WebSVN - FlightCtrl - Diff - Rev 2081 and 2093 - /branches/V0.88e_ACC-HH_HR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char DisableRcOffBeeping = 0;
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;
unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
 
unsigned char metrotest;
void PrintLine(void)
{
 printf("\n\r===================================");
}
 
static char panodelay = 0; ///martinw
//static char panoleddelay = 0; ///martinw
 
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: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
        if(print) printf("Low Batt level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); /// Martinw; removed memorysaving
}
 
//############################################################################
//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(); //Moved by metro
        LIBFC_Init();
        GRN_ON;
    sei();
        ParamSet_Init();
 
    Capacity_Init(); //Moved by metro
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
        }
   PrintLine();// ("\n\r===================================");
 
 
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
 
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
        {
                //printf("\n\rCalibrating pressure sensor..");
                printf("\n\rCal. pressure sensor");/// Martinw; removed memorysaving
                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);
 
#ifdef WITH_MKTOOL_Display                      // MartinW; for no MKT Display main.h
#warning : "### with MKTool Display ###"
    LcdClear();
        #endif
 
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
    PrintLine();// ("\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;
        JetiBeep = 0;
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
 
//#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))      ///MartinW; only for 1284er
//#warning : "### with Sponsored Message ###"
    // printf("\n\rJETI+ / HoTT+ Version sponsored by Flyinghigh.ch, progammed by metro, MartinW\n\r");
        printf("\n\rACC-HH Version progammed by MartinR\n\r");
//#endif
 
 
        while (1)
        {
        if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
 
//GRN_ON;
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
//GRN_OFF;
                        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 = 25000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                }
                  LIBFC_Polling();
 
          if(!UpdateMotor)
                  {
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                   if(NewSBusData) ProcessSBus();  
                   else
#endif
                   {
                        if(CalculateServoSignals) CalculateServo();
                        DatenUebertragung();
                        BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
#if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU))
        #warning : "### with Hottmenu ###"
                                if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
#endif
                                if(MissingMotor)
                                 {
                                  VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                 }
                                 else
                                 {
                                   if(!beeptime)
                                    {
                                     if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
                                        }
                                 }
                                if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(!SenderOkay)
                                        {
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
                                          {
                                                  beeptime = 15000;
                                                  BeepMuster = 0x0c00;
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
                                          }
                                        }
                                }
                                if(NaviDataOkay > 200)
                                {
                                        NaviDataOkay--;
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
                                }
                                else
                                {
                                        if(NC_Version.Compatible)
                                         {
                                           VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
                                           NC_ErrorCode = 9; // "ERR: no NC communication"
                       if(BeepMuster == 0xffff && MotorenEin)
                                                {
                                                        beeptime = 15000;
                                                        BeepMuster = 0xA800;
                                                }
                                         }
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        GPS_Aid_StickMultiplikator = 0;
                                        GPSInfo.Flags = 0;
                                        FromNaviCtrl.AccErrorN = 0;
                                        FromNaviCtrl.AccErrorR = 0;
                    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;
                                // +++++++++++++++++++++++++++++++++
                                // Sekundentakt
                if(++second == 49)
                                 {
                                   second = 0;
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
                                   else
                                    {
                                         timer2 = 1450; // 0,5 Minuten aufrunden
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck++;
                                         else
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck--;
                                        }
                                 }
                                // +++++++++++++++++++++++++++++++++
                                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
                             }
                        }
                       
#ifdef WITH_PANOTRIGGER         ///  MartinW main.h means no memsave
#warning : "### with  Panorama Trigger Function ###"
//// Pano Trigger
if(Parameter_UserParam8 >= 200) //enable/disable Pano Trigger Function
{
        if(Parameter_UserParam4 <=9) { Parameter_UserParam4 = 10; }
        degreedivold = degreediv;
        degreediv = (ErsatzKompass / GIER_GRAD_FAKTOR) / Parameter_UserParam4;//Division
                       
        if((degreediv-degreedivold)==2||(degreediv-degreedivold)==1||(degreediv-degreedivold)== -2||(degreediv-degreedivold)== -1)
                {
               
                if(panodelay == 0)
                        {
                        panotrigger= 1; // muss wieder geleert werden
                        ROT_ON;
                        J16_ON;
                        panodelay = Parameter_UserParam5;
                        }
                }
               
                else
                        {
                        if(panodelay <= Parameter_UserParam6) //ms Intervall
                                                {
                                                //panoleddelay = Parameter_UserParam6;
                                                J16_OFF;
                                                ROT_OFF;
                                                }  
                        if(panodelay > 0)
                                {
                                panodelay--;
                                }
                       
