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1 | /****************************************************************************************************************** |
1 | /****************************************************************************************************************** |
2 | V0.82b-Arthur-P 2010-12-18 |
2 | V0.82b-Arthur-P 2010-12-18 |
3 | ------------------------------------------------------------------------------------------------------------------ |
3 | ------------------------------------------------------------------------------------------------------------------ |
4 | Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs. |
4 | Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs. |
5 | ------------------------------------------------------------------------------------------------------------------ |
5 | ------------------------------------------------------------------------------------------------------------------ |
6 | Besides adding this header. The following files have been modified: |
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 |
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. |
8 | Mittelwert as this variable is not used. No other changes. |
9 | * menu.c: Modifed text to show branch name in MKTool window. |
9 | * menu.c: Modifed text to show branch name in MKTool window. |
10 | * fc.c: Modified motor smoothing routine. |
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 |
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. |
12 | * through a parameter, and to allow different shutter servo control. |
- | 13 | * timer0.c and rc.c: Replaced if(Platinenversion < 20) with a modified if statement to allow parameter control for external |
|
- | 14 | * HEF4017. |
|
13 | * makefile: Modified to correctly name output file to reflect branch name. |
15 | * makefile: Modified to correctly name output file to reflect branch name. |
14 | All changes are clearly marked similar to this change. |
16 | All changes are clearly marked similar to this change. |
15 | ******************************************************************************************************************/ |
17 | ******************************************************************************************************************/ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Copyright (c) Holger Buss, Ingo Busker |
19 | // + Copyright (c) Holger Buss, Ingo Busker |
18 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
20 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
19 | // + www.MikroKopter.com |
21 | // + www.MikroKopter.com |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
23 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
22 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
24 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
23 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
25 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
24 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
26 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
25 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
27 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
26 | // + Verkauf von Luftbildaufnahmen, usw. |
28 | // + Verkauf von Luftbildaufnahmen, usw. |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
30 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
29 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
31 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
33 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
32 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
34 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
33 | // + eindeutig als Ursprung verlinkt und genannt werden |
35 | // + eindeutig als Ursprung verlinkt und genannt werden |
34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
36 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
35 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
37 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
36 | // + Benutzung auf eigene Gefahr |
38 | // + Benutzung auf eigene Gefahr |
37 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
39 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
38 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
39 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
41 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
40 | // + mit unserer Zustimmung zulässig |
42 | // + mit unserer Zustimmung zulässig |
41 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
43 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
42 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
44 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
43 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
45 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
44 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
46 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
45 | // + this list of conditions and the following disclaimer. |
47 | // + this list of conditions and the following disclaimer. |
46 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
48 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
47 | // + from this software without specific prior written permission. |
49 | // + from this software without specific prior written permission. |
48 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
50 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
