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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; |
2727 | holgerb | 69 | unsigned char TimerSpeakReady = 0; |
1444 | ingob | 70 | |
2030 | holgerb | 71 | void PrintLine(void) |
72 | { |
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2671 | holgerb | 73 | printf("\r\n==================================="); |
2030 | holgerb | 74 | } |
75 | |||
76 | |||
819 | hbuss | 77 | void CalMk3Mag(void) |
78 | { |
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79 | static unsigned char stick = 1; |
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2499 | holgerb | 80 | ChannelAssingment(); |
2496 | holgerb | 81 | if(ChannelNick > -20) stick = 0; |
82 | if((ChannelNick < -70) && !stick) |
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819 | hbuss | 83 | { |
84 | stick = 1; |
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85 | WinkelOut.CalcState++; |
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1051 | killagreg | 86 | if(WinkelOut.CalcState > 4) |
87 | { |
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2609 | holgerb | 88 | // WinkelOut.CalcState = 0; // in SPI.c |
819 | hbuss | 89 | beeptime = 1000; |
1051 | killagreg | 90 | } |
1232 | hbuss | 91 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 92 | } |
2609 | holgerb | 93 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
94 | ShowCmpsCalibrateTime = 6; |
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95 | #endif |
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819 | hbuss | 96 | } |
97 | |||
1268 | hbuss | 98 | void LipoDetection(unsigned char print) |
99 | { |
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2517 | holgerb | 100 | unsigned int warning; |
2407 | holgerb | 101 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
2408 | holgerb | 102 | if(print) |
103 | { |
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2671 | holgerb | 104 | printf("\r\nBatt:"); |
2408 | holgerb | 105 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
2416 | holgerb | 106 | if(LipoCells > 6) LipoCells = 6; |
2408 | holgerb | 107 | } |
2416 | holgerb | 108 | |
2390 | holgerb | 109 | if(EE_Parameter.UnterspannungsWarnung < 50) |
1654 | killagreg | 110 | { |
2517 | holgerb | 111 | warning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
1654 | killagreg | 112 | if(print) |
113 | { |
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2402 | holgerb | 114 | Piep(LipoCells, 200); |
115 | printf(" %d Cells ", LipoCells); |
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1420 | killagreg | 116 | } |
1654 | killagreg | 117 | } |
2517 | holgerb | 118 | else warning = EE_Parameter.UnterspannungsWarnung; |
119 | if(warning > 255) warning = 255; BattLowVoltageWarning = warning; |
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2390 | holgerb | 120 | // automatische Zellenerkennung |
2517 | holgerb | 121 | if(EE_Parameter.AutoLandingVoltage < 50) warning = LipoCells * EE_Parameter.AutoLandingVoltage; else warning = EE_Parameter.AutoLandingVoltage; |
122 | if(warning > 255) warning = 255; BattAutoLandingVoltage = warning; |
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123 | |||
124 | if(EE_Parameter.ComingHomeVoltage < 50) warning = LipoCells * EE_Parameter.ComingHomeVoltage; else warning = EE_Parameter.ComingHomeVoltage; |
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125 | if(warning > 255) warning = 255; BattComingHomeVoltage = warning; |
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2390 | holgerb | 126 | |
2416 | holgerb | 127 | if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
128 | if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
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129 | if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
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2408 | holgerb | 130 | |
2390 | holgerb | 131 | if(print) |
132 | { |
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2408 | holgerb | 133 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
2416 | holgerb | 134 | if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
135 | if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
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2390 | holgerb | 136 | } |
2416 | holgerb | 137 | |
1268 | hbuss | 138 | } |
139 | |||
2575 | holgerb | 140 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
141 | void LoadStoreSingleWP(void) |
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142 | { |
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143 | // +++++++++++++++++++++++++++++++++++++++++++ |
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144 | // + Load/Store one single point |
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145 | // +++++++++++++++++++++++++++++++++++++++++++ |
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146 | static unsigned char switch_hyterese = 0, hyterese = 1, wp_tmp_s = 0, wp_tmp_l = 0; |
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147 | static int delay; |
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148 | |||
149 | if(PPM_in[EE_Parameter.SingleWpControlChannel] > 50) // Switch Up -> load |
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150 | { |
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151 | if(switch_hyterese == 1 || switch_hyterese == 3) |
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152 | { |
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153 | ToNC_Load_SingePoint = 1; |
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154 | switch_hyterese = 2; |