                        }      
}// END if(Parameter_UserParam4 >= 1)
//// Pano Trigger
 
#else
#warning : "### without  Panorama Trigger Function ###" 
 
#endif
                       
                       
                       
           LED_Update();
           Capacity_Update();
           } //else DebugOut.Analog[26]++;
          }
         }
         if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
//DebugOut.Analog[16]
 
 

Rev 2081	Rev 2093
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 SendVersionToNavi = 1;
56	unsigned char BattLowVoltageWarning = 94;	57	unsigned char BattLowVoltageWarning = 94;
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
-		63
62		64	unsigned char metrotest;
63	void PrintLine(void)	65	void PrintLine(void)
64	{	66	{
65	printf("\n\r===================================");	67	printf("\n\r===================================");
66	}	68	}
-		69
-		70	static char panodelay = 0; ///martinw
67		71	//static char panoleddelay = 0; ///martinw
68		72
69	void CalMk3Mag(void)	73	void CalMk3Mag(void)
70	{	74	{
71	static unsigned char stick = 1;	75	static unsigned char stick = 1;
72	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	76	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
73	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	77	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
74	{	78	{
75	stick = 1;	79	stick = 1;
76	WinkelOut.CalcState++;	80	WinkelOut.CalcState++;
77	if(WinkelOut.CalcState > 4)	81	if(WinkelOut.CalcState > 4)
78	{	82	{
79	// WinkelOut.CalcState = 0; // in Uart.c	83	// WinkelOut.CalcState = 0; // in Uart.c
80	beeptime = 1000;	84	beeptime = 1000;
81	}	85	}
82	else Piep(WinkelOut.CalcState,150);	86	else Piep(WinkelOut.CalcState,150);
83	}	87	}
84	DebugOut.Analog[19] = WinkelOut.CalcState;	88	DebugOut.Analog[19] = WinkelOut.CalcState;
85	}	89	}
86		90
87		91
88	void LipoDetection(unsigned char print)	92	void LipoDetection(unsigned char print)
89	{	93	{
90	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO	94	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
91	unsigned int timer, cells;	95	unsigned int timer, cells;
92	if(print) printf("\n\rBatt:");	96	if(print) printf("\n\rBatt:");
93	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	97	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
94	{	98	{
95	timer = SetDelay(500);	99	timer = SetDelay(500);
96	if(print) while (!CheckDelay(timer));	100	if(print) while (!CheckDelay(timer));
97	// up to 6s LiPo, less than 2s is technical impossible	101	// up to 6s LiPo, less than 2s is technical impossible
98	for(cells = 2; cells < 7; cells++)	102	for(cells = 2; cells < 7; cells++)
99	{	103	{
100	if(UBat < cells * MAX_CELL_VOLTAGE) break;	104	if(UBat < cells * MAX_CELL_VOLTAGE) break;
101	}	105	}
102		106
103	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;	107	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
104	if(print)	108	if(print)
105	{	109	{
106	Piep(cells, 200);	110	Piep(cells, 200);
107	printf(" %d Cells ", cells);	111	printf(" %d Cells ", cells);
108	}	112	}
109	}	113	}
110	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	114	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
111	if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	115	//if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
-		116	if(print) printf("Low Batt level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); /// Martinw; removed memorysaving
112	}	117	}
113		118
114	//############################################################################	119	//############################################################################
115	//Hauptprogramm	120	//Hauptprogramm
116	int main (void)	121	int main (void)
117	//############################################################################	122	//############################################################################
118	{	123	{
119	unsigned int timer,i,timer2 = 0, timerPolling;	124	unsigned int timer,i,timer2 = 0, timerPolling;
120		125
121	DDRB = 0x00;	126	DDRB = 0x00;
122	PORTB = 0x00;	127	PORTB = 0x00;
123	for(timer = 0; timer < 1000; timer++); // verzögern	128	for(timer = 0; timer < 1000; timer++); // verzögern
124	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	129	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
125	PlatinenVersion = 21;	130	PlatinenVersion = 21;
