WebSVN - FlightCtrl - Diff - Rev 1812 and 1813 - /branches/V0.82b-Arthur-P/main.c


/******************************************************************************************************************
V0.82b-Arthur-P 2010-12-18
------------------------------------------------------------------------------------------------------------------
Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.
------------------------------------------------------------------------------------------------------------------
Besides adding this header. The following files have been modified:
* main.c: Remark header added with summary of changes to other files. Also remarked out variable i from function
  Mittelwert as this variable is not used. No other changes.
* menu.c: Modifed text to show branch name in MKTool window.
* fc.c: Modified motor smoothing routine.
* timer0.c: Added several variables and modified the servo control routines to allow control to be activated
* through a parameter, and to allow different shutter servo control.
* makefile: Modified to correctly name output file to reflect branch name.
All changes are clearly marked similar to this change.
******************************************************************************************************************/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
 
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
unsigned char BattLowVoltageWarning = 94;
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
unsigned int FlugSekunden = 0;
pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
unsigned char FoundMotors = 0;
 
void CalMk3Mag(void)
{
 static unsigned char stick = 1;
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
  {
   stick = 1;
   WinkelOut.CalcState++;
   if(WinkelOut.CalcState > 4)
    {
//     WinkelOut.CalcState = 0; // in Uart.c
     beeptime = 1000;
    }
   else Piep(WinkelOut.CalcState,150);
  }
  DebugOut.Analog[19] = WinkelOut.CalcState;
}
 
 
void LipoDetection(unsigned char print)
{
        #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
        unsigned int timer, cells;
        if(print) printf("\n\rBatt:");
        if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
        {
                timer = SetDelay(500);
                if(print) while (!CheckDelay(timer));
                // up to 6s LiPo, less than 2s is technical impossible
                for(cells = 2; cells < 7; cells++)
                {
                        if(UBat < cells * MAX_CELL_VOLTAGE) break;
                }
 
                BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
                if(print)
                {
                        Piep(cells, 200);
                        printf(" %d Cells ", cells);
                }
        }
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
        if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
 
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
        PlatinenVersion = 21;
#else
        if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else           PlatinenVersion = 10;
     }
#endif
    DDRC  = 0x81; // SCL
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
        PORTD = 0x47; // LED
    HEF4017R_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2500;
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
    ROT_OFF;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        I2C_Init(1);
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init();
        GRN_ON;
    sei();
        ParamSet_Init();
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        // Check connected BL-Ctrls
        BLFlags |= BLFLAG_READ_VERSION;
        motor_read = 0;  // read the first I2C-Data
        SendMotorData();
        timer = SetDelay(500);
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
 
    printf("\n\rFound BL-Ctrl: ");
    timer = SetDelay(4000);
        for(i=0; i < MAX_MOTORS; i++)
        {
                SendMotorData();
                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
                if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
                {
                        while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
                        {
                                SendMotorData();
                                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
                        }
                }
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
                {
                        printf("%d",i+1);
                        FoundMotors++;
//                      if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
                }
        }
        for(i=0; i < MAX_MOTORS; i++)
        {
                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
                {
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
                        ServoActive = 2; // just in case the FC would be used as camera-stabilizer
                }
                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
        }
        printf("\n\r===================================");
 
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
 
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
        {
                printf("\n\rCalibrating pressure sensor..");
                timer = SetDelay(1000);
                SucheLuftruckOffset();
                while (!CheckDelay(timer));
                printf("OK\n\r");
        }
 
        SetNeutral(0);
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
        FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
 
        if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF))
        {
                FlugMinuten = 0;
                FlugMinutenGesamt = 0;
        }
    printf("\n\rFlight-time %u min  Total:%u min", FlugMinuten, FlugMinutenGesamt);
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
 
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
 
        printf("\n\r===================================\n\r");
        //SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
 