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2727 | holgerb | 155 | SpeakHoTT = SPEAK_STARTING_WP; |
2575 | holgerb | 156 | Show_Load_Time = 5; |
157 | Show_Load_Value = 1; |
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158 | wp_tmp_l = 1; |
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159 | } |
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160 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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161 | // Bedienung per Taster am Sender |
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162 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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163 | { |
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164 | hyterese = 2; |
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165 | if(CheckDelay(delay)) { wp_tmp_l = 0; hyterese = 1;} |
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166 | } |
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167 | else |
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2605 | holgerb | 168 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
2575 | holgerb | 169 | { |
170 | delay = SetDelay(2500); |
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171 | if(hyterese == 2 && (wp_tmp_l < NaviData_MaxWpListIndex)) |
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172 | { |
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173 | wp_tmp_l++; |
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174 | ToNC_Load_SingePoint = wp_tmp_l; |
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175 | Show_Load_Time = 5; |
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176 | Show_Load_Value = wp_tmp_l; |
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2727 | holgerb | 177 | // SpeakHoTT = SPEAK_NEXT_WP; |
2575 | holgerb | 178 | } |
179 | hyterese = 0; |
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180 | } |
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181 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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182 | } |
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183 | else |
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184 | if(PPM_in[EE_Parameter.SingleWpControlChannel] < -50) // Switch Down -> store |
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185 | { |
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186 | if(switch_hyterese == 1 || switch_hyterese == 2) |
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187 | { |
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188 | ToNC_Store_SingePoint = 1; |
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189 | switch_hyterese = 3; |
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2727 | holgerb | 190 | // SpeakHoTT = SPEAK_MIKROKOPTER; |
2575 | holgerb | 191 | Show_Store_Time = 5; |
192 | Show_Store_Value = 1; |
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193 | wp_tmp_s = 1; |
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194 | } |
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195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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196 | // Bedienung per Taster am Sender |
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197 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
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198 | { |
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199 | hyterese = 2; |
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200 | if(CheckDelay(delay)) { wp_tmp_s = 0; hyterese = 1;} |
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201 | } |
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202 | else |
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2605 | holgerb | 203 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
2575 | holgerb | 204 | { |
205 | delay = SetDelay(2500); |
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206 | if(hyterese == 2 && (wp_tmp_s < NaviData_MaxWpListIndex)) |
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207 | { |
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208 | wp_tmp_s++; |
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209 | ToNC_Store_SingePoint = wp_tmp_s; |
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210 | Show_Store_Time = 5; |
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211 | Show_Store_Value = wp_tmp_s; |
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2727 | holgerb | 212 | // SpeakHoTT = SPEAK_MIKROKOPTER; |
2575 | holgerb | 213 | } |
214 | hyterese = 0; |
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215 | } |
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216 | } |
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217 | else // Middle |
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218 | { |
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219 | switch_hyterese = 1; |
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220 | } |
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221 | } |
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222 | // +++++++++++++++++++++++++++++++++++++++++++ |
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223 | #endif |
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2627 | holgerb | 224 | |
225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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226 | // check if ServoControl is serial Poti and if yes: check if there is valid data |
