| /trunk/fc.c |
|---|
| 1311,10 → 1311,18 |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = MIN_GAS; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil *= STICK_GAIN; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| /trunk/main.c |
|---|
| 284,10 → 284,13 |
| ExternStickGier = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| if(!I2CTimeout) |
| if(!--I2CTimeout || MissingMotor) |
| { |
| I2CTimeout = 5; |
| i2c_reset(); |
| if(!I2CTimeout) |
| { |
| i2c_reset(); |
| I2CTimeout = 5; |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| 296,7 → 299,6 |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
| /trunk/makefile |
|---|
| 5,7 → 5,7 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 73 |
| VERSION_PATCH = 0 |
| VERSION_PATCH = 1 |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol |
| /trunk/menu.c |
|---|
| 12,7 → 12,7 |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char MaxMenue = 11; |
| unsigned char MaxMenue = 12; |
| unsigned char MenuePunkt = 0; |
| unsigned char RemoteKeys = 0; |
| 45,13 → 45,12 |
| { |
| case 0: |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| #ifndef QUADRO |
| LCD_printfxy(0,1,"HWV%d.%d SW%d.%d%c OCTO",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| #else |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| #endif |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| LCD_printfxy(0,2,"Setting:%d %s",GetActiveParamSetNumber(),Mixer.Name); |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
| else LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| 146,6 → 145,16 |
| LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",MotorPresent[0] + '-',MotorPresent[1] + '-',MotorPresent[2] + '-',MotorPresent[3] + '-'); |
| LCD_printfxy(0,2," %c %c %c %c ",MotorPresent[4] + '-',MotorPresent[5] + '-',MotorPresent[6] + '-',MotorPresent[7] + '-'); |
| LCD_printfxy(0,3," %c - - -",MotorPresent[8] + '-'); |
| if(MotorPresent[9]) LCD_printfxy(4,3,"10"); |
| if(MotorPresent[10]) LCD_printfxy(8,3,"11"); |
| if(MotorPresent[11]) LCD_printfxy(12,3,"12"); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| /trunk/twimaster.c |
|---|
| 5,8 → 5,9 |
| volatile unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motorread = 0,MissingMotor = 0; |
| unsigned char motor_rx[16],motor_rx2[16]; |
| unsigned char MotorPresent[MAX_MOTORS]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| 94,12 → 95,20 |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| static unsigned char missing_motor,cnt_motor; |
| switch(twi_state++) |
| { |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Writing the Data |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| case 0: |
| J3High; |
| while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS-1) motor++; // skip if not used |
| if(motor == MAX_MOTORS) { motor = 0; twi_state = 3; i2c_start(); } // writing finished -> now read |
| while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
| if(motor == MAX_MOTORS) // writing finished -> now read |
| { |
| motor = 0; |
| twi_state = 3; |
| i2c_write_byte(0x53+(motorread*2)); |
| } |
| else i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| 106,33 → 115,48 |
| i2c_write_byte(Motor[motor++]); |
| break; |
| case 2: |
| if(TWSR == 0x30) { if(!missing_motor) missing_motor = motor; } |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Reading Data |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| case 3: |
| J5High; |
| while(Mixer.Motor[motorread][0] <= 0 && MAX_MOTORS-1) motorread++; |
| if(motorread >= MAX_MOTORS) {motorread = 0;J4High;} |
| else i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| //Transmit 1st byte for reading |
| if(TWSR != 0x40) // Error? |
| { |
| MotorPresent[motorread] = 0; |
| motorread++; |
| if(motorread >= MAX_MOTORS) motorread = 0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| else |
| { |
| MotorPresent[motorread] = ('1' - '-') + motorread; |
| } |
| MissingMotor = missing_motor; |
| I2C_ReceiveByte(); |
| break; |
| case 5: //Read 1st byte and transmit 2nd Byte |
| case 4: //Read 1st byte and transmit 2nd Byte |
| motor_rx[motorread] = TWDR; |
| I2C_ReceiveLastByte(); //nack |
| break; |
| case 6: |
| case 5: |
| //Read 2nd byte |
| motor_rx2[motorread++] = TWDR; |
| i2c_stop(); |
| twi_state = 0; |
| I2CTimeout = 10; |
| missing_motor = 0; |
| break; |
| case 8: // Gyro-Offset |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // writing Gyro-Offset |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| case 8: |
| i2c_write_byte(0x98); // Address of the DAC |
| break; |
| case 9: |
| 187,9 → 211,6 |
| break; |
| } |
| TWCR |= 0x80; |
| J3Low; |
| J4Low; |
| J5Low; |
| } |
| /* |
| //############################################################################ |
| /trunk/twimaster.h |
|---|
| 19,9 → 19,10 |
| //############################################################################ |
| extern volatile unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motor,MissingMotor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[16]; |
| extern unsigned char motor_rx[]; |
| extern unsigned char MotorPresent[]; |
| void i2c_reset(void); |
| extern void i2c_init (void); // I2C initialisieren |
| /trunk/version.txt |
|---|
| 241,4 → 241,5 |
| 0.73a: H.Buss 12.03.2009 |
| - MixerTabelle implementiert |
| 0.73b: H.Buss 14.03.2009 |
| - Es wird geprüft, ob alle notwendigen BL-Regler angeschlossen sind |