
317 | //while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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1648 | killagreg | 318 | } |
1232 | hbuss | 319 | } |
1648 | killagreg | 320 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
321 | { |
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2466 | holgerb | 322 | unsigned char vers; |
323 | printf("%d",(i+1)%10); |
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1702 | holgerb | 324 | FoundMotors++; |
2466 | holgerb | 325 | vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
326 | if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
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2527 | holgerb | 327 | //if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)"); |
328 | //if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)"); |
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329 | //printf(":V%03d\n\r",vers); |
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1648 | killagreg | 330 | } |
1622 | killagreg | 331 | } |
1211 | hbuss | 332 | for(i=0; i < MAX_MOTORS; i++) |
1051 | killagreg | 333 | { |
1622 | killagreg | 334 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
335 | { |
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336 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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1701 | holgerb | 337 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
1111 | hbuss | 338 | } |
1622 | killagreg | 339 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
1 | ingob | 340 | } |
2466 | holgerb | 341 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
342 | if(VersionInfo.BL_Firmware != 255) |
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343 | { |
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344 | printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
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345 | if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
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346 | } |
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347 | #endif |
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348 | |||
2030 | holgerb | 349 | PrintLine();// ("\n\r==================================="); |
1765 | killagreg | 350 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
2407 | holgerb | 351 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
2437 | holgerb | 352 | #else |
2462 | holgerb | 353 | printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r"); |
2437 | holgerb | 354 | #endif |
355 | |||
356 | #ifdef REDUNDANT_FC_MASTER |
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2462 | holgerb | 357 | printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r"); |
2437 | holgerb | 358 | #endif |
359 | |||
2427 | holgerb | 360 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
361 | // Calibrating altitude sensor |
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362 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1529 | killagreg | 363 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1622 | killagreg | 364 | { |
365 | printf("\n\rCalibrating pressure sensor.."); |
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366 | timer = SetDelay(1000); |
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367 | SucheLuftruckOffset(); |
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368 | while (!CheckDelay(timer)); |
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369 | printf("OK\n\r"); |
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1 | ingob | 370 | } |
1051 | killagreg | 371 | |
2427 | holgerb | 372 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 373 | VersionInfo.HardwareError[0] = 0; |
374 | VersionInfo.HardwareError[1] = 0; |
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375 | #endif |
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376 | |||
1622 | killagreg | 377 | SetNeutral(0); |
1 | ingob | 378 | |
379 | ROT_OFF; |
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1051 | killagreg | 380 | |
1 | ingob | 381 | beeptime = 2000; |
382 | |||
1652 | holgerb | 383 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
384 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
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1622 | killagreg | 385 | |
1702 | holgerb | 386 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
1622 | killagreg | 387 | { |
388 | FlugMinuten = 0; |
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389 | FlugMinutenGesamt = 0; |
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390 | } |
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2034 | holgerb | 391 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
1 | ingob | 392 | LcdClear(); |
173 | holgerb | 393 | I2CTimeout = 5000; |
819 | hbuss | 394 | WinkelOut.Orientation = 1; |
1268 | hbuss | 395 | LipoDetection(1); |
1626 | killagreg | 396 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
2030 | holgerb | 397 | PrintLine();// ("\n\r==================================="); |
1622 | killagreg | 398 | //SpektrumBinding(); |
1350 | hbuss | 399 | timer = SetDelay(2000); |
1424 | ingob | 400 | timerPolling = SetDelay(250); |
1648 | killagreg | 401 | |
1636 | ingob | 402 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
2340 | holgerb | 403 | //printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN); |
404 | |||
1702 | holgerb | 405 | DebugOut.Status[0] = 0x01 | 0x02; |
1834 | holgerb | 406 | JetiBeep = 0; |
1913 | holgerb | 407 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
2466 | holgerb | 408 | ReadBlSize = 3; // don't read the version any more |
2462 | holgerb | 409 | #ifdef REDUNDANT_FC_SLAVE |
410 | timer = SetDelay(2500); |
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411 | while(!CheckDelay(timer)); |
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412 | printf("\n\rStart\n\r"); |
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413 | #endif |
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2330 | holgerb | 414 | while(1) |
1 | ingob | 415 | { |
2439 | holgerb | 416 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
1945 | holgerb | 417 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
1419 | ingob | 418 | if(UpdateMotor && AdReady) // ReglerIntervall |
1051 | killagreg | 419 | { |
2386 | holgerb | 420 | cli(); |
421 | UpdateMotor--; |
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422 | sei(); |
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819 | hbuss | 423 | if(WinkelOut.CalcState) CalMk3Mag(); |
1644 | holgerb | 424 | else MotorRegler(); |
425 | SendMotorData(); |
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1 | ingob | 426 | ROT_OFF; |
1937 | holgerb | 427 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
1603 | killagreg | 428 | else |
429 | { |
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430 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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431 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
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1765 | killagreg | 432 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
2486 | holgerb | 433 | // Now clear the channel values - they would be wrong |
434 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
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435 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