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227 | void InitSerialPoti(void) |
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228 | { |
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229 | unsigned char i; |
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230 | if(!SerialChannelDataOkay) |
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231 | { |
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232 | if(EE_Parameter.ServoNickControl >= 248) // Poti-Value |
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233 | { |
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234 | i = 255 - EE_Parameter.ServoNickControl; // Poti-number |
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235 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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236 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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237 | { |
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238 | if(EE_Parameter.ServoFS_Pos[0]) PPM_in[i] = EE_Parameter.ServoFS_Pos[0] - 127; // there is a failsafe position |
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239 | else PPM_in[i] = 0; // middle position |
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240 | } |
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241 | } |
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242 | if(EE_Parameter.ServoRollControl >= 248) // Poti-Value |
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243 | { |
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244 | i = 255 - EE_Parameter.ServoRollControl; // Poti-number |
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245 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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246 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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247 | { |
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248 | if(EE_Parameter.ServoFS_Pos[1]) PPM_in[i] = EE_Parameter.ServoFS_Pos[1] - 127; |
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249 | else PPM_in[i] = 0; // middle position |
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250 | } |
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251 | } |
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252 | if(EE_Parameter.Servo3 >= 248) // Poti-Value |
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253 | { |
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254 | i = 255 - EE_Parameter.Servo3; // Poti-number |
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255 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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256 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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257 | { |
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258 | if(EE_Parameter.ServoFS_Pos[2]) PPM_in[i] = EE_Parameter.ServoFS_Pos[2] - 127; |
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259 | else PPM_in[i] = 0; // middle position |
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260 | } |
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261 | } |
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262 | if(EE_Parameter.Servo4 >= 248) // Poti-Value |
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263 | { |
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264 | i = 255 - EE_Parameter.Servo4; // Poti-number |
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265 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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266 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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267 | { |
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268 | if(EE_Parameter.ServoFS_Pos[3]) PPM_in[i] = EE_Parameter.ServoFS_Pos[3] - 127; |
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269 | else PPM_in[i] = 0; // middle position |
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270 | } |
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271 | } |
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272 | if(EE_Parameter.Servo5 >= 248) // Poti-Value |
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273 | { |
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274 | i = 255 - EE_Parameter.Servo5; // Poti-number |
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275 | i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
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276 | if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
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277 | { |
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278 | if(EE_Parameter.ServoFS_Pos[4]) PPM_in[i] = EE_Parameter.ServoFS_Pos[4] - 127; |
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279 | else PPM_in[i] = 0; // middle position |
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280 | } |
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281 | } |
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282 | } |
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283 | } |
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284 | |||
1 | ingob | 285 | //############################################################################ |
286 | //Hauptprogramm |
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287 | int main (void) |