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
    DebugOut.Status[0] = 0x01 | 0x02;
 
        while (1)
        {
       
        if (JetiUpdateModeActive) while (1);
       
        if(CheckDelay(timerPolling))
        {
          timerPolling = SetDelay(100);
          LIBFC_Polling();
        }
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
                    UpdateMotor=0;
            if(WinkelOut.CalcState) CalMk3Mag();
            else  MotorRegler();
                        SendMotorData();
            ROT_OFF;
            if(SenderOkay)  { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; }
                        else
                        {
                                TIMSK1 |= _BV(ICIE1); // enable PPM-Input
                                PPM_in[0] = 0; // set RSSI to zero on data timeout
                                VersionInfo.HardwareError[1] |= FC_ERROR1_PPM;
                        }
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
            if(!--I2CTimeout || MissingMotor)
                {
                  if(!I2CTimeout)
                                   {
                                    I2C_Reset();
                    I2CTimeout = 5;
                                        DebugOut.Analog[28]++; // I2C-Error
                                        VersionInfo.HardwareError[1] |= FC_ERROR1_I2C;
                                        DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                   }
                  if((BeepMuster == 0xffff) && MotorenEin)
                   {
                    beeptime = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                                 if(!beeptime)
                                  {
                                   VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
                                  }
                }
          if(!UpdateMotor)
                   {
                        if(CalculateServoSignals) CalculateServo();
                        DatenUebertragung();
                        BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
                                if(MissingMotor)
                                 {
                                  VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                 }
                                 else
                                 {
                                   VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;
                                   if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
                                 }
 
                            if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
 
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(BeepMuster == 0xffff && SenderOkay == 0)
                                        {
                                                beeptime = 15000;
                                                BeepMuster = 0x0c00;
                                        }
                                }
                                if(NaviDataOkay > 200)
                                {
                                        NaviDataOkay--;
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
                                }
                                else
                                {
                                        if(NC_Version.Compatible)
                                         {
                                                VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
                       if(BeepMuster == 0xffff && MotorenEin)
                                                {
                                                        beeptime = 15000;
                                                        BeepMuster = 0xA800;
                                                }
                                         }
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        //if(!beeptime)
                    FromNaviCtrl.CompassValue = -1;
                    NaviDataOkay = 0;
                                }
                           if(UBat < BattLowVoltageWarning)
                                {
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
 