126	#else	131	#else
127	if(PINB & 0x01)	132	if(PINB & 0x01)
128	{	133	{
129	if(PINB & 0x02) PlatinenVersion = 13;	134	if(PINB & 0x02) PlatinenVersion = 13;
130	else PlatinenVersion = 11;	135	else PlatinenVersion = 11;
131	}	136	}
132	else	137	else
133	{	138	{
134	if(PINB & 0x02) PlatinenVersion = 20;	139	if(PINB & 0x02) PlatinenVersion = 20;
135	else PlatinenVersion = 10;	140	else PlatinenVersion = 10;
136	}	141	}
137	#endif	142	#endif
138	DDRC = 0x81; // SCL	143	DDRC = 0x81; // SCL
139	DDRC \|=0x40; // HEF4017 Reset	144	DDRC \|=0x40; // HEF4017 Reset
140	PORTC = 0xff; // Pullup SDA	145	PORTC = 0xff; // Pullup SDA
141	DDRB = 0x1B; // LEDs und Druckoffset	146	DDRB = 0x1B; // LEDs und Druckoffset
142	PORTB = 0x01; // LED_Rot	147	PORTB = 0x01; // LED_Rot
143	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	148	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
144	PORTD = 0x47; // LED	149	PORTD = 0x47; // LED
145	HEF4017R_ON;	150	HEF4017R_ON;
146	MCUSR &=~(1<<WDRF);	151	MCUSR &=~(1<<WDRF);
147	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	152	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
148	WDTCSR = 0;	153	WDTCSR = 0;
149		154
150	beeptime = 2500;	155	beeptime = 2500;
151	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	156	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
152	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	157	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
153	ROT_OFF;	158	ROT_OFF;
154		159
155	Timer_Init();	160	Timer_Init();
156	TIMER2_Init();	161	TIMER2_Init();
157	UART_Init();	162	UART_Init();
158	rc_sum_init();	163	rc_sum_init();
159	ADC_Init();	164	ADC_Init();
160	I2C_Init(1);	165	I2C_Init(1);
161	SPI_MasterInit();	166	SPI_MasterInit();
162	Capacity_Init();	167	//Capacity_Init(); //Moved by metro
163	LIBFC_Init();	168	LIBFC_Init();
164	GRN_ON;	169	GRN_ON;
165	sei();	170	sei();
166	ParamSet_Init();	171	ParamSet_Init();
167		-
-		172	Capacity_Init(); //Moved by metro
168		173
169	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	174	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
170	// + Check connected BL-Ctrls	175	// + Check connected BL-Ctrls
171	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	176	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
172	// Check connected BL-Ctrls	177	// Check connected BL-Ctrls
173	BLFlags \|= BLFLAG_READ_VERSION;	178	BLFlags \|= BLFLAG_READ_VERSION;
174	motor_read = 0; // read the first I2C-Data	179	motor_read = 0; // read the first I2C-Data
175	SendMotorData();	180	SendMotorData();
176	timer = SetDelay(500);	181	timer = SetDelay(500);
177	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	182	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
178		183
179	printf("\n\rFound BL-Ctrl: ");	184	printf("\n\rFound BL-Ctrl: ");
180	timer = SetDelay(4000);	185	timer = SetDelay(4000);
181	for(i=0; i < MAX_MOTORS; i++)	186	for(i=0; i < MAX_MOTORS; i++)
182	{	187	{
183	SendMotorData();	188	SendMotorData();
184	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	189	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
185	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	190	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
186	{	191	{
187	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	192	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
188	{	193	{
189	SendMotorData();	194	SendMotorData();
190	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	195	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
191	}	196	}
192	}	197	}
193	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	198	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
194	{	199	{
195	printf("%d",i+1);	200	printf("%d",i+1);
196	FoundMotors++;	201	FoundMotors++;
197	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	202	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
198	}	203	}
199	}	204	}
200	for(i=0; i < MAX_MOTORS; i++)	205	for(i=0; i < MAX_MOTORS; i++)
201	{	206	{
202	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	207	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
203	{	208	{
204	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	209	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
205	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	210	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
206	}	211	}