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288 | //############################################################################ |
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289 | { |
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1424 | ingob | 290 | unsigned int timer,i,timer2 = 0, timerPolling; |
2575 | holgerb | 291 | unsigned char update_spi = 1; |
1051 | killagreg | 292 | DDRB = 0x00; |
2330 | holgerb | 293 | PORTB = 0x00; |
2309 | holgerb | 294 | DDRD = 0x0A; // UART & J3 J4 J5 |
2609 | holgerb | 295 | PORTD = 0x7F; // PPM-Input & UART |
188 | holgerb | 296 | for(timer = 0; timer < 1000; timer++); // verzögern |
1660 | holgerb | 297 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2334 | holgerb | 298 | unsigned char AccZ_ErrorCnt = 0; |
2309 | holgerb | 299 | if(PINB & 0x02) |
300 | { |
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301 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
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302 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
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303 | } |
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304 | else |
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305 | { |
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2597 | holgerb | 306 | PlatinenVersion = LIBFC_Get_HW_Version(25); |
2579 | holgerb | 307 | ACC_AltitudeControl = 1; |
308 | J4Low; |
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2309 | holgerb | 309 | } |
2617 | holgerb | 310 | /* |
311 | if(PlatinenVersion >= 30) -> wird noch der #define gemacht |
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312 | { |
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313 | if(!(PIND & 0x20)) IamMaster = SLAVE; // Slave |
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314 | else IamMaster = MASTER; // Master |
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315 | } |
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316 | */ |
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1660 | holgerb | 317 | #else |
318 | if(PINB & 0x01) |
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918 | hbuss | 319 | { |
1051 | killagreg | 320 | if(PINB & 0x02) PlatinenVersion = 13; |
321 | else PlatinenVersion = 11; |
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918 | hbuss | 322 | } |
1051 | killagreg | 323 | else |
1021 | hbuss | 324 | { |
1051 | killagreg | 325 | if(PINB & 0x02) PlatinenVersion = 20; |
2309 | holgerb | 326 | else |
327 | { |
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328 | PlatinenVersion = 10; |
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329 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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330 | PORTD = 0x47; // |
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331 | } |
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1021 | hbuss | 332 | } |
1660 | holgerb | 333 | #endif |
2316 | holgerb | 334 | |
2309 | holgerb | 335 | DDRC = 0x81; // I2C, Spaker |
1036 | hbuss | 336 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 337 | PORTC = 0xff; // Pullup SDA |
338 | DDRB = 0x1B; // LEDs und Druckoffset |
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2609 | holgerb | 339 | PORTB = 0x05; // LED_Rot & pullup on PB2 (RC-Voltage detection) |
2597 | holgerb | 340 | |
2146 | holgerb | 341 | HEF4017Reset_ON; |
1 | ingob | 342 | MCUSR &=~(1<<WDRF); |
343 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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344 | WDTCSR = 0; |
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345 | |||
1652 | holgerb | 346 | beeptime = 2500; |
2496 | holgerb | 347 | StickGier = 0; StickRoll = 0; StickNick = 0; |
1660 | holgerb | 348 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
1 | ingob | 349 | ROT_OFF; |
2193 | holgerb | 350 | GRN_ON; |
1479 | killagreg | 351 | |
1 | ingob | 352 | Timer_Init(); |
1156 | hbuss | 353 | TIMER2_Init(); |
1 | ingob | 354 | UART_Init(); |
355 | rc_sum_init(); |
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356 | ADC_Init(); |
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1743 | holgerb | 357 | I2C_Init(1); |
597 | ingob | 358 | SPI_MasterInit(); |
1486 | killagreg | 359 | Capacity_Init(); |
2309 | holgerb | 360 | LIBFC_Init(LIB_FC_COMPATIBLE); |
1431 | ingob | 361 | GRN_ON; |
362 | sei(); |
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2730 | holgerb | 363 | printf("\r\nBaudrate:%u00",Baudrate_100); |
1622 | killagreg | 364 | ParamSet_Init(); |
1211 | hbuss | 365 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2659 | holgerb | 366 | if(PlatinenVersion < 20) |
2426 | holgerb | 367 | { |
368 | wdt_enable(WDTO_250MS); // Reset-Commando |
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2671 | holgerb | 369 | while(1) printf("\r\nOld FC Hardware not supported by this Firmware!"); |
2426 | holgerb | 370 | } |
2427 | holgerb | 371 | #ifndef REDUNDANT_FC_SLAVE |
2426 | holgerb | 372 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1211 | hbuss | 373 | // + Check connected BL-Ctrls |
374 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1648 | killagreg | 375 | // Check connected BL-Ctrls |
376 | BLFlags |= BLFLAG_READ_VERSION; |
||
1662 | killagreg | 377 | motor_read = 0; // read the first I2C-Data |
2466 | holgerb | 378 | for(i=0; i < 500; i++) |
379 | { |
||
380 | SendMotorData(); |
||
381 | timer = SetDelay(5); |
||
382 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
383 | } |
||
2671 | holgerb | 384 | printf("\r\nFound BL-Ctrl: "); |