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
                                else
                if(++second == 49)
                                 {
                                   second = 0;
                                   FlugSekunden++;
                                 }
                                if(++timer2 == 2930)  // eine Minute
                                 {
                                   timer2 = 0;
                   FlugMinuten++;
                       FlugMinutenGesamt++;
                   SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
                   SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
                             }
                        }
           LED_Update();
           Capacity_Update();
           }
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1812	Rev 1813
-		1	/******************************************************************************************************************
-		2	V0.82b-Arthur-P 2010-12-18
-		3	------------------------------------------------------------------------------------------------------------------
-		4	Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.
-		5	------------------------------------------------------------------------------------------------------------------
-		6	Besides adding this header. The following files have been modified:
-		7	* main.c: Remark header added with summary of changes to other files. Also remarked out variable i from function
-		8	Mittelwert as this variable is not used. No other changes.
-		9	* menu.c: Modifed text to show branch name in MKTool window.
-		10	* fc.c: Modified motor smoothing routine.
-		11	* timer0.c: Added several variables and modified the servo control routines to allow control to be activated
-		12	* through a parameter, and to allow different shutter servo control.
-		13	* makefile: Modified to correctly name output file to reflect branch name.
-		14	All changes are clearly marked similar to this change.
-		15	******************************************************************************************************************/
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) Holger Buss, Ingo Busker	17	// + Copyright (c) Holger Buss, Ingo Busker
3	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	18	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
4	// + www.MikroKopter.com	19	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	20	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	21	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.	22	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	23	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	24	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	25	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	26	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	28	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	29	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	31	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	32	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	33	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	34	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	35	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	36	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	37	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	38	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	39	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	40	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	41	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	42	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	43	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	44	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	45	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	46	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	47	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	48	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	49	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	50	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	51	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	52	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	53	// + clearly linked as origin
39	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	54	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	55	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	56	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	57	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	58	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	59	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	60	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	61	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	62	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	63	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	64	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	65	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	66	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52	#include "main.h"	67	#include "main.h"
53		68
54		69
55	unsigned char PlatinenVersion = 10;	70	unsigned char PlatinenVersion = 10;
56	unsigned char SendVersionToNavi = 1;	71	unsigned char SendVersionToNavi = 1;
57	unsigned char BattLowVoltageWarning = 94;	72	unsigned char BattLowVoltageWarning = 94;
58	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	73	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
59	unsigned int FlugSekunden = 0;	74	unsigned int FlugSekunden = 0;
60	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;	75	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
61	unsigned char FoundMotors = 0;	76	unsigned char FoundMotors = 0;
62		77
63	void CalMk3Mag(void)	78	void CalMk3Mag(void)
64	{	79	{
