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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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 |
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 |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | #include "main.h" |
53 | #include "main.h" |
54 | unsigned char DisableRcOffBeeping = 0; |
54 | unsigned char DisableRcOffBeeping = 0; |
55 | unsigned char PlatinenVersion = 10; |
55 | unsigned char PlatinenVersion = 10; |
56 | unsigned char BattLowVoltageWarning = 94; |
56 | unsigned char BattLowVoltageWarning = 94; |
- | 57 | unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0; |
|
57 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
58 | unsigned int FlugSekunden = 0; |
59 | unsigned int FlugSekunden = 0; |
59 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
60 | unsigned char FoundMotors = 0; |
61 | unsigned char FoundMotors = 0; |
61 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
62 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
62 | unsigned char ActiveParamSet = 3; |
63 | unsigned char ActiveParamSet = 3; |
63 | unsigned char LipoCells = 4; |
64 | unsigned char LipoCells = 4; |
64 | 65 | ||
65 | void PrintLine(void) |
66 | void PrintLine(void) |
66 | { |
67 | { |
67 | printf("\n\r==================================="); |
68 | printf("\n\r==================================="); |
68 | } |
69 | } |
69 | 70 | ||
70 | 71 | ||
71 | void CalMk3Mag(void) |
72 | void CalMk3Mag(void) |
72 | { |
73 | { |
73 | static unsigned char stick = 1; |
74 | static unsigned char stick = 1; |
74 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
75 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
75 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
76 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
76 | { |
77 | { |
77 | stick = 1; |
78 | stick = 1; |
78 | WinkelOut.CalcState++; |
79 | WinkelOut.CalcState++; |
79 | if(WinkelOut.CalcState > 4) |
80 | if(WinkelOut.CalcState > 4) |
80 | { |
81 | { |
81 | // WinkelOut.CalcState = 0; // in Uart.c |
82 | // WinkelOut.CalcState = 0; // in Uart.c |
82 | beeptime = 1000; |
83 | beeptime = 1000; |
83 | } |
84 | } |
84 | else Piep(WinkelOut.CalcState,150); |
85 | else Piep(WinkelOut.CalcState,150); |
85 | } |
86 | } |
86 | } |
87 | } |
87 | 88 | ||
88 | 89 | ||
89 | void LipoDetection(unsigned char print) |
90 | void LipoDetection(unsigned char print) |
90 | { |
91 | { |
91 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
92 | #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
92 | if(print) |
93 | if(print) |
93 | { |
94 | { |
94 | printf("\n\rBatt:"); |
95 | printf("\n\rBatt:"); |
95 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
96 | LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
- | 97 | if(LipoCells > 6) LipoCells = 6; |
|
96 | } |
98 | } |
- | 99 | ||
97 | if(EE_Parameter.UnterspannungsWarnung < 50) |
100 | if(EE_Parameter.UnterspannungsWarnung < 50) |
98 | { |
101 | { |
99 | BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
102 | BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
100 | if(print) |
103 | if(print) |
101 | { |
104 | { |
102 | Piep(LipoCells, 200); |
105 | Piep(LipoCells, 200); |
103 | printf(" %d Cells ", LipoCells); |
106 | printf(" %d Cells ", LipoCells); |
104 | } |
107 | } |
105 | } |
108 | } |
106 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
109 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
107 | 110 | ||
108 | // automatische Zellenerkennung |
111 | // automatische Zellenerkennung |
109 | if(EE_Parameter.AutoLandingVoltage < 50) EE_Parameter.AutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; |
112 | if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage; |
110 | if(EE_Parameter.ComingHomeVoltage < 50) EE_Parameter.ComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; |
113 | if(EE_Parameter.ComingHomeVoltage < 50) BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage; |
111 | 114 | ||
112 | if(EE_Parameter.AutoLandingVoltage > BattLowVoltageWarning) EE_Parameter.AutoLandingVoltage = BattLowVoltageWarning - 1; |
115 | if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
113 | if(EE_Parameter.ComingHomeVoltage >= BattLowVoltageWarning) EE_Parameter.ComingHomeVoltage = BattLowVoltageWarning - 1; |
116 | if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
114 | if(EE_Parameter.AutoLandingVoltage >= EE_Parameter.ComingHomeVoltage) EE_Parameter.AutoLandingVoltage = EE_Parameter.ComingHomeVoltage - 1; |
117 | if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