49 | // + for non-commercial use (directly or indirectly) |
51 | // + for non-commercial use (directly or indirectly) |
50 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
52 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
51 | // + with our written permission |
53 | // + with our written permission |
52 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
54 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
53 | // + clearly linked as origin |
55 | // + clearly linked as origin |
54 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
56 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
57 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
58 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
59 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
60 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
61 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
62 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
63 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
64 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
65 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
66 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
65 | // + POSSIBILITY OF SUCH DAMAGE. |
67 | // + POSSIBILITY OF SUCH DAMAGE. |
66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
68 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
67 | #include "main.h" |
69 | #include "main.h" |
68 | 70 | ||
69 | 71 | ||
70 | unsigned char PlatinenVersion = 10; |
72 | unsigned char PlatinenVersion = 10; |
71 | unsigned char SendVersionToNavi = 1; |
73 | unsigned char SendVersionToNavi = 1; |
72 | unsigned char BattLowVoltageWarning = 94; |
74 | unsigned char BattLowVoltageWarning = 94; |
73 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
75 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
74 | unsigned int FlugSekunden = 0; |
76 | unsigned int FlugSekunden = 0; |
75 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
77 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
76 | unsigned char FoundMotors = 0; |
78 | unsigned char FoundMotors = 0; |
77 | 79 | ||
78 | void CalMk3Mag(void) |
80 | void CalMk3Mag(void) |
79 | { |
81 | { |
80 | static unsigned char stick = 1; |
82 | static unsigned char stick = 1; |
81 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
83 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
82 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
84 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
83 | { |
85 | { |
84 | stick = 1; |
86 | stick = 1; |
85 | WinkelOut.CalcState++; |
87 | WinkelOut.CalcState++; |
86 | if(WinkelOut.CalcState > 4) |
88 | if(WinkelOut.CalcState > 4) |
87 | { |
89 | { |
88 | // WinkelOut.CalcState = 0; // in Uart.c |
90 | // WinkelOut.CalcState = 0; // in Uart.c |
89 | beeptime = 1000; |
91 | beeptime = 1000; |
90 | } |
92 | } |
91 | else Piep(WinkelOut.CalcState,150); |
93 | else Piep(WinkelOut.CalcState,150); |
92 | } |
94 | } |
93 | DebugOut.Analog[19] = WinkelOut.CalcState; |
95 | DebugOut.Analog[19] = WinkelOut.CalcState; |
94 | } |
96 | } |
95 | 97 | ||
96 | 98 | ||
97 | void LipoDetection(unsigned char print) |
99 | void LipoDetection(unsigned char print) |
98 | { |
100 | { |
99 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
101 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
100 | unsigned int timer, cells; |
102 | unsigned int timer, cells; |
101 | if(print) printf("\n\rBatt:"); |
103 | if(print) printf("\n\rBatt:"); |
102 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
104 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
103 | { |
105 | { |
104 | timer = SetDelay(500); |
106 | timer = SetDelay(500); |
105 | if(print) while (!CheckDelay(timer)); |
107 | if(print) while (!CheckDelay(timer)); |
106 | // up to 6s LiPo, less than 2s is technical impossible |
108 | // up to 6s LiPo, less than 2s is technical impossible |
107 | for(cells = 2; cells < 7; cells++) |
109 | for(cells = 2; cells < 7; cells++) |
108 | { |
110 | { |
109 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
111 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
110 | } |
112 | } |
111 | 113 | ||
112 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
114 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
113 | if(print) |
115 | if(print) |
114 | { |
116 | { |
115 | Piep(cells, 200); |
117 | Piep(cells, 200); |
116 | printf(" %d Cells ", cells); |
118 | printf(" %d Cells ", cells); |
117 | } |
119 | } |
118 | } |
120 | } |
119 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
121 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
120 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
122 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
121 | } |
123 | } |
122 | 124 | ||
123 | //############################################################################ |
125 | //############################################################################ |
124 | //Hauptprogramm |
126 | //Hauptprogramm |
125 | int main (void) |
127 | int main (void) |
126 | //############################################################################ |
128 | //############################################################################ |
127 | { |
129 | { |
128 | unsigned int timer,i,timer2 = 0, timerPolling; |
130 | unsigned int timer,i,timer2 = 0, timerPolling; |
129 | 131 | ||
130 | DDRB = 0x00; |
132 | DDRB = 0x00; |