2466 | holgerb | 385 | // timer = SetDelay(1000); |
1211 | hbuss | 386 | for(i=0; i < MAX_MOTORS; i++) |
1622 | killagreg | 387 | { |
2466 | holgerb | 388 | // SendMotorData(); |
389 | // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
1622 | killagreg | 390 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
391 | { |
||
1648 | killagreg | 392 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
393 | { |
||
2496 | holgerb | 394 | if((BLFlags & BLFLAG_TX_COMPLETE)) SendMotorData(); |
395 | //while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
1648 | killagreg | 396 | } |
1232 | hbuss | 397 | } |
1648 | killagreg | 398 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
399 | { |
||
2466 | holgerb | 400 | unsigned char vers; |
401 | printf("%d",(i+1)%10); |
||
1702 | holgerb | 402 | FoundMotors++; |
2466 | holgerb | 403 | vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
404 | if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
||
2527 | holgerb | 405 | //if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)"); |
406 | //if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)"); |
||
2671 | holgerb | 407 | //printf(":V%03d\r\n",vers); |
1648 | killagreg | 408 | } |
1622 | killagreg | 409 | } |
1211 | hbuss | 410 | for(i=0; i < MAX_MOTORS; i++) |
1051 | killagreg | 411 | { |
1622 | killagreg | 412 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
413 | { |
||
2671 | holgerb | 414 | printf("\r\n\r\n!! MISSING BL-CTRL: %d !!",i+1); |
1701 | holgerb | 415 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
1111 | hbuss | 416 | } |
1622 | killagreg | 417 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
1 | ingob | 418 | } |
2466 | holgerb | 419 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
420 | if(VersionInfo.BL_Firmware != 255) |
||
421 | { |
||
2671 | holgerb | 422 | printf("\r\nBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
2466 | holgerb | 423 | if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
424 | } |
||
425 | #endif |
||
426 | |||
2671 | holgerb | 427 | PrintLine();// ("\r\n==================================="); |
1765 | killagreg | 428 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
2407 | holgerb | 429 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
2437 | holgerb | 430 | #else |
2671 | holgerb | 431 | printf("\r\n\r\n--> REDUNDANT SLAVE <---\r\n"); |
2617 | holgerb | 432 | IamMaster = SLAVE; |
2437 | holgerb | 433 | #endif |
434 | |||
435 | #ifdef REDUNDANT_FC_MASTER |
||
2671 | holgerb | 436 | printf("\r\n\r\n--> REDUNDANT MASTER <---\r\n"); |
2617 | holgerb | 437 | IamMaster = MASTER; |
2437 | holgerb | 438 | #endif |
2427 | holgerb | 439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | // Calibrating altitude sensor |
||
441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1529 | killagreg | 442 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1622 | killagreg | 443 | { |
2671 | holgerb | 444 | printf("\r\nCalibrating pressure sensor.."); |
1622 | killagreg | 445 | timer = SetDelay(1000); |
446 | SucheLuftruckOffset(); |
||
447 | while (!CheckDelay(timer)); |
||
2671 | holgerb | 448 | printf("OK\r\n"); |
1 | ingob | 449 | } |
1051 | killagreg | 450 | |
2427 | holgerb | 451 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 452 | VersionInfo.HardwareError[0] = 0; |
453 | VersionInfo.HardwareError[1] = 0; |
||
454 | #endif |
||
455 | |||
1622 | killagreg | 456 | SetNeutral(0); |
1 | ingob | 457 | |
458 | ROT_OFF; |
||
1051 | killagreg | 459 | |
1 | ingob | 460 | beeptime = 2000; |
461 | |||
1652 | holgerb | 462 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
463 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
||
1622 | killagreg | 464 | |
1702 | holgerb | 465 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
1622 | killagreg | 466 | { |
467 | FlugMinuten = 0; |
||
468 | FlugMinutenGesamt = 0; |
||
469 | } |
||
2671 | holgerb | 470 | printf("\r\nFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
1 | ingob | 471 | LcdClear(); |
173 | holgerb | 472 | I2CTimeout = 5000; |
819 | hbuss | 473 | WinkelOut.Orientation = 1; |
1268 | hbuss | 474 | LipoDetection(1); |
1626 | killagreg | 475 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
2671 | holgerb | 476 | PrintLine();// ("\r\n==================================="); |
1622 | killagreg | 477 | //SpektrumBinding(); |
1350 | hbuss | 478 | timer = SetDelay(2000); |
1424 | ingob | 479 | timerPolling = SetDelay(250); |
1648 | killagreg | 480 | |
2671 | holgerb | 481 | Debug(ANSI_CLEAR "FC-Start!\r\nFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
482 | if(PARAMSET_STRUCT_LEN != 179) while(1) printf("\r\nEE_Parameter size:%i", PARAMSET_STRUCT_LEN); |
||
2340 | holgerb | 483 | |
1702 | holgerb | 484 | DebugOut.Status[0] = 0x01 | 0x02; |
1834 | holgerb | 485 | JetiBeep = 0; |
2628 | holgerb | 486 | if(!(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)) DisableRcOffBeeping = 0; |
2466 | holgerb | 487 | ReadBlSize = 3; // don't read the version any more |
2659 | holgerb | 488 | if(PlatinenVersion < 30) OEM_String[0] = 0xff; |
2462 | holgerb | 489 | #ifdef REDUNDANT_FC_SLAVE |
490 | timer = SetDelay(2500); |
||
491 | while(!CheckDelay(timer)); |
||
2671 | holgerb | 492 | printf("\r\nStart\r\n"); |
2462 | holgerb | 493 | #endif |
2709 | holgerb | 494 | |
2330 | holgerb | 495 | while(1) |
1 | ingob | 496 | { |
2439 | holgerb | 497 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
1945 | holgerb | 498 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
1419 | ingob | 499 | if(UpdateMotor && AdReady) // ReglerIntervall |