207	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	212	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
208	}	213	}
209	PrintLine();// ("\n\r===================================");	214	PrintLine();// ("\n\r===================================");
210		215
211		216
212	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	217	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
213		218
214	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	219	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
215	{	220	{
216	printf("\n\rCalibrating pressure sensor..");	221	//printf("\n\rCalibrating pressure sensor..");
-		222	printf("\n\rCal. pressure sensor");/// Martinw; removed memorysaving
217	timer = SetDelay(1000);	223	timer = SetDelay(1000);
218	SucheLuftruckOffset();	224	SucheLuftruckOffset();
219	while (!CheckDelay(timer));	225	while (!CheckDelay(timer));
220	printf("OK\n\r");	226	printf("OK\n\r");
221	}	227	}
222		228
223	SetNeutral(0);	229	SetNeutral(0);
224		230
225	ROT_OFF;	231	ROT_OFF;
226		232
227	beeptime = 2000;	233	beeptime = 2000;
228	ExternControl.Digital[0] = 0x55;	234	ExternControl.Digital[0] = 0x55;
229		235
230		236
231	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	237	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
232	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	238	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
233		239
234	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	240	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
235	{	241	{
236	FlugMinuten = 0;	242	FlugMinuten = 0;
237	FlugMinutenGesamt = 0;	243	FlugMinutenGesamt = 0;
238	}	244	}
239	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	245	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
-		246
-		247	#ifdef WITH_MKTOOL_Display // MartinW; for no MKT Display main.h
240		248	#warning : "### with MKTool Display ###"
-		249	LcdClear();
-		250	#endif
241	LcdClear();	251
242	I2CTimeout = 5000;	252	I2CTimeout = 5000;
243	WinkelOut.Orientation = 1;	253	WinkelOut.Orientation = 1;
244	LipoDetection(1);	254	LipoDetection(1);
245	LIBFC_ReceiverInit(EE_Parameter.Receiver);	255	LIBFC_ReceiverInit(EE_Parameter.Receiver);
246	PrintLine();// ("\n\r===================================");	256	PrintLine();// ("\n\r===================================");
247	//SpektrumBinding();	257	//SpektrumBinding();
248	timer = SetDelay(2000);	258	timer = SetDelay(2000);
249	timerPolling = SetDelay(250);	259	timerPolling = SetDelay(250);
250		260
251	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	261	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
252	DebugOut.Status[0] = 0x01 \| 0x02;	262	DebugOut.Status[0] = 0x01 \| 0x02;
253	JetiBeep = 0;	263	JetiBeep = 0;
254	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;	264	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
-		265
-		266	//#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__)) ///MartinW; only for 1284er
-		267	//#warning : "### with Sponsored Message ###"
-		268	// printf("\n\rJETI+ / HoTT+ Version sponsored by Flyinghigh.ch, progammed by metro, MartinW\n\r");
-		269	printf("\n\rACC-HH Version progammed by MartinR\n\r");
-		270	//#endif
-		271
-		272
255	while (1)	273	while (1)
256	{	274	{
257	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off	275	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
258		276
259	//GRN_ON;	277	//GRN_ON;
260	if(UpdateMotor && AdReady) // ReglerIntervall	278	if(UpdateMotor && AdReady) // ReglerIntervall
261	{	279	{
262	//GRN_OFF;	280	//GRN_OFF;
263	UpdateMotor=0;	281	UpdateMotor=0;
264	if(WinkelOut.CalcState) CalMk3Mag();	282	if(WinkelOut.CalcState) CalMk3Mag();
265	else MotorRegler();	283	else MotorRegler();
266	SendMotorData();	284	SendMotorData();
267	ROT_OFF;	285	ROT_OFF;
268	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }	286	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }
269	else	287	else
270	{	288	{
271	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	289	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
272	PPM_in[0] = 0; // set RSSI to zero on data timeout	290	PPM_in[0] = 0; // set RSSI to zero on data timeout
273	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	291	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
274	}	292	}
275	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	293	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