115 | 118 | ||
116 | if(print) |
119 | if(print) |
117 | { |
120 | { |
118 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
121 | printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
119 | if(EE_Parameter.ComingHomeVoltage) printf(" Auto-CH: %d.%dV",EE_Parameter.ComingHomeVoltage/10,EE_Parameter.ComingHomeVoltage%10); |
122 | if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
120 | if(EE_Parameter.AutoLandingVoltage) printf(" Autolanding: %d.%dV",EE_Parameter.AutoLandingVoltage/10,EE_Parameter.AutoLandingVoltage%10); |
123 | if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
121 | } |
124 | } |
- | 125 | ||
122 | } |
126 | } |
123 | 127 | ||
124 | //############################################################################ |
128 | //############################################################################ |
125 | //Hauptprogramm |
129 | //Hauptprogramm |
126 | int main (void) |
130 | int main (void) |
127 | //############################################################################ |
131 | //############################################################################ |
128 | { |
132 | { |
129 | unsigned int timer,i,timer2 = 0, timerPolling; |
133 | unsigned int timer,i,timer2 = 0, timerPolling; |
130 | unsigned char update_spi = 1; |
134 | unsigned char update_spi = 1; |
131 | DDRB = 0x00; |
135 | DDRB = 0x00; |
132 | PORTB = 0x00; |
136 | PORTB = 0x00; |
133 | DDRD = 0x0A; // UART & J3 J4 J5 |
137 | DDRD = 0x0A; // UART & J3 J4 J5 |
134 | PORTD = 0x5F; // PPM-Input & UART |
138 | PORTD = 0x5F; // PPM-Input & UART |
135 | for(timer = 0; timer < 1000; timer++); // verzögern |
139 | for(timer = 0; timer < 1000; timer++); // verzögern |
136 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
140 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
137 | unsigned char AccZ_ErrorCnt = 0; |
141 | unsigned char AccZ_ErrorCnt = 0; |
138 | if(PINB & 0x02) |
142 | if(PINB & 0x02) |
139 | { |
143 | { |
140 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
144 | if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
141 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
145 | else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
142 | } |
146 | } |
143 | else |
147 | else |
144 | { |
148 | { |
145 | PlatinenVersion = 25; ACC_AltitudeControl = 1; |
149 | PlatinenVersion = 25; ACC_AltitudeControl = 1; |
146 | } |
150 | } |
147 | #else |
151 | #else |
148 | if(PINB & 0x01) |
152 | if(PINB & 0x01) |
149 | { |
153 | { |
150 | if(PINB & 0x02) PlatinenVersion = 13; |
154 | if(PINB & 0x02) PlatinenVersion = 13; |
151 | else PlatinenVersion = 11; |
155 | else PlatinenVersion = 11; |
152 | } |
156 | } |
153 | else |
157 | else |
154 | { |
158 | { |
155 | if(PINB & 0x02) PlatinenVersion = 20; |
159 | if(PINB & 0x02) PlatinenVersion = 20; |
156 | else |
160 | else |
157 | { |
161 | { |
158 | PlatinenVersion = 10; |
162 | PlatinenVersion = 10; |
159 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
163 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
160 | PORTD = 0x47; // |
164 | PORTD = 0x47; // |
161 | } |
165 | } |
162 | } |
166 | } |
163 | #endif |
167 | #endif |
164 | 168 | ||
165 | DDRC = 0x81; // I2C, Spaker |
169 | DDRC = 0x81; // I2C, Spaker |
166 | DDRC |=0x40; // HEF4017 Reset |
170 | DDRC |=0x40; // HEF4017 Reset |
167 | PORTC = 0xff; // Pullup SDA |
171 | PORTC = 0xff; // Pullup SDA |
168 | DDRB = 0x1B; // LEDs und Druckoffset |
172 | DDRB = 0x1B; // LEDs und Druckoffset |
169 | PORTB = 0x01; // LED_Rot |
173 | PORTB = 0x01; // LED_Rot |
170 | 174 | ||
171 | HEF4017Reset_ON; |
175 | HEF4017Reset_ON; |
172 | MCUSR &=~(1<<WDRF); |
176 | MCUSR &=~(1<<WDRF); |
173 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
177 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
174 | WDTCSR = 0; |
178 | WDTCSR = 0; |
175 | 179 | ||
176 | beeptime = 2500; |
180 | beeptime = 2500; |
177 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
181 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
178 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
182 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
179 | ROT_OFF; |
183 | ROT_OFF; |
180 | GRN_ON; |
184 | GRN_ON; |
181 | 185 | ||
182 | Timer_Init(); |
186 | Timer_Init(); |
183 | TIMER2_Init(); |
187 | TIMER2_Init(); |
184 | UART_Init(); |
188 | UART_Init(); |
185 | rc_sum_init(); |
189 | rc_sum_init(); |
186 | ADC_Init(); |
190 | ADC_Init(); |
187 | I2C_Init(1); |
191 | I2C_Init(1); |
188 | SPI_MasterInit(); |
192 | SPI_MasterInit(); |
189 | Capacity_Init(); |
193 | Capacity_Init(); |
190 | LIBFC_Init(LIB_FC_COMPATIBLE); |