131 | PORTB = 0x00; |
133 | PORTB = 0x00; |
132 | for(timer = 0; timer < 1000; timer++); // verzögern |
134 | for(timer = 0; timer < 1000; timer++); // verzögern |
133 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
135 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
134 | PlatinenVersion = 21; |
136 | PlatinenVersion = 21; |
135 | #else |
137 | #else |
136 | if(PINB & 0x01) |
138 | if(PINB & 0x01) |
137 | { |
139 | { |
138 | if(PINB & 0x02) PlatinenVersion = 13; |
140 | if(PINB & 0x02) PlatinenVersion = 13; |
139 | else PlatinenVersion = 11; |
141 | else PlatinenVersion = 11; |
140 | } |
142 | } |
141 | else |
143 | else |
142 | { |
144 | { |
143 | if(PINB & 0x02) PlatinenVersion = 20; |
145 | if(PINB & 0x02) PlatinenVersion = 20; |
144 | else PlatinenVersion = 10; |
146 | else PlatinenVersion = 10; |
145 | } |
147 | } |
146 | #endif |
148 | #endif |
147 | DDRC = 0x81; // SCL |
149 | DDRC = 0x81; // SCL |
148 | DDRC |=0x40; // HEF4017 Reset |
150 | DDRC |=0x40; // HEF4017 Reset |
149 | PORTC = 0xff; // Pullup SDA |
151 | PORTC = 0xff; // Pullup SDA |
150 | DDRB = 0x1B; // LEDs und Druckoffset |
152 | DDRB = 0x1B; // LEDs und Druckoffset |
151 | PORTB = 0x01; // LED_Rot |
153 | PORTB = 0x01; // LED_Rot |
152 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
154 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
153 | PORTD = 0x47; // LED |
155 | PORTD = 0x47; // LED |
154 | HEF4017R_ON; |
156 | HEF4017R_ON; |
155 | MCUSR &=~(1<<WDRF); |
157 | MCUSR &=~(1<<WDRF); |
156 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
158 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
157 | WDTCSR = 0; |
159 | WDTCSR = 0; |
158 | 160 | ||
159 | beeptime = 2500; |
161 | beeptime = 2500; |
160 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
162 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
161 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
163 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
162 | ROT_OFF; |
164 | ROT_OFF; |
163 | 165 | ||
164 | Timer_Init(); |
166 | Timer_Init(); |
165 | TIMER2_Init(); |
167 | TIMER2_Init(); |
166 | UART_Init(); |
168 | UART_Init(); |
167 | rc_sum_init(); |
169 | rc_sum_init(); |
168 | ADC_Init(); |
170 | ADC_Init(); |
169 | I2C_Init(1); |
171 | I2C_Init(1); |
170 | SPI_MasterInit(); |
172 | SPI_MasterInit(); |
171 | Capacity_Init(); |
173 | Capacity_Init(); |
172 | LIBFC_Init(); |
174 | LIBFC_Init(); |
173 | GRN_ON; |
175 | GRN_ON; |
174 | sei(); |
176 | sei(); |
175 | ParamSet_Init(); |
177 | ParamSet_Init(); |
176 | 178 | ||
177 | 179 | ||
178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
179 | // + Check connected BL-Ctrls |
181 | // + Check connected BL-Ctrls |
180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
181 | // Check connected BL-Ctrls |
183 | // Check connected BL-Ctrls |
182 | BLFlags |= BLFLAG_READ_VERSION; |
184 | BLFlags |= BLFLAG_READ_VERSION; |
183 | motor_read = 0; // read the first I2C-Data |
185 | motor_read = 0; // read the first I2C-Data |
184 | SendMotorData(); |
186 | SendMotorData(); |
185 | timer = SetDelay(500); |
187 | timer = SetDelay(500); |
186 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
188 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
187 | 189 | ||
188 | printf("\n\rFound BL-Ctrl: "); |
190 | printf("\n\rFound BL-Ctrl: "); |
189 | timer = SetDelay(4000); |
191 | timer = SetDelay(4000); |
190 | for(i=0; i < MAX_MOTORS; i++) |
192 | for(i=0; i < MAX_MOTORS; i++) |
191 | { |
193 | { |
192 | SendMotorData(); |
194 | SendMotorData(); |
193 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
195 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
194 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
196 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
195 | { |
197 | { |
196 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
198 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
197 | { |
199 | { |
198 | SendMotorData(); |
200 | SendMotorData(); |
199 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
201 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
200 | } |
202 | } |
201 | } |
203 | } |
202 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
204 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
203 | { |
205 | { |
204 | printf("%d",i+1); |
206 | printf("%d",i+1); |
205 | FoundMotors++; |
207 | FoundMotors++; |
206 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
208 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
207 | } |
209 | } |
208 | } |
210 | } |
209 | for(i=0; i < MAX_MOTORS; i++) |
211 | for(i=0; i < MAX_MOTORS; i++) |
210 | { |
212 | { |
211 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
213 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
212 | { |
214 | { |
213 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
215 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
214 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
216 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
215 | } |
217 | } |
216 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
218 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
217 | } |
219 | } |
218 | printf("\n\r==================================="); |
220 | printf("\n\r==================================="); |
219 | 221 | ||
220 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
222 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
221 | 223 | ||