276	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	294	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
277	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	295	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
278	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	296	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
279	if(!--I2CTimeout \|\| MissingMotor)	297	if(!--I2CTimeout \|\| MissingMotor)
280	{	298	{
281	if(!I2CTimeout)	299	if(!I2CTimeout)
282	{	300	{
283	I2C_Reset();	301	I2C_Reset();
284	I2CTimeout = 5;	302	I2CTimeout = 5;
285	DebugOut.Analog[28]++; // I2C-Error	303	DebugOut.Analog[28]++; // I2C-Error
286	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	304	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
287	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	305	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
288	}	306	}
289	if((BeepMuster == 0xffff) && MotorenEin)	307	if((BeepMuster == 0xffff) && MotorenEin)
290	{	308	{
291	beeptime = 25000;	309	beeptime = 25000;
292	BeepMuster = 0x0080;	310	BeepMuster = 0x0080;
293	}	311	}
294	}	312	}
295	else	313	else
296	{	314	{
297	ROT_OFF;	315	ROT_OFF;
298	}	316	}
299	LIBFC_Polling();	317	LIBFC_Polling();
300		318
301	if(!UpdateMotor)	319	if(!UpdateMotor)
302	{	320	{
303	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	321	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
304	if(NewSBusData) ProcessSBus();	322	if(NewSBusData) ProcessSBus();
305	else	323	else
306	#endif	324	#endif
307	{	325	{
308	if(CalculateServoSignals) CalculateServo();	326	if(CalculateServoSignals) CalculateServo();
309	DatenUebertragung();	327	DatenUebertragung();
310	BearbeiteRxDaten();	328	BearbeiteRxDaten();
311	if(CheckDelay(timer))	329	if(CheckDelay(timer))
312	{	330	{
313	static unsigned char second;	331	static unsigned char second;
314	timer += 20; // 20 ms interval	332	timer += 20; // 20 ms interval
315	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	333	#if ((defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU))
-		334	#warning : "### with Hottmenu ###"
316	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();	335	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
317	#endif	336	#endif
318	if(MissingMotor)	337	if(MissingMotor)
319	{	338	{
320	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	339	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
321	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	340	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
322	}	341	}
323	else	342	else
324	{	343	{
325	if(!beeptime)	344	if(!beeptime)
326	{	345	{
327	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	346	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
328	}	347	}
329	}	348	}
330	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};	349	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
331	if(PcZugriff) PcZugriff--;	350	if(PcZugriff) PcZugriff--;
332	else	351	else
333	{	352	{
334	ExternControl.Config = 0;	353	ExternControl.Config = 0;
335	ExternStickNick = 0;	354	ExternStickNick = 0;
336	ExternStickRoll = 0;	355	ExternStickRoll = 0;
337	ExternStickGier = 0;	356	ExternStickGier = 0;
338	if(!SenderOkay)	357	if(!SenderOkay)
339	{	358	{
340	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)	359	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
341	{	360	{
342	beeptime = 15000;	361	beeptime = 15000;
343	BeepMuster = 0x0c00;	362	BeepMuster = 0x0c00;
344	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;	363	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
345	}	364	}
346	}	365	}
347	}	366	}
348	if(NaviDataOkay > 200)	367	if(NaviDataOkay > 200)
349	{	368	{
350	NaviDataOkay--;	369	NaviDataOkay--;
351	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	370	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
352	}	371	}
353	else	372	else
354	{	373	{
355	if(NC_Version.Compatible)	374	if(NC_Version.Compatible)
356	{	375	{
357	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	376	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
358	NC_ErrorCode = 9; // "ERR: no NC communication"	377	NC_ErrorCode = 9; // "ERR: no NC communication"
359	if(BeepMuster == 0xffff && MotorenEin)	378	if(BeepMuster == 0xffff && MotorenEin)
360	{	379	{
361	beeptime = 15000;	380	beeptime = 15000;
362	BeepMuster = 0xA800;	381	BeepMuster = 0xA800;