194 | LIBFC_Init(LIB_FC_COMPATIBLE); |
191 | GRN_ON; |
195 | GRN_ON; |
192 | sei(); |
196 | sei(); |
193 | ParamSet_Init(); |
197 | ParamSet_Init(); |
194 | 198 | ||
195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
199 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
196 | // + Check connected BL-Ctrls |
200 | // + Check connected BL-Ctrls |
197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
201 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
198 | // Check connected BL-Ctrls |
202 | // Check connected BL-Ctrls |
199 | BLFlags |= BLFLAG_READ_VERSION; |
203 | BLFlags |= BLFLAG_READ_VERSION; |
200 | motor_read = 0; // read the first I2C-Data |
204 | motor_read = 0; // read the first I2C-Data |
201 | SendMotorData(); |
205 | SendMotorData(); |
202 | timer = SetDelay(500); |
206 | timer = SetDelay(500); |
203 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
207 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
204 | 208 | ||
205 | printf("\n\rFound BL-Ctrl: "); |
209 | printf("\n\rFound BL-Ctrl: "); |
206 | timer = SetDelay(4000); |
210 | timer = SetDelay(4000); |
207 | for(i=0; i < MAX_MOTORS; i++) |
211 | for(i=0; i < MAX_MOTORS; i++) |
208 | { |
212 | { |
209 | SendMotorData(); |
213 | SendMotorData(); |
210 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
214 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
211 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
215 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
212 | { |
216 | { |
213 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
217 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
214 | { |
218 | { |
215 | SendMotorData(); |
219 | SendMotorData(); |
216 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
220 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
217 | } |
221 | } |
218 | } |
222 | } |
219 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
223 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
220 | { |
224 | { |
221 | printf("%d",i+1); |
225 | printf("%d",i+1); |
222 | FoundMotors++; |
226 | FoundMotors++; |
223 | // if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r"); |
227 | // if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r"); |
224 | // else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r"); |
228 | // else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r"); |
225 | } |
229 | } |
226 | } |
230 | } |
227 | for(i=0; i < MAX_MOTORS; i++) |
231 | for(i=0; i < MAX_MOTORS; i++) |
228 | { |
232 | { |
229 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
233 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
230 | { |
234 | { |
231 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
235 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
232 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
236 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
233 | } |
237 | } |
234 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
238 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
235 | } |
239 | } |
236 | PrintLine();// ("\n\r==================================="); |
240 | PrintLine();// ("\n\r==================================="); |
237 | 241 | ||
238 | 242 | ||
239 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
243 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
240 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
244 | if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
241 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
245 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
242 | { |
246 | { |
243 | printf("\n\rCalibrating pressure sensor.."); |
247 | printf("\n\rCalibrating pressure sensor.."); |
244 | timer = SetDelay(1000); |
248 | timer = SetDelay(1000); |
245 | SucheLuftruckOffset(); |
249 | SucheLuftruckOffset(); |
246 | while (!CheckDelay(timer)); |
250 | while (!CheckDelay(timer)); |
247 | printf("OK\n\r"); |
251 | printf("OK\n\r"); |
248 | } |
252 | } |
249 | 253 | ||
250 | SetNeutral(0); |
254 | SetNeutral(0); |
251 | 255 | ||
252 | ROT_OFF; |
256 | ROT_OFF; |
253 | 257 | ||
254 | beeptime = 2000; |
258 | beeptime = 2000; |
255 | ExternControl.Digital[0] = 0x55; |
259 | ExternControl.Digital[0] = 0x55; |
256 | 260 | ||
257 | 261 | ||
258 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
262 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
259 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
263 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
260 | 264 | ||
261 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
265 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