65	static unsigned char stick = 1;	80	static unsigned char stick = 1;
66	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	81	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
67	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	82	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
68	{	83	{
69	stick = 1;	84	stick = 1;
70	WinkelOut.CalcState++;	85	WinkelOut.CalcState++;
71	if(WinkelOut.CalcState > 4)	86	if(WinkelOut.CalcState > 4)
72	{	87	{
73	// WinkelOut.CalcState = 0; // in Uart.c	88	// WinkelOut.CalcState = 0; // in Uart.c
74	beeptime = 1000;	89	beeptime = 1000;
75	}	90	}
76	else Piep(WinkelOut.CalcState,150);	91	else Piep(WinkelOut.CalcState,150);
77	}	92	}
78	DebugOut.Analog[19] = WinkelOut.CalcState;	93	DebugOut.Analog[19] = WinkelOut.CalcState;
79	}	94	}
80		95
81		96
82	void LipoDetection(unsigned char print)	97	void LipoDetection(unsigned char print)
83	{	98	{
84	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO	99	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
85	unsigned int timer, cells;	100	unsigned int timer, cells;
86	if(print) printf("\n\rBatt:");	101	if(print) printf("\n\rBatt:");
87	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	102	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
88	{	103	{
89	timer = SetDelay(500);	104	timer = SetDelay(500);
90	if(print) while (!CheckDelay(timer));	105	if(print) while (!CheckDelay(timer));
91	// up to 6s LiPo, less than 2s is technical impossible	106	// up to 6s LiPo, less than 2s is technical impossible
92	for(cells = 2; cells < 7; cells++)	107	for(cells = 2; cells < 7; cells++)
93	{	108	{
94	if(UBat < cells * MAX_CELL_VOLTAGE) break;	109	if(UBat < cells * MAX_CELL_VOLTAGE) break;
95	}	110	}
96		111
97	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;	112	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
98	if(print)	113	if(print)
99	{	114	{
100	Piep(cells, 200);	115	Piep(cells, 200);
101	printf(" %d Cells ", cells);	116	printf(" %d Cells ", cells);
102	}	117	}
103	}	118	}
104	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	119	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
105	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	120	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
106	}	121	}
107		122
108	//############################################################################	123	//############################################################################
109	//Hauptprogramm	124	//Hauptprogramm
110	int main (void)	125	int main (void)
111	//############################################################################	126	//############################################################################
112	{	127	{
113	unsigned int timer,i,timer2 = 0, timerPolling;	128	unsigned int timer,i,timer2 = 0, timerPolling;
114		129
115	DDRB = 0x00;	130	DDRB = 0x00;
116	PORTB = 0x00;	131	PORTB = 0x00;
117	for(timer = 0; timer < 1000; timer++); // verzögern	132	for(timer = 0; timer < 1000; timer++); // verzögern
118	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	133	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
119	PlatinenVersion = 21;	134	PlatinenVersion = 21;
120	#else	135	#else
121	if(PINB & 0x01)	136	if(PINB & 0x01)
122	{	137	{
123	if(PINB & 0x02) PlatinenVersion = 13;	138	if(PINB & 0x02) PlatinenVersion = 13;
124	else PlatinenVersion = 11;	139	else PlatinenVersion = 11;
125	}	140	}
126	else	141	else
127	{	142	{
128	if(PINB & 0x02) PlatinenVersion = 20;	143	if(PINB & 0x02) PlatinenVersion = 20;
129	else PlatinenVersion = 10;	144	else PlatinenVersion = 10;
130	}	145	}
131	#endif	146	#endif
132	DDRC = 0x81; // SCL	147	DDRC = 0x81; // SCL
133	DDRC \|=0x40; // HEF4017 Reset	148	DDRC \|=0x40; // HEF4017 Reset
134	PORTC = 0xff; // Pullup SDA	149	PORTC = 0xff; // Pullup SDA
135	DDRB = 0x1B; // LEDs und Druckoffset	150	DDRB = 0x1B; // LEDs und Druckoffset
136	PORTB = 0x01; // LED_Rot	151	PORTB = 0x01; // LED_Rot
137	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	152	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
138	PORTD = 0x47; // LED	153	PORTD = 0x47; // LED
139	HEF4017R_ON;	154	HEF4017R_ON;
140	MCUSR &=~(1<<WDRF);	155	MCUSR &=~(1<<WDRF);
141	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	156	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
142	WDTCSR = 0;	157	WDTCSR = 0;
143		158
144	beeptime = 2500;	159	beeptime = 2500;
145	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	160	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
146	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	161	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
147	ROT_OFF;	162	ROT_OFF;
148		163
149	Timer_Init();	164	Timer_Init();
150	TIMER2_Init();	165	TIMER2_Init();
151	UART_Init();	166	UART_Init();
152	rc_sum_init();	167	rc_sum_init();
153	ADC_Init();	168	ADC_Init();
154	I2C_Init(1);	169	I2C_Init(1);
155	SPI_MasterInit();	170	SPI_MasterInit();
156	Capacity_Init();	171	Capacity_Init();
157	LIBFC_Init();	172	LIBFC_Init();
158	GRN_ON;	173	GRN_ON;
159	sei();	174	sei();
160	ParamSet_Init();	175	ParamSet_Init();
161		176
162		177
163	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	178	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
164	// + Check connected BL-Ctrls	179	// + Check connected BL-Ctrls
165	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	180	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
166	// Check connected BL-Ctrls	181	// Check connected BL-Ctrls
167	BLFlags \|= BLFLAG_READ_VERSION;	182	BLFlags \|= BLFLAG_READ_VERSION;
168	motor_read = 0; // read the first I2C-Data	183	motor_read = 0; // read the first I2C-Data
169	SendMotorData();	184	SendMotorData();
170	timer = SetDelay(500);	185	timer = SetDelay(500);
171	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	186	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
172		187