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436 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
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437 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
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438 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
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439 | PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
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2496 | holgerb | 440 | ChannelNick = 0; |
441 | ChannelRoll = 0; |
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442 | ChannelYaw = 0; |
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443 | ChannelGas = 0; |
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1603 | killagreg | 444 | } |
1420 | killagreg | 445 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1481 | holgerb | 446 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
447 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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1309 | hbuss | 448 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | hbuss | 449 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 450 | { |
1254 | killagreg | 451 | if(!I2CTimeout) |
1210 | hbuss | 452 | { |
1662 | killagreg | 453 | I2C_Reset(); |
1210 | hbuss | 454 | I2CTimeout = 5; |
1322 | hbuss | 455 | DebugOut.Analog[28]++; // I2C-Error |
1765 | killagreg | 456 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
1702 | holgerb | 457 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1322 | hbuss | 458 | } |
1051 | killagreg | 459 | if((BeepMuster == 0xffff) && MotorenEin) |
460 | { |
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1936 | holgerb | 461 | beeptime = 25000; |
173 | holgerb | 462 | BeepMuster = 0x0080; |
1051 | killagreg | 463 | } |
1 | ingob | 464 | } |
1051 | killagreg | 465 | else |
1 | ingob | 466 | { |
1051 | killagreg | 467 | ROT_OFF; |
1944 | holgerb | 468 | } |
1916 | holgerb | 469 | LIBFC_Polling(); |
470 | |||
1639 | holgerb | 471 | if(!UpdateMotor) |
2012 | holgerb | 472 | { |
473 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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474 | if(NewSBusData) ProcessSBus(); |
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475 | else |
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2543 | holgerb | 476 | if(NewMlinkData) ProcessMlinkData(); |
477 | else |
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2012 | holgerb | 478 | #endif |
1639 | holgerb | 479 | { |
2404 | holgerb | 480 | if(BytegapSPI == 0) SPI_TransmitByte(); |
1760 | holgerb | 481 | if(CalculateServoSignals) CalculateServo(); |
482 | DatenUebertragung(); |
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483 | BearbeiteRxDaten(); |
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1254 | killagreg | 484 | if(CheckDelay(timer)) |
485 | { |
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1512 | holgerb | 486 | static unsigned char second; |
1420 | killagreg | 487 | timer += 20; // 20 ms interval |
2191 | holgerb | 488 | CalcNickServoValue(); |
2497 | holgerb | 489 | // ++++++++++++++++++++++++++++ |
490 | // + New direction setpoint from NC |
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491 | if(NC_CompassSetpoint != -1) |
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492 | { |
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493 | int diff; |
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2500 | holgerb | 494 | if(!NeueKompassRichtungMerken && (KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
2497 | holgerb | 495 | { |
496 | diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
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497 | if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
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498 | else |
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499 | if(diff < -2) diff = -2; |
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500 | KompassSollWert -= diff; |
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501 | } |
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2500 | holgerb | 502 | else |
503 | { |
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504 | NC_CompassSetpoint = -1; |
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505 | NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
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506 | } |
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2497 | holgerb | 507 | } |
508 | // ++++++++++++++++++++++++++++ |
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1925 | holgerb | 509 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1917 | holgerb | 510 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
2263 | holgerb | 511 | else |
512 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
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2334 | holgerb | 513 | // ++++++++++++++++++++++++++++ |
514 | // + check the ACC-Z range |
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515 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
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516 | { |
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517 | if(++AccZ_ErrorCnt > 50) |
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518 | { |
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519 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
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520 | else CalibrationDone = 0; |
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521 | } |
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522 | } |
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523 | else AccZ_ErrorCnt = 0; |
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524 | // ++++++++++++++++++++++++++++ |
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1925 | holgerb | 525 | #endif |
2390 | holgerb | 526 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
1702 | holgerb | 527 | { |
2390 | holgerb | 528 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
1702 | holgerb | 529 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1765 | killagreg | 530 | } |
531 | else |
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1702 | holgerb | 532 | { |
1936 | holgerb | 533 | if(!beeptime) |
534 | { |
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535 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
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536 | } |
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1765 | killagreg | 537 | } |
2029 | holgerb | 538 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
1420 | killagreg | 539 | if(PcZugriff) PcZugriff--; |
540 | else |
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541 | { |
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1913 | holgerb | 542 | if(!SenderOkay) |
1420 | killagreg | 543 | { |
1914 | holgerb | 544 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
1913 | holgerb | 545 | { |
546 | beeptime = 15000; |
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547 | BeepMuster = 0x0c00; |
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1914 | holgerb | 548 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
1913 | holgerb | 549 | } |
1914 | holgerb | 550 | } |
1420 | killagreg | 551 | } |
1682 | holgerb | 552 | if(NaviDataOkay > 200) |
1420 | killagreg | 553 | { |
554 | NaviDataOkay--; |