262 | { |
266 | { |
263 | FlugMinuten = 0; |
267 | FlugMinuten = 0; |
264 | FlugMinutenGesamt = 0; |
268 | FlugMinutenGesamt = 0; |
265 | } |
269 | } |
266 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
270 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
267 | LcdClear(); |
271 | LcdClear(); |
268 | I2CTimeout = 5000; |
272 | I2CTimeout = 5000; |
269 | WinkelOut.Orientation = 1; |
273 | WinkelOut.Orientation = 1; |
270 | LipoDetection(1); |
274 | LipoDetection(1); |
271 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
275 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
272 | PrintLine();// ("\n\r==================================="); |
276 | PrintLine();// ("\n\r==================================="); |
273 | //SpektrumBinding(); |
277 | //SpektrumBinding(); |
274 | timer = SetDelay(2000); |
278 | timer = SetDelay(2000); |
275 | timerPolling = SetDelay(250); |
279 | timerPolling = SetDelay(250); |
276 | 280 | ||
277 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
281 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
278 | //printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN); |
282 | //printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN); |
279 | 283 | ||
280 | DebugOut.Status[0] = 0x01 | 0x02; |
284 | DebugOut.Status[0] = 0x01 | 0x02; |
281 | JetiBeep = 0; |
285 | JetiBeep = 0; |
282 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
286 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
283 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
287 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
284 | while(1) |
288 | while(1) |
285 | { |
289 | { |
286 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
290 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
287 | //GRN_ON; |
291 | //GRN_ON; |
288 | if(UpdateMotor && AdReady) // ReglerIntervall |
292 | if(UpdateMotor && AdReady) // ReglerIntervall |
289 | { |
293 | { |
290 | //GRN_OFF; |
294 | //GRN_OFF; |
291 | cli(); |
295 | cli(); |
292 | UpdateMotor--; |
296 | UpdateMotor--; |
293 | sei(); |
297 | sei(); |
294 | if(WinkelOut.CalcState) CalMk3Mag(); |
298 | if(WinkelOut.CalcState) CalMk3Mag(); |
295 | else MotorRegler(); |
299 | else MotorRegler(); |
296 | SendMotorData(); |
300 | SendMotorData(); |
297 | ROT_OFF; |
301 | ROT_OFF; |
298 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
302 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
299 | else |
303 | else |
300 | { |
304 | { |
301 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
305 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
302 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
306 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
303 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
307 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
304 | } |
308 | } |
305 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
309 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
306 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
310 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
307 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
311 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
308 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
312 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
309 | if(!--I2CTimeout || MissingMotor) |
313 | if(!--I2CTimeout || MissingMotor) |
310 | { |
314 | { |
311 | if(!I2CTimeout) |
315 | if(!I2CTimeout) |
312 | { |
316 | { |
313 | I2C_Reset(); |
317 | I2C_Reset(); |
314 | I2CTimeout = 5; |
318 | I2CTimeout = 5; |
315 | DebugOut.Analog[28]++; // I2C-Error |
319 | DebugOut.Analog[28]++; // I2C-Error |
316 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
320 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
317 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
321 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
318 | } |
322 | } |
319 | if((BeepMuster == 0xffff) && MotorenEin) |
323 | if((BeepMuster == 0xffff) && MotorenEin) |
320 | { |
324 | { |
321 | beeptime = 25000; |
325 | beeptime = 25000; |
322 | BeepMuster = 0x0080; |
326 | BeepMuster = 0x0080; |
323 | } |
327 | } |
324 | } |
328 | } |
325 | else |
329 | else |
326 | { |
330 | { |
327 | ROT_OFF; |
331 | ROT_OFF; |
328 | } |
332 | } |
329 | LIBFC_Polling(); |
333 | LIBFC_Polling(); |
330 | 334 | ||
331 | if(!UpdateMotor) |
335 | if(!UpdateMotor) |
332 | { |
336 | { |
333 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
337 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
334 | if(NewSBusData) ProcessSBus(); |