173	printf("\n\rFound BL-Ctrl: ");	188	printf("\n\rFound BL-Ctrl: ");
174	timer = SetDelay(4000);	189	timer = SetDelay(4000);
175	for(i=0; i < MAX_MOTORS; i++)	190	for(i=0; i < MAX_MOTORS; i++)
176	{	191	{
177	SendMotorData();	192	SendMotorData();
178	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	193	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
179	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	194	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
180	{	195	{
181	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	196	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
182	{	197	{
183	SendMotorData();	198	SendMotorData();
184	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	199	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
185	}	200	}
186	}	201	}
187	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	202	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
188	{	203	{
189	printf("%d",i+1);	204	printf("%d",i+1);
190	FoundMotors++;	205	FoundMotors++;
191	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	206	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
192	}	207	}
193	}	208	}
194	for(i=0; i < MAX_MOTORS; i++)	209	for(i=0; i < MAX_MOTORS; i++)
195	{	210	{
196	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	211	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
197	{	212	{
198	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	213	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
199	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	214	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
200	}	215	}
201	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	216	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
202	}	217	}
203	printf("\n\r===================================");	218	printf("\n\r===================================");
204		219
205	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	220	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
206		221
207	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	222	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
208	{	223	{
209	printf("\n\rCalibrating pressure sensor..");	224	printf("\n\rCalibrating pressure sensor..");
210	timer = SetDelay(1000);	225	timer = SetDelay(1000);
211	SucheLuftruckOffset();	226	SucheLuftruckOffset();
212	while (!CheckDelay(timer));	227	while (!CheckDelay(timer));
213	printf("OK\n\r");	228	printf("OK\n\r");
214	}	229	}
215		230
216	SetNeutral(0);	231	SetNeutral(0);
217		232
218	ROT_OFF;	233	ROT_OFF;
219		234
220	beeptime = 2000;	235	beeptime = 2000;
221	ExternControl.Digital[0] = 0x55;	236	ExternControl.Digital[0] = 0x55;
222		237
223		238
224	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	239	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
225	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	240	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
226		241
227	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	242	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
228	{	243	{
229	FlugMinuten = 0;	244	FlugMinuten = 0;
230	FlugMinutenGesamt = 0;	245	FlugMinutenGesamt = 0;
231	}	246	}
232	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	247	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
233		248
234	printf("\n\rControl: ");	249	printf("\n\rControl: ");
235	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	250	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
236	else printf("Normal (ACC-Mode)");	251	else printf("Normal (ACC-Mode)");
237		252
238	LcdClear();	253	LcdClear();
239	I2CTimeout = 5000;	254	I2CTimeout = 5000;
240	WinkelOut.Orientation = 1;	255	WinkelOut.Orientation = 1;
241	LipoDetection(1);	256	LipoDetection(1);
242		257
243	LIBFC_ReceiverInit(EE_Parameter.Receiver);	258	LIBFC_ReceiverInit(EE_Parameter.Receiver);
244		259
245	printf("\n\r===================================\n\r");	260	printf("\n\r===================================\n\r");
246	//SpektrumBinding();	261	//SpektrumBinding();
247	timer = SetDelay(2000);	262	timer = SetDelay(2000);
248	timerPolling = SetDelay(250);	263	timerPolling = SetDelay(250);
249		264
250	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	265	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
251	DebugOut.Status[0] = 0x01 \| 0x02;	266	DebugOut.Status[0] = 0x01 \| 0x02;
252		267
253	while (1)	268	while (1)
254	{	269	{
255		270
256	if (JetiUpdateModeActive) while (1);	271	if (JetiUpdateModeActive) while (1);
257		272
258	if(CheckDelay(timerPolling))	273	if(CheckDelay(timerPolling))
259	{	274	{
260	timerPolling = SetDelay(100);	275	timerPolling = SetDelay(100);
261	LIBFC_Polling();	276	LIBFC_Polling();
262	}	277	}
263	if(UpdateMotor && AdReady) // ReglerIntervall	278	if(UpdateMotor && AdReady) // ReglerIntervall
264	{	279	{
265	UpdateMotor=0;	280	UpdateMotor=0;
266	if(WinkelOut.CalcState) CalMk3Mag();	281	if(WinkelOut.CalcState) CalMk3Mag();
267	else MotorRegler();	282	else MotorRegler();
268	SendMotorData();	283	SendMotorData();
269	ROT_OFF;	284	ROT_OFF;
270	if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; }	285	if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; }
271	else	286	else
272	{	287	{
273	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	288	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
274	PPM_in[0] = 0; // set RSSI to zero on data timeout	289	PPM_in[0] = 0; // set RSSI to zero on data timeout
275	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	290	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
276	}	291	}
277	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	292	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
278	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	293	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
279	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	294	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