363	}	382	}
364	}	383	}
365	GPS_Nick = 0;	384	GPS_Nick = 0;
366	GPS_Roll = 0;	385	GPS_Roll = 0;
367	GPS_Aid_StickMultiplikator = 0;	386	GPS_Aid_StickMultiplikator = 0;
368	GPSInfo.Flags = 0;	387	GPSInfo.Flags = 0;
369	FromNaviCtrl.AccErrorN = 0;	388	FromNaviCtrl.AccErrorN = 0;
370	FromNaviCtrl.AccErrorR = 0;	389	FromNaviCtrl.AccErrorR = 0;
371	FromNaviCtrl.CompassValue = -1;	390	FromNaviCtrl.CompassValue = -1;
372	NaviDataOkay = 0;	391	NaviDataOkay = 0;
373	}	392	}
374	if(UBat < BattLowVoltageWarning)	393	if(UBat < BattLowVoltageWarning)
375	{	394	{
376	FC_StatusFlags \|= FC_STATUS_LOWBAT;	395	FC_StatusFlags \|= FC_STATUS_LOWBAT;
377	if(BeepMuster == 0xffff)	396	if(BeepMuster == 0xffff)
378	{	397	{
379	beeptime = 6000;	398	beeptime = 6000;
380	BeepMuster = 0x0300;	399	BeepMuster = 0x0300;
381	}	400	}
382	}	401	}
383	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	402	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
384		403
385	SPI_StartTransmitPacket();	404	SPI_StartTransmitPacket();
386	SendSPI = 4;	405	SendSPI = 4;
387	// +++++++++++++++++++++++++++++++++	406	// +++++++++++++++++++++++++++++++++
388	// Sekundentakt	407	// Sekundentakt
389	if(++second == 49)	408	if(++second == 49)
390	{	409	{
391	second = 0;	410	second = 0;
392	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;	411	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
393	else	412	else
394	{	413	{
395	timer2 = 1450; // 0,5 Minuten aufrunden	414	timer2 = 1450; // 0,5 Minuten aufrunden
396	if(StartLuftdruck < Luftdruck) StartLuftdruck++;	415	if(StartLuftdruck < Luftdruck) StartLuftdruck++;
397	else	416	else
398	if(StartLuftdruck > Luftdruck) StartLuftdruck--;	417	if(StartLuftdruck > Luftdruck) StartLuftdruck--;
399	}	418	}
400	}	419	}
401	// +++++++++++++++++++++++++++++++++	420	// +++++++++++++++++++++++++++++++++
402	if(++timer2 == 2930) // eine Minute	421	if(++timer2 == 2930) // eine Minute
403	{	422	{
404	timer2 = 0;	423	timer2 = 0;
405	FlugMinuten++;	424	FlugMinuten++;
406	FlugMinutenGesamt++;	425	FlugMinutenGesamt++;
407	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	426	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
408	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	427	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
409	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	428	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
410	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	429	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
411	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	430	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
412	}	431	}
413	}	432	}
-		433
-		434	#ifdef WITH_PANOTRIGGER /// MartinW main.h means no memsave
-		435	#warning : "### with Panorama Trigger Function ###"
-		436	//// Pano Trigger
-		437	if(Parameter_UserParam8 >= 200) //enable/disable Pano Trigger Function
-		438	{
-		439	if(Parameter_UserParam4 <=9) { Parameter_UserParam4 = 10; }
-		440	degreedivold = degreediv;
-		441	degreediv = (ErsatzKompass / GIER_GRAD_FAKTOR) / Parameter_UserParam4;//Division
-		442
-		443	if((degreediv-degreedivold)==2\|\|(degreediv-degreedivold)==1\|\|(degreediv-degreedivold)== -2\|\|(degreediv-degreedivold)== -1)
-		444	{
-		445
-		446	if(panodelay == 0)
-		447	{
-		448	panotrigger= 1; // muss wieder geleert werden
-		449	ROT_ON;
-		450	J16_ON;
-		451	panodelay = Parameter_UserParam5;
-		452	}
-		453	}
-		454
-		455	else
-		456	{
-		457	if(panodelay <= Parameter_UserParam6) //ms Intervall
-		458	{
-		459	//panoleddelay = Parameter_UserParam6;
-		460	J16_OFF;
-		461	ROT_OFF;
-		462	}
-		463	if(panodelay > 0)
-		464	{
-		465	panodelay--;
-		466	}
-		467
-		468	}
-		469	}// END if(Parameter_UserParam4 >= 1)
-		470	//// Pano Trigger
-		471
-		472	#else
-		473	#warning : "### without Panorama Trigger Function ###"
-		474
-		475	#endif
-		476
-		477
-		478
414	LED_Update();	479	LED_Update();
415	Capacity_Update();	480	Capacity_Update();
416	} //else DebugOut.Analog[26]++;	481	} //else DebugOut.Analog[26]++;
417	}	482	}
418	}	483	}
419	if(!SendSPI) { SPI_TransmitByte(); }	484	if(!SendSPI) { SPI_TransmitByte(); }
420	}	485	}
421	return (1);	486	return (1);
422	}	487	}
423	//DebugOut.Analog[16]	488	//DebugOut.Analog[16]
424		489
425		490

Subversion Repositories FlightCtrl

(root)/branches/V0.88e_ACC-HH_HR_MartinR/main.c - Rev 2081 → 2093