338 | if(NewSBusData) ProcessSBus(); |
335 | else |
339 | else |
336 | #endif |
340 | #endif |
337 | { |
341 | { |
338 | if(BytegapSPI == 0) SPI_TransmitByte(); |
342 | if(BytegapSPI == 0) SPI_TransmitByte(); |
339 | if(CalculateServoSignals) CalculateServo(); |
343 | if(CalculateServoSignals) CalculateServo(); |
340 | DatenUebertragung(); |
344 | DatenUebertragung(); |
341 | BearbeiteRxDaten(); |
345 | BearbeiteRxDaten(); |
342 | if(CheckDelay(timer)) |
346 | if(CheckDelay(timer)) |
343 | { |
347 | { |
344 | static unsigned char second; |
348 | static unsigned char second; |
345 | timer += 20; // 20 ms interval |
349 | timer += 20; // 20 ms interval |
346 | CalcNickServoValue(); |
350 | CalcNickServoValue(); |
347 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
351 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
348 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
352 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
349 | else |
353 | else |
350 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
354 | if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
351 | // ++++++++++++++++++++++++++++ |
355 | // ++++++++++++++++++++++++++++ |
352 | // + check the ACC-Z range |
356 | // + check the ACC-Z range |
353 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
357 | if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
354 | { |
358 | { |
355 | if(++AccZ_ErrorCnt > 50) |
359 | if(++AccZ_ErrorCnt > 50) |
356 | { |
360 | { |
357 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
361 | if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
358 | else CalibrationDone = 0; |
362 | else CalibrationDone = 0; |
359 | } |
363 | } |
360 | } |
364 | } |
361 | else AccZ_ErrorCnt = 0; |
365 | else AccZ_ErrorCnt = 0; |
362 | // ++++++++++++++++++++++++++++ |
366 | // ++++++++++++++++++++++++++++ |
363 | #endif |
367 | #endif |
364 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
368 | if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
365 | { |
369 | { |
366 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
370 | if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
367 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
371 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
368 | } |
372 | } |
369 | else |
373 | else |
370 | { |
374 | { |
371 | if(!beeptime) |
375 | if(!beeptime) |
372 | { |
376 | { |
373 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
377 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
374 | } |
378 | } |
375 | } |
379 | } |
376 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
380 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
377 | if(PcZugriff) PcZugriff--; |
381 | if(PcZugriff) PcZugriff--; |
378 | else |
382 | else |
379 | { |
383 | { |
380 | ExternControl.Config = 0; |
384 | ExternControl.Config = 0; |
381 | ExternStickNick = 0; |
385 | ExternStickNick = 0; |
382 | ExternStickRoll = 0; |
386 | ExternStickRoll = 0; |
383 | ExternStickGier = 0; |
387 | ExternStickGier = 0; |
384 | if(!SenderOkay) |
388 | if(!SenderOkay) |
385 | { |
389 | { |
386 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
390 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
387 | { |
391 | { |
388 | beeptime = 15000; |
392 | beeptime = 15000; |
389 | BeepMuster = 0x0c00; |
393 | BeepMuster = 0x0c00; |
390 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
394 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
391 | } |
395 | } |
392 | } |
396 | } |
393 | } |
397 | } |
394 | if(NaviDataOkay > 200) |
398 | if(NaviDataOkay > 200) |
395 | { |
399 | { |
396 | NaviDataOkay--; |
400 | NaviDataOkay--; |
397 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
401 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
398 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
402 | VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
399 | } |
403 | } |
400 | else |
404 | else |
401 | { |
405 | { |
402 | if(NC_Version.Compatible) |
406 | if(NC_Version.Compatible) |
403 | { |
407 | { |
404 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
408 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
405 | NC_ErrorCode = 9; // "ERR: no NC communication" |
409 | NC_ErrorCode = 9; // "ERR: no NC communication" |
406 | if(BeepMuster == 0xffff && MotorenEin) |
410 | if(BeepMuster == 0xffff && MotorenEin) |
407 | { |
411 | { |
408 | beeptime = 15000; |
412 | beeptime = 15000; |
409 | BeepMuster = 0xA800; |
413 | BeepMuster = 0xA800; |
410 | } |
414 | } |
411 | } |
415 | } |
412 | GPS_Nick = 0; |
416 | GPS_Nick = 0; |
413 | GPS_Roll = 0; |
417 | GPS_Roll = 0; |