1051 | killagreg | 500 | { |
2386 | holgerb | 501 | cli(); |
502 | UpdateMotor--; |
||
503 | sei(); |
||
819 | hbuss | 504 | if(WinkelOut.CalcState) CalMk3Mag(); |
1644 | holgerb | 505 | else MotorRegler(); |
506 | SendMotorData(); |
||
1 | ingob | 507 | ROT_OFF; |
2597 | holgerb | 508 | |
509 | if(SenderOkay > ReceiverOkay) ReceiverOkay = SenderOkay; |
||
510 | |||
511 | if(ReceiverOkay) ReceiverOkay--; |
||
512 | else |
||
513 | { |
||
514 | ChannelNick = 0; |
||
515 | ChannelRoll = 0; |
||
516 | ChannelYaw = 0; |
||
517 | ChannelGas = 0; |
||
518 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
||
519 | } |
||
520 | |||
1937 | holgerb | 521 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
1603 | killagreg | 522 | else |
523 | { |
||
524 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
||
525 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
||
2486 | holgerb | 526 | // Now clear the channel values - they would be wrong |
527 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
528 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
529 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
530 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
531 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
532 | PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
||
1603 | killagreg | 533 | } |
1420 | killagreg | 534 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1481 | holgerb | 535 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
536 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
||
1309 | hbuss | 537 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | hbuss | 538 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 539 | { |
1254 | killagreg | 540 | if(!I2CTimeout) |
1210 | hbuss | 541 | { |
1662 | killagreg | 542 | I2C_Reset(); |
1210 | hbuss | 543 | I2CTimeout = 5; |
1322 | hbuss | 544 | DebugOut.Analog[28]++; // I2C-Error |
1765 | killagreg | 545 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
1702 | holgerb | 546 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1322 | hbuss | 547 | } |
1051 | killagreg | 548 | if((BeepMuster == 0xffff) && MotorenEin) |
549 | { |
||
1936 | holgerb | 550 | beeptime = 25000; |
173 | holgerb | 551 | BeepMuster = 0x0080; |
1051 | killagreg | 552 | } |
1 | ingob | 553 | } |
1051 | killagreg | 554 | else |
1 | ingob | 555 | { |
1051 | killagreg | 556 | ROT_OFF; |
1944 | holgerb | 557 | } |
1916 | holgerb | 558 | LIBFC_Polling(); |
559 | |||
1639 | holgerb | 560 | if(!UpdateMotor) |
2012 | holgerb | 561 | { |
562 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
563 | if(NewSBusData) ProcessSBus(); |
||
564 | else |
||
2543 | holgerb | 565 | if(NewMlinkData) ProcessMlinkData(); |
566 | else |
||
2012 | holgerb | 567 | #endif |
1639 | holgerb | 568 | { |
2404 | holgerb | 569 | if(BytegapSPI == 0) SPI_TransmitByte(); |
2627 | holgerb | 570 | if(CalculateServoSignals) CalculateServo(0); |
1760 | holgerb | 571 | DatenUebertragung(); |
572 | BearbeiteRxDaten(); |
||
2609 | holgerb | 573 | if(!(PINB & 0x04)) VersionInfo.HardwareError[1] |= FC_ERROR1_RC_VOLTAGE; |
1254 | killagreg | 574 | if(CheckDelay(timer)) |
575 | { |
||
1512 | holgerb | 576 | static unsigned char second; |
1420 | killagreg | 577 | timer += 20; // 20 ms interval |
2676 | holgerb | 578 | //DebugOut.Analog[] = LuftdruckTemperaturOffset; |
2191 | holgerb | 579 | CalcNickServoValue(); |
2609 | holgerb | 580 | if(!CalibrationDone) FC_StatusFlags3 |= FC_STATUS3_NOT_CALIBRATED; else FC_StatusFlags3 &= ~FC_STATUS3_NOT_CALIBRATED; |
2497 | holgerb | 581 | // ++++++++++++++++++++++++++++ |
582 | // + New direction setpoint from NC |
||
2605 | holgerb | 583 | if((NC_CompassSetpoint != -1) && !NeueKompassRichtungMerken) |
2497 | holgerb | 584 | { |
585 | int diff; |
||
2730 | holgerb | 586 | if((KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
2497 | holgerb | 587 | { |
588 | diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
||
589 | if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
||
590 | else |
||
591 | if(diff < -2) diff = -2; |
||
592 | KompassSollWert -= diff; |
||
593 | } |
||
2500 | holgerb | 594 | else |
595 | { |
||
596 | NC_CompassSetpoint = -1; |
||
597 | NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
||
598 | } |
||
2497 | holgerb | 599 | } |
600 | // ++++++++++++++++++++++++++++ |
||
1925 | holgerb | 601 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1917 | holgerb | 602 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
2263 | holgerb | 603 | else |
604 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
||
2334 | holgerb | 605 | // ++++++++++++++++++++++++++++ |
606 | // + check the ACC-Z range |
||
607 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
||
608 | { |
||
609 | if(++AccZ_ErrorCnt > 50) |
||
610 | { |
||
611 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
||
612 | else CalibrationDone = 0; |
||
613 | } |
||
614 | } |
||
615 | else AccZ_ErrorCnt = 0; |
||
616 | // ++++++++++++++++++++++++++++ |
||
1925 | holgerb | 617 | #endif |
2390 | holgerb | 618 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
1702 | holgerb | 619 | { |
2390 | holgerb | 620 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
1702 | holgerb | 621 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
1765 | killagreg | 622 | } |
623 | else |
||
1702 | holgerb | 624 | { |
1936 | holgerb | 625 | if(!beeptime) |
626 | { |
||
627 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
||
628 | } |
||
1765 | killagreg | 629 | } |