222 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
224 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
223 | { |
225 | { |
224 | printf("\n\rCalibrating pressure sensor.."); |
226 | printf("\n\rCalibrating pressure sensor.."); |
225 | timer = SetDelay(1000); |
227 | timer = SetDelay(1000); |
226 | SucheLuftruckOffset(); |
228 | SucheLuftruckOffset(); |
227 | while (!CheckDelay(timer)); |
229 | while (!CheckDelay(timer)); |
228 | printf("OK\n\r"); |
230 | printf("OK\n\r"); |
229 | } |
231 | } |
230 | 232 | ||
231 | SetNeutral(0); |
233 | SetNeutral(0); |
232 | 234 | ||
233 | ROT_OFF; |
235 | ROT_OFF; |
234 | 236 | ||
235 | beeptime = 2000; |
237 | beeptime = 2000; |
236 | ExternControl.Digital[0] = 0x55; |
238 | ExternControl.Digital[0] = 0x55; |
237 | 239 | ||
238 | 240 | ||
239 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
241 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
240 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
242 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
241 | 243 | ||
242 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
244 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
243 | { |
245 | { |
244 | FlugMinuten = 0; |
246 | FlugMinuten = 0; |
245 | FlugMinutenGesamt = 0; |
247 | FlugMinutenGesamt = 0; |
246 | } |
248 | } |
247 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
249 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
248 | 250 | ||
249 | printf("\n\rControl: "); |
251 | printf("\n\rControl: "); |
250 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
252 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
251 | else printf("Normal (ACC-Mode)"); |
253 | else printf("Normal (ACC-Mode)"); |
252 | 254 | ||
253 | LcdClear(); |
255 | LcdClear(); |
254 | I2CTimeout = 5000; |
256 | I2CTimeout = 5000; |
255 | WinkelOut.Orientation = 1; |
257 | WinkelOut.Orientation = 1; |
256 | LipoDetection(1); |
258 | LipoDetection(1); |
257 | 259 | ||
258 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
260 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
259 | 261 | ||
260 | printf("\n\r===================================\n\r"); |
262 | printf("\n\r===================================\n\r"); |
261 | //SpektrumBinding(); |
263 | //SpektrumBinding(); |
262 | timer = SetDelay(2000); |
264 | timer = SetDelay(2000); |
263 | timerPolling = SetDelay(250); |
265 | timerPolling = SetDelay(250); |
264 | 266 | ||
265 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
267 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
266 | DebugOut.Status[0] = 0x01 | 0x02; |
268 | DebugOut.Status[0] = 0x01 | 0x02; |
267 | 269 | ||
268 | while (1) |
270 | while (1) |
269 | { |
271 | { |
270 | 272 | ||
271 | if (JetiUpdateModeActive) while (1); |
273 | if (JetiUpdateModeActive) while (1); |
272 | 274 | ||
273 | if(CheckDelay(timerPolling)) |
275 | if(CheckDelay(timerPolling)) |
274 | { |
276 | { |
275 | timerPolling = SetDelay(100); |
277 | timerPolling = SetDelay(100); |
276 | LIBFC_Polling(); |
278 | LIBFC_Polling(); |
277 | } |
279 | } |
278 | if(UpdateMotor && AdReady) // ReglerIntervall |
280 | if(UpdateMotor && AdReady) // ReglerIntervall |
279 | { |
281 | { |
280 | UpdateMotor=0; |
282 | UpdateMotor=0; |
281 | if(WinkelOut.CalcState) CalMk3Mag(); |
283 | if(WinkelOut.CalcState) CalMk3Mag(); |
282 | else MotorRegler(); |
284 | else MotorRegler(); |
283 | SendMotorData(); |
285 | SendMotorData(); |
284 | ROT_OFF; |
286 | ROT_OFF; |
285 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
287 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
286 | else |
288 | else |
287 | { |
289 | { |
288 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
290 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
289 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
291 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
290 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
292 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
291 | } |
293 | } |
292 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
294 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
293 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
295 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
294 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
296 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
295 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
297 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
296 | if(!--I2CTimeout || MissingMotor) |
298 | if(!--I2CTimeout || MissingMotor) |
297 | { |
299 | { |
298 | if(!I2CTimeout) |
300 | if(!I2CTimeout) |
299 | { |
301 | { |
300 | I2C_Reset(); |
302 | I2C_Reset(); |
301 | I2CTimeout = 5; |
303 | I2CTimeout = 5; |
302 | DebugOut.Analog[28]++; // I2C-Error |
304 | DebugOut.Analog[28]++; // I2C-Error |
303 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
305 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
304 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
306 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
305 | } |
307 | } |
306 | if((BeepMuster == 0xffff) && MotorenEin) |
308 | if((BeepMuster == 0xffff) && MotorenEin) |
307 | { |
309 | { |
308 | beeptime = 10000; |
310 | beeptime = 10000; |
309 | BeepMuster = 0x0080; |
311 | BeepMuster = 0x0080; |
310 | } |
312 | } |
311 | } |
313 | } |
312 | else |
314 | else |
313 | { |
315 | { |
314 | ROT_OFF; |
316 | ROT_OFF; |
315 | if(!beeptime) |