280	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	295	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
281	if(!--I2CTimeout \|\| MissingMotor)	296	if(!--I2CTimeout \|\| MissingMotor)
282	{	297	{
283	if(!I2CTimeout)	298	if(!I2CTimeout)
284	{	299	{
285	I2C_Reset();	300	I2C_Reset();
286	I2CTimeout = 5;	301	I2CTimeout = 5;
287	DebugOut.Analog[28]++; // I2C-Error	302	DebugOut.Analog[28]++; // I2C-Error
288	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	303	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
289	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	304	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
290	}	305	}
291	if((BeepMuster == 0xffff) && MotorenEin)	306	if((BeepMuster == 0xffff) && MotorenEin)
292	{	307	{
293	beeptime = 10000;	308	beeptime = 10000;
294	BeepMuster = 0x0080;	309	BeepMuster = 0x0080;
295	}	310	}
296	}	311	}
297	else	312	else
298	{	313	{
299	ROT_OFF;	314	ROT_OFF;
300	if(!beeptime)	315	if(!beeptime)
301	{	316	{
302	VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;	317	VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
303	}	318	}
304	}	319	}
305	if(!UpdateMotor)	320	if(!UpdateMotor)
306	{	321	{
307	if(CalculateServoSignals) CalculateServo();	322	if(CalculateServoSignals) CalculateServo();
308	DatenUebertragung();	323	DatenUebertragung();
309	BearbeiteRxDaten();	324	BearbeiteRxDaten();
310	if(CheckDelay(timer))	325	if(CheckDelay(timer))
311	{	326	{
312	static unsigned char second;	327	static unsigned char second;
313	timer += 20; // 20 ms interval	328	timer += 20; // 20 ms interval
314	if(MissingMotor)	329	if(MissingMotor)
315	{	330	{
316	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	331	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
317	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	332	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
318	}	333	}
319	else	334	else
320	{	335	{
321	VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;	336	VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;
322	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	337	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
323	}	338	}
324		339
325	if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;	340	if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
326		341
327	if(PcZugriff) PcZugriff--;	342	if(PcZugriff) PcZugriff--;
328	else	343	else
329	{	344	{
330	ExternControl.Config = 0;	345	ExternControl.Config = 0;
331	ExternStickNick = 0;	346	ExternStickNick = 0;
332	ExternStickRoll = 0;	347	ExternStickRoll = 0;
333	ExternStickGier = 0;	348	ExternStickGier = 0;
334	if(BeepMuster == 0xffff && SenderOkay == 0)	349	if(BeepMuster == 0xffff && SenderOkay == 0)
335	{	350	{
336	beeptime = 15000;	351	beeptime = 15000;
337	BeepMuster = 0x0c00;	352	BeepMuster = 0x0c00;
338	}	353	}
339	}	354	}
340	if(NaviDataOkay > 200)	355	if(NaviDataOkay > 200)
341	{	356	{
342	NaviDataOkay--;	357	NaviDataOkay--;
343	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	358	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
344	}	359	}
345	else	360	else
346	{	361	{
347	if(NC_Version.Compatible)	362	if(NC_Version.Compatible)
348	{	363	{
349	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	364	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
350	if(BeepMuster == 0xffff && MotorenEin)	365	if(BeepMuster == 0xffff && MotorenEin)
351	{	366	{
352	beeptime = 15000;	367	beeptime = 15000;
353	BeepMuster = 0xA800;	368	BeepMuster = 0xA800;
354	}	369	}
355	}	370	}
356	GPS_Nick = 0;	371	GPS_Nick = 0;
357	GPS_Roll = 0;	372	GPS_Roll = 0;
358	//if(!beeptime)	373	//if(!beeptime)
359	FromNaviCtrl.CompassValue = -1;	374	FromNaviCtrl.CompassValue = -1;
360	NaviDataOkay = 0;	375	NaviDataOkay = 0;
361	}	376	}
362	if(UBat < BattLowVoltageWarning)	377	if(UBat < BattLowVoltageWarning)
363	{	378	{
364	FC_StatusFlags \|= FC_STATUS_LOWBAT;	379	FC_StatusFlags \|= FC_STATUS_LOWBAT;
365	if(BeepMuster == 0xffff)	380	if(BeepMuster == 0xffff)
366	{	381	{
367	beeptime = 6000;	382	beeptime = 6000;
368	BeepMuster = 0x0300;	383	BeepMuster = 0x0300;
369	}	384	}
370	}	385	}
371	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	386	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
372		387
373	SPI_StartTransmitPacket();	388	SPI_StartTransmitPacket();
374	SendSPI = 4;	389	SendSPI = 4;
375	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	390	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
376	else	391	else
377	if(++second == 49)	392	if(++second == 49)
378	{	393	{
379	second = 0;	394	second = 0;
380	FlugSekunden++;	395	FlugSekunden++;
381	}	396	}
382	if(++timer2 == 2930) // eine Minute	397	if(++timer2 == 2930) // eine Minute
383	{	398	{
384	timer2 = 0;	399	timer2 = 0;
385	FlugMinuten++;	400	FlugMinuten++;
386	FlugMinutenGesamt++;	401	FlugMinutenGesamt++;
387	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	402	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
388	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	403	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
389	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	404	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
390	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	405	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
391	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	406	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
392	}	407	}
393	}	408	}
394	LED_Update();	409	LED_Update();
395	Capacity_Update();	410	Capacity_Update();
396	}	411	}
397	}	412	}
398	if(!SendSPI) { SPI_TransmitByte(); }	413	if(!SendSPI) { SPI_TransmitByte(); }
399	}	414	}
400	return (1);	415	return (1);
401	}	416	}
402		417
403		418
404		419

Subversion Repositories FlightCtrl

(root)/branches/V0.82b-Arthur-P/main.c @ 2135 - Rev 1812 → 1813