2597 | holgerb | 630 | if(DisableRcOffBeeping) if(ReceiverOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
1420 | killagreg | 631 | if(PcZugriff) PcZugriff--; |
632 | else |
||
633 | { |
||
2597 | holgerb | 634 | if(!ReceiverOkay) |
1420 | killagreg | 635 | { |
1914 | holgerb | 636 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
1913 | holgerb | 637 | { |
638 | beeptime = 15000; |
||
639 | BeepMuster = 0x0c00; |
||
1914 | holgerb | 640 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
1913 | holgerb | 641 | } |
1914 | holgerb | 642 | } |
1420 | killagreg | 643 | } |
1682 | holgerb | 644 | if(NaviDataOkay > 200) |
1420 | killagreg | 645 | { |
646 | NaviDataOkay--; |
||
1765 | killagreg | 647 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
2342 | holgerb | 648 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
1420 | killagreg | 649 | } |
650 | else |
||
651 | { |
||
1702 | holgerb | 652 | if(NC_Version.Compatible) |
653 | { |
||
1930 | holgerb | 654 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
655 | NC_ErrorCode = 9; // "ERR: no NC communication" |
||
1702 | holgerb | 656 | if(BeepMuster == 0xffff && MotorenEin) |
657 | { |
||
658 | beeptime = 15000; |
||
659 | BeepMuster = 0xA800; |
||
660 | } |
||
1765 | killagreg | 661 | } |
1420 | killagreg | 662 | GPS_Nick = 0; |
663 | GPS_Roll = 0; |
||
1945 | holgerb | 664 | GPS_Aid_StickMultiplikator = 0; |
1916 | holgerb | 665 | GPSInfo.Flags = 0; |
2348 | holgerb | 666 | FromNaviCtrl_Value.Kalman_K = -1; |
1936 | holgerb | 667 | FromNaviCtrl.AccErrorN = 0; |
668 | FromNaviCtrl.AccErrorR = 0; |
||
1691 | holgerb | 669 | FromNaviCtrl.CompassValue = -1; |
2342 | holgerb | 670 | FromNC_AltitudeSpeed = 0; |
671 | FromNC_AltitudeSetpoint = 0; |
||
672 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
||
2553 | holgerb | 673 | NC_To_FC_Flags = 0; |
1703 | holgerb | 674 | NaviDataOkay = 0; |
1420 | killagreg | 675 | } |
2390 | holgerb | 676 | if(UBat <= BattLowVoltageWarning) |
1254 | killagreg | 677 | { |
1765 | killagreg | 678 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
2373 | holgerb | 679 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
1254 | killagreg | 680 | { |
681 | beeptime = 6000; |
||
682 | BeepMuster = 0x0300; |
||
683 | } |
||
684 | } |
||
2346 | holgerb | 685 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2563 | holgerb | 686 | // +++++++++++++++++++++++++++++++++++++++++++ |
687 | // + Load/Store one single point |
||
688 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
2575 | holgerb | 689 | if(EE_Parameter.SingleWpControlChannel) LoadStoreSingleWP(); |
2563 | holgerb | 690 | // +++++++++++++++++++++++++++++++++++++++++++ |
691 | #endif |
||
2576 | holgerb | 692 | #ifdef NO_RECEIVER |
693 | 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; |
||
694 | PPM_in[EE_Parameter.HoeheChannel] = (unsigned char) 200; |
||
695 | PPM_in[EE_Parameter.NaviGpsModeChannel] = (unsigned char) 200; |
||
696 | PPM_in[EE_Parameter.CareFreeChannel] = (unsigned char) 200; |
||
697 | SenderOkay = 180; |
||
698 | MotorenEin = 0; |
||
699 | #endif |
||
2659 | holgerb | 700 | if(BaroExpandCnt > 0) BaroExpandCnt--; |
701 | else |
||
702 | if(BaroExpandCnt < 0) BaroExpandCnt++; |
||
703 | |||
2575 | holgerb | 704 | // +++++++++++++++++++++++++++++++++ |
705 | // Sekundentakt |
||
706 | if(++second == 49) |
||
707 | { |
||
2679 | holgerb | 708 | static long altitudeOld = 0; |
709 | static char threeseconds = 3; |
||
710 | |||
2575 | holgerb | 711 | second = 0; |
2563 | holgerb | 712 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2727 | holgerb | 713 | if(TimerSpeakReady) |
714 | { |
||
715 | if(!SpeakHoTT && !VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode && !Partner_ErrorCode) |
||
716 | { |
||
717 | if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) TimerSpeakReady = 5; |
||
718 | if(--TimerSpeakReady == 0) if(!MotorenEin) SpeakHoTT = SPEAK_MK_READY; |
||
719 | } |
||
720 | } |
||
721 | if(EE_Parameter.Receiver != RECEIVER_HOTT) BuildHottStatusText(); |
||
722 | |||
723 | #ifdef REDUNDANT_FC_MASTER |
||
724 | if(!SpeakHoTT) |
||
725 | { |
||
726 | static unsigned char speak_R_on = 3, speak_R_off = 0; |
||
727 | if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) |
||
728 | { |
||
729 | if(speak_R_on) if(--speak_R_on == 0) |
||
730 | { |
||
731 | SpeakHoTT = SPEAK_REDUNDANC_ON; |
||
732 | speak_R_on = 0; |
||
733 | } |
||
734 | speak_R_off = 5; |
||
735 | } |
||
736 | else |
||
737 | { |
||
738 | if(FC_StatusFlags & FC_STATUS_FLY) |
||
739 | { |
||
740 | if(--speak_R_off == 0) |
||
741 | { |
||
742 | SpeakHoTT = SPEAK_REDUNDANC_OFF; |
||
743 | speak_R_off = 60; |
||
744 | speak_R_on = 3; |
||
745 | } |
||
746 | } |
||
747 | else |
||
748 | { |
||
749 | speak_R_off = 3; |
||
750 | speak_R_on = 3; |
||
751 | } |
||
752 | } |
||
753 | } |
||
754 | #endif |
||
755 | |||
2345 | holgerb | 756 | if(ShowSettingNameTime) ShowSettingNameTime--; |
2575 | holgerb | 757 | if(Show_Load_Time) Show_Load_Time--; |
758 | if(Show_Store_Time) Show_Store_Time--; |
||
2609 | holgerb | 759 | if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
2617 | holgerb | 760 | if(Delete_Stoppflag_Timer) Delete_Stoppflag_Timer--; else FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
2346 | holgerb | 761 | #endif |
2693 | holgerb | 762 | if(NC_To_FC_Flags & (NC_TO_FC_EMERGENCY_LANDING | NC_TO_FC_FLYING_RANGE | NC_TO_FC_OUTSIDE_FLYZONE)) |
763 | { |
||
764 | if(!beeptime) |
||
765 | { |
||
766 | beeptime = 10000; |
||
767 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) BeepMuster = 0x1500; |