317 | if(!beeptime) |
316 | { |
318 | { |
317 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
319 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
318 | } |
320 | } |
319 | } |
321 | } |
320 | if(!UpdateMotor) |
322 | if(!UpdateMotor) |
321 | { |
323 | { |
322 | if(CalculateServoSignals) CalculateServo(); |
324 | if(CalculateServoSignals) CalculateServo(); |
323 | DatenUebertragung(); |
325 | DatenUebertragung(); |
324 | BearbeiteRxDaten(); |
326 | BearbeiteRxDaten(); |
325 | if(CheckDelay(timer)) |
327 | if(CheckDelay(timer)) |
326 | { |
328 | { |
327 | static unsigned char second; |
329 | static unsigned char second; |
328 | timer += 20; // 20 ms interval |
330 | timer += 20; // 20 ms interval |
329 | if(MissingMotor) |
331 | if(MissingMotor) |
330 | { |
332 | { |
331 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
333 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
332 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
334 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
333 | } |
335 | } |
334 | else |
336 | else |
335 | { |
337 | { |
336 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
338 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
337 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
339 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
338 | } |
340 | } |
339 | 341 | ||
340 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
342 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
341 | 343 | ||
342 | if(PcZugriff) PcZugriff--; |
344 | if(PcZugriff) PcZugriff--; |
343 | else |
345 | else |
344 | { |
346 | { |
345 | ExternControl.Config = 0; |
347 | ExternControl.Config = 0; |
346 | ExternStickNick = 0; |
348 | ExternStickNick = 0; |
347 | ExternStickRoll = 0; |
349 | ExternStickRoll = 0; |
348 | ExternStickGier = 0; |
350 | ExternStickGier = 0; |
349 | if(BeepMuster == 0xffff && SenderOkay == 0) |
351 | if(BeepMuster == 0xffff && SenderOkay == 0) |
350 | { |
352 | { |
351 | beeptime = 15000; |
353 | beeptime = 15000; |
352 | BeepMuster = 0x0c00; |
354 | BeepMuster = 0x0c00; |
353 | } |
355 | } |
354 | } |
356 | } |
355 | if(NaviDataOkay > 200) |
357 | if(NaviDataOkay > 200) |
356 | { |
358 | { |
357 | NaviDataOkay--; |
359 | NaviDataOkay--; |
358 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
360 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
359 | } |
361 | } |
360 | else |
362 | else |
361 | { |
363 | { |
362 | if(NC_Version.Compatible) |
364 | if(NC_Version.Compatible) |
363 | { |
365 | { |
364 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
366 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
365 | if(BeepMuster == 0xffff && MotorenEin) |
367 | if(BeepMuster == 0xffff && MotorenEin) |
366 | { |
368 | { |
367 | beeptime = 15000; |
369 | beeptime = 15000; |
368 | BeepMuster = 0xA800; |
370 | BeepMuster = 0xA800; |
369 | } |
371 | } |
370 | } |
372 | } |
371 | GPS_Nick = 0; |
373 | GPS_Nick = 0; |
372 | GPS_Roll = 0; |
374 | GPS_Roll = 0; |
373 | //if(!beeptime) |
375 | //if(!beeptime) |
374 | FromNaviCtrl.CompassValue = -1; |
376 | FromNaviCtrl.CompassValue = -1; |
375 | NaviDataOkay = 0; |
377 | NaviDataOkay = 0; |
376 | } |
378 | } |
377 | if(UBat < BattLowVoltageWarning) |
379 | if(UBat < BattLowVoltageWarning) |
378 | { |
380 | { |
379 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
381 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
380 | if(BeepMuster == 0xffff) |
382 | if(BeepMuster == 0xffff) |
381 | { |
383 | { |
382 | beeptime = 6000; |
384 | beeptime = 6000; |
383 | BeepMuster = 0x0300; |
385 | BeepMuster = 0x0300; |
384 | } |
386 | } |
385 | } |
387 | } |
386 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
388 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
387 | 389 | ||
388 | SPI_StartTransmitPacket(); |
390 | SPI_StartTransmitPacket(); |
389 | SendSPI = 4; |
391 | SendSPI = 4; |
390 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
392 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
391 | else |
393 | else |
392 | if(++second == 49) |
394 | if(++second == 49) |
393 | { |
395 | { |
394 | second = 0; |
396 | second = 0; |
395 | FlugSekunden++; |
397 | FlugSekunden++; |
396 | } |
398 | } |
397 | if(++timer2 == 2930) // eine Minute |
399 | if(++timer2 == 2930) // eine Minute |
398 | { |
400 | { |
399 | timer2 = 0; |
401 | timer2 = 0; |
400 | FlugMinuten++; |
402 | FlugMinuten++; |
401 | FlugMinutenGesamt++; |
403 | FlugMinutenGesamt++; |
402 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
404 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
403 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
405 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
404 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
406 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
405 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
407 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
406 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
408 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
407 | } |
409 | } |
408 | } |
410 | } |
409 | LED_Update(); |
411 | LED_Update(); |
410 | Capacity_Update(); |
412 | Capacity_Update(); |
411 | } |
413 | } |
412 | } |
414 | } |
413 | if(!SendSPI) { SPI_TransmitByte(); } |
415 | if(!SendSPI) { SPI_TransmitByte(); } |
414 | } |
416 | } |
415 | return (1); |
417 | return (1); |
416 | } |
418 | } |
417 | 419 | ||
418 | 420 | ||
419 | 421 |