414 | GPS_Aid_StickMultiplikator = 0; |
418 | GPS_Aid_StickMultiplikator = 0; |
415 | GPSInfo.Flags = 0; |
419 | GPSInfo.Flags = 0; |
416 | FromNaviCtrl_Value.Kalman_K = -1; |
420 | FromNaviCtrl_Value.Kalman_K = -1; |
417 | FromNaviCtrl.AccErrorN = 0; |
421 | FromNaviCtrl.AccErrorN = 0; |
418 | FromNaviCtrl.AccErrorR = 0; |
422 | FromNaviCtrl.AccErrorR = 0; |
419 | FromNaviCtrl.CompassValue = -1; |
423 | FromNaviCtrl.CompassValue = -1; |
420 | FromNC_AltitudeSpeed = 0; |
424 | FromNC_AltitudeSpeed = 0; |
421 | FromNC_AltitudeSetpoint = 0; |
425 | FromNC_AltitudeSetpoint = 0; |
422 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
426 | VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
423 | NaviDataOkay = 0; |
427 | NaviDataOkay = 0; |
424 | } |
428 | } |
425 | if(UBat <= BattLowVoltageWarning) |
429 | if(UBat <= BattLowVoltageWarning) |
426 | { |
430 | { |
427 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
431 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
428 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
432 | if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
429 | { |
433 | { |
430 | beeptime = 6000; |
434 | beeptime = 6000; |
431 | BeepMuster = 0x0300; |
435 | BeepMuster = 0x0300; |
432 | } |
436 | } |
433 | } |
437 | } |
434 | // SendSPI = SPI_BYTEGAP; |
438 | // SendSPI = SPI_BYTEGAP; |
435 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
439 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
436 | // +++++++++++++++++++++++++++++++++ |
440 | // +++++++++++++++++++++++++++++++++ |
437 | // Sekundentakt |
441 | // Sekundentakt |
438 | if(++second == 49) |
442 | if(++second == 49) |
439 | { |
443 | { |
440 | second = 0; |
444 | second = 0; |
441 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
445 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
442 | if(ShowSettingNameTime) ShowSettingNameTime--; |
446 | if(ShowSettingNameTime) ShowSettingNameTime--; |
443 | #endif |
447 | #endif |
444 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
448 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
445 | else timer2 = 1450; // 0,5 Minuten aufrunden |
449 | else timer2 = 1450; // 0,5 Minuten aufrunden |
446 | if(modell_fliegt < 1024) |
450 | if(modell_fliegt < 1024) |
447 | { |
451 | { |
448 | if(StartLuftdruck < Luftdruck) StartLuftdruck += 5; |
452 | if(StartLuftdruck < Luftdruck) StartLuftdruck += 5; |
449 | else |
453 | else |
450 | if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5; |
454 | if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5; |
451 | } |
455 | } |
452 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
456 | if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
453 | } |
457 | } |
454 | // +++++++++++++++++++++++++++++++++ |
458 | // +++++++++++++++++++++++++++++++++ |
455 | if(++timer2 == 2930) // eine Minute |
459 | if(++timer2 == 2930) // eine Minute |
456 | { |
460 | { |
457 | timer2 = 0; |
461 | timer2 = 0; |
458 | FlugMinuten++; |
462 | FlugMinuten++; |
459 | FlugMinutenGesamt++; |
463 | FlugMinutenGesamt++; |
460 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
464 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
461 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
465 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
462 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
466 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
463 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
467 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
464 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
468 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
465 | } |
469 | } |
466 | } |
470 | } |
467 | LED_Update(); |
471 | LED_Update(); |
468 | Capacity_Update(); |
472 | Capacity_Update(); |
469 | } |
473 | } |
470 | } //else DebugOut.Analog[18]++; |
474 | } //else DebugOut.Analog[18]++; |
471 | if(update_spi) update_spi--; |
475 | if(update_spi) update_spi--; |
472 | } // 500Hz |
476 | } // 500Hz |
473 | if(update_spi == 0) // 41Hz |
477 | if(update_spi == 0) // 41Hz |
474 | { |
478 | { |
475 | if(SPI_StartTransmitPacket()) update_spi = 12; |
479 | if(SPI_StartTransmitPacket()) update_spi = 12; |
476 | else |
480 | else |
477 | if(BytegapSPI == 0) SPI_TransmitByte(); |
481 | if(BytegapSPI == 0) SPI_TransmitByte(); |
478 | } |
482 | } |
479 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
483 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
480 | } |
484 | } |
481 | } |
485 | } |
482 | //DebugOut.Analog[16] |
486 | //DebugOut.Analog[16] |
483 | 487 | ||
484 | 488 |