||
768 | else BeepMuster = 0x2800; |
||
769 | } |
||
770 | } |
||
2679 | holgerb | 771 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2727 | holgerb | 772 | // + for External control |
773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
774 | if(ExternalControlTimeout) |
||
775 | { |
||
776 | ExternalControlTimeout--; |
||
777 | if(ExternalControlTimeout == EXTRN_CTRL_TIMEOUT - 3) // take sticks into middle Position after 3 seconds |
||
778 | { |
||
779 | ExternalControl.Nick = 0; |
||
780 | ExternalControl.Roll = 0; |
||
781 | ExternalControl.Gier = 0; |
||
782 | ExternalControl.Gas = 0; |
||
783 | // switch on GPS and Altitude Control |
||
784 | //if(!(ExternalControl.Switches & (EC2_PH | EC2_CH))) |
||
785 | ExternalControl.Switches |= EC2_PH; |
||
786 | ExternalControl.Switches |= EC2_ALTITUDE; |
||
787 | beeptime = 2000; |
||
788 | } |
||
789 | else |
||
790 | if(ExternalControlTimeout == 1) |
||
791 | { |
||
792 | ExternalControl.Config = 0; |
||
793 | beeptime = 2000; |
||
794 | } |
||
795 | } |
||
796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2679 | holgerb | 797 | // + for auto switch - off |
798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
799 | if(--threeseconds == 0) |
||
800 | { |
||
801 | int AltitudeDeviationPer3Seconds = 0; |
||
802 | threeseconds = 3; |
||
803 | AltitudeDeviationPer3Seconds = HoehenWert - altitudeOld; |
||
804 | altitudeOld = HoehenWert; |
||
805 | if(abs(AltitudeDeviationPer3Seconds) > 90) TouchDownTimer = 0; |
||
806 | if(!MotorenEin) TouchDownTimer = 0; |
||
807 | } |
||
808 | if(ACC_AltitudeControl && HoehenReglerAktiv && (SollHoehe < (HoehenWert-1100)) && !(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE)) // 11m unter Sollwert |
||
809 | { |
||
810 | if(TouchDownTimer < 255) TouchDownTimer++; |
||
811 | } |
||
812 | else TouchDownTimer = 0; |
||
813 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
814 | if( (NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) || // for auto landing waypoints points |
||
815 | (NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) || // for RC failsafe |
||
816 | (LowVoltageLandingActive) || // undervoltage |
||
817 | (FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) // Auto landing by switch |
||
818 | ) |
||
819 | { |
||
820 | if(TouchDownTimer == 6) SpeakHoTT = SPEAK_SINKING; |
||
821 | else |
||
822 | if(TouchDownTimer == 9) |
||
823 | { |
||
824 | SpeakHoTT = SPEAK_LANDING; |
||
825 | } |
||
826 | else |
||
827 | if(TouchDownTimer == 16) |
||
828 | { |
||
829 | FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
||
830 | Delete_Stoppflag_Timer = 2; // 1-2 seconds |
||
831 | MotorenEin = 0; |
||
832 | modell_fliegt = 0; |
||
833 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
834 | SpeakHoTT = SPEAK_MK_OFF; |
||
835 | } |
||
836 | } |
||
837 | else TouchDownTimer = 0; |
||
838 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
839 | |||
2627 | holgerb | 840 | if(SerialChannelDataOkay) if(--SerialChannelDataOkay == 0) InitSerialPoti(); |
2541 | holgerb | 841 | if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
842 | else |
||
843 | if(ServoFailsafeActive) ServoFailsafeActive--; |
||
844 | |||
2009 | holgerb | 845 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
2309 | holgerb | 846 | else timer2 = 1450; // 0,5 Minuten aufrunden |
2676 | holgerb | 847 | if(modell_fliegt < 1024 && !BaroCalState) |
2009 | holgerb | 848 | { |
2676 | holgerb | 849 | if(StartLuftdruck < LuftdruckKompensiert) StartLuftdruck += 5; |
2009 | holgerb | 850 | else |
2676 | holgerb | 851 | if(StartLuftdruck > LuftdruckKompensiert) StartLuftdruck -= 5; |
2534 | holgerb | 852 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
2009 | holgerb | 853 | } |
2534 | holgerb | 854 | else |
855 | { |
||
856 | #ifdef REDUNDANT_FC_MASTER |
||
857 | if(!(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_ERROR; |
||
858 | else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
||
859 | #endif |
||
860 | } |
||
2390 | holgerb | 861 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
2627 | holgerb | 862 | TIMSK2 |= (1<<OCIE2A); // enable Servo-Interrupt now |
1512 | holgerb | 863 | } |
2009 | holgerb | 864 | // +++++++++++++++++++++++++++++++++ |
1320 | hbuss | 865 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 866 | { |
867 | timer2 = 0; |
||
868 | FlugMinuten++; |
||
869 | FlugMinutenGesamt++; |
||
1652 | holgerb | 870 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
871 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
||
872 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
||
873 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
||
1344 | hbuss | 874 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 875 | } |
1254 | killagreg | 876 | } |
921 | hbuss | 877 | LED_Update(); |
1486 | killagreg | 878 | Capacity_Update(); |
2386 | holgerb | 879 | } |
880 | } //else DebugOut.Analog[18]++; |
||
2341 | holgerb | 881 | if(update_spi) update_spi--; |
882 | } // 500Hz |
||
2386 | holgerb | 883 | if(update_spi == 0) // 41Hz |
884 | { |
||
2628 | holgerb | 885 | if(!MotorenEin && NC_RequestsConfig) { SendSettingToNC(); update_spi = 12;} |
2604 | holgerb | 886 | else |
2386 | holgerb | 887 | if(SPI_StartTransmitPacket()) update_spi = 12; |
888 | else |
||
889 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
890 | } |
||
891 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
||
1 | ingob | 892 | } |
893 | } |
||
2676 | holgerb | 894 | //DebugOut.Analog[] |
1 | ingob | 895 | |
2604 | holgerb | 896 |