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1765 | killagreg | 555 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
2342 | holgerb | 556 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
1420 | killagreg | 557 | } |
558 | else |
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559 | { |
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1702 | holgerb | 560 | if(NC_Version.Compatible) |
561 | { |
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1930 | holgerb | 562 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
563 | NC_ErrorCode = 9; // "ERR: no NC communication" |
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1702 | holgerb | 564 | if(BeepMuster == 0xffff && MotorenEin) |
565 | { |
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566 | beeptime = 15000; |
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567 | BeepMuster = 0xA800; |
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568 | } |
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1765 | killagreg | 569 | } |
1420 | killagreg | 570 | GPS_Nick = 0; |
571 | GPS_Roll = 0; |
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1945 | holgerb | 572 | GPS_Aid_StickMultiplikator = 0; |
1916 | holgerb | 573 | GPSInfo.Flags = 0; |
2348 | holgerb | 574 | FromNaviCtrl_Value.Kalman_K = -1; |
1936 | holgerb | 575 | FromNaviCtrl.AccErrorN = 0; |
576 | FromNaviCtrl.AccErrorR = 0; |
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1691 | holgerb | 577 | FromNaviCtrl.CompassValue = -1; |
2342 | holgerb | 578 | FromNC_AltitudeSpeed = 0; |
579 | FromNC_AltitudeSetpoint = 0; |
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580 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
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2553 | holgerb | 581 | NC_To_FC_Flags = 0; |
1703 | holgerb | 582 | NaviDataOkay = 0; |
1420 | killagreg | 583 | } |
2390 | holgerb | 584 | if(UBat <= BattLowVoltageWarning) |
1254 | killagreg | 585 | { |
1765 | killagreg | 586 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
2373 | holgerb | 587 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
1254 | killagreg | 588 | { |
589 | beeptime = 6000; |
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590 | BeepMuster = 0x0300; |
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591 | } |
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592 | } |
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2009 | holgerb | 593 | // +++++++++++++++++++++++++++++++++ |
2496 | holgerb | 594 | if(ExternalControlTimeout) |
595 | { |
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596 | ExternalControlTimeout--; |
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597 | if(ExternalControlTimeout == 1) beeptime = 2000; |
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598 | } |
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2346 | holgerb | 599 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2563 | holgerb | 600 | // +++++++++++++++++++++++++++++++++++++++++++ |
601 | // + Load/Store one single point |
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602 | // +++++++++++++++++++++++++++++++++++++++++++ |
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2575 | holgerb | 603 | if(EE_Parameter.SingleWpControlChannel) LoadStoreSingleWP(); |
2563 | holgerb | 604 | // +++++++++++++++++++++++++++++++++++++++++++ |
605 | #endif |
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2575 | holgerb | 606 | // +++++++++++++++++++++++++++++++++ |
607 | // Sekundentakt |
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608 | if(++second == 49) |
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609 | { |
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610 | second = 0; |
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2563 | holgerb | 611 | |
612 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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2345 | holgerb | 613 | if(ShowSettingNameTime) ShowSettingNameTime--; |
2575 | holgerb | 614 | if(Show_Load_Time) Show_Load_Time--; |
615 | if(Show_Store_Time) Show_Store_Time--; |
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2346 | holgerb | 616 | #endif |
2541 | holgerb | 617 | if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
618 | else |
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619 | if(ServoFailsafeActive) ServoFailsafeActive--; |
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620 | |||
2009 | holgerb | 621 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
2309 | holgerb | 622 | else timer2 = 1450; // 0,5 Minuten aufrunden |
623 | if(modell_fliegt < 1024) |
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2009 | holgerb | 624 | { |
2309 | holgerb | 625 | if(StartLuftdruck < Luftdruck) StartLuftdruck += 5; |
2009 | holgerb | 626 | else |
2309 | holgerb | 627 | if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5; |
2534 | holgerb | 628 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
2009 | holgerb | 629 | } |
2534 | holgerb | 630 | else |
631 | { |
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632 | #ifdef REDUNDANT_FC_MASTER |
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633 | if(!(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_ERROR; |
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634 | else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
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635 | #endif |
||
636 | } |
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2390 | holgerb | 637 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
1512 | holgerb | 638 | } |
2009 | holgerb | 639 | // +++++++++++++++++++++++++++++++++ |
1320 | hbuss | 640 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 641 | { |
642 | timer2 = 0; |
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643 | FlugMinuten++; |
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644 | FlugMinutenGesamt++; |
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1652 | holgerb | 645 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
646 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
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647 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
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648 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
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1344 | hbuss | 649 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 650 | } |
1254 | killagreg | 651 | } |
921 | hbuss | 652 | LED_Update(); |
1486 | killagreg | 653 | Capacity_Update(); |
2386 | holgerb | 654 | } |
655 | } //else DebugOut.Analog[18]++; |
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2341 | holgerb | 656 | if(update_spi) update_spi--; |
657 | } // 500Hz |
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2386 | holgerb | 658 | if(update_spi == 0) // 41Hz |
659 | { |
||
660 | if(SPI_StartTransmitPacket()) update_spi = 12; |
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661 | else |
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662 | if(BytegapSPI == 0) SPI_TransmitByte(); |
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663 | } |
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664 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
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1 | ingob | 665 | } |
666 | } |
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2534 | holgerb | 667 | //DebugOut.Analog[] |
1 | ingob | 668 |