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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | #include "main.h" |
53 | #include "main.h" |
54 | unsigned char DisableRcOffBeeping = 0; |
54 | unsigned char DisableRcOffBeeping = 0; |
55 | unsigned char PlatinenVersion = 10; |
55 | unsigned char PlatinenVersion = 10; |
56 | unsigned char SendVersionToNavi = 1; |
56 | unsigned char SendVersionToNavi = 1; |
57 | unsigned char BattLowVoltageWarning = 94; |
57 | unsigned char BattLowVoltageWarning = 94; |
58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
59 | unsigned int FlugSekunden = 0; |
59 | unsigned int FlugSekunden = 0; |
60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
61 | unsigned char FoundMotors = 0; |
61 | unsigned char FoundMotors = 0; |
62 | 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 | 63 | ||
64 | unsigned char metrotest; |
64 | unsigned char metrotest; |
65 | void PrintLine(void) |
65 | void PrintLine(void) |
66 | { |
66 | { |
67 | printf("\n\r==================================="); |
67 | printf("\n\r==================================="); |
68 | } |
68 | } |
69 | 69 | ||
70 | static char panodelay = 0; ///martinw |
70 | static char panodelay = 0; ///martinw |
71 | //static char panoleddelay = 0; ///martinw |
71 | //static char panoleddelay = 0; ///martinw |
72 | 72 | ||
73 | void CalMk3Mag(void) |
73 | void CalMk3Mag(void) |
74 | { |
74 | { |
75 | static unsigned char stick = 1; |
75 | static unsigned char stick = 1; |
76 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
76 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
77 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
77 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
78 | { |
78 | { |
79 | stick = 1; |
79 | stick = 1; |
80 | WinkelOut.CalcState++; |
80 | WinkelOut.CalcState++; |
81 | if(WinkelOut.CalcState > 4) |
81 | if(WinkelOut.CalcState > 4) |
82 | { |
82 | { |
83 | // WinkelOut.CalcState = 0; // in Uart.c |
83 | // WinkelOut.CalcState = 0; // in Uart.c |
84 | beeptime = 1000; |
84 | beeptime = 1000; |
85 | } |
85 | } |
86 | else Piep(WinkelOut.CalcState,150); |
86 | else Piep(WinkelOut.CalcState,150); |
87 | } |
87 | } |
88 | DebugOut.Analog[19] = WinkelOut.CalcState; |
88 | //DebugOut.Analog[19] = WinkelOut.CalcState; // MartinR wird in fc.c verwendet |
89 | } |
89 | } |
90 | 90 | ||
91 | 91 | ||
92 | void LipoDetection(unsigned char print) |
92 | void LipoDetection(unsigned char print) |
93 | { |
93 | { |
94 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
94 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
95 | unsigned int timer, cells; |
95 | unsigned int timer, cells; |
96 | if(print) printf("\n\rBatt:"); |
96 | if(print) printf("\n\rBatt:"); |
97 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
97 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
98 | { |
98 | { |
99 | timer = SetDelay(500); |
99 | timer = SetDelay(500); |
100 | if(print) while (!CheckDelay(timer)); |
100 | if(print) while (!CheckDelay(timer)); |
101 | // up to 6s LiPo, less than 2s is technical impossible |
101 | // up to 6s LiPo, less than 2s is technical impossible |
102 | for(cells = 2; cells < 7; cells++) |
102 | for(cells = 2; cells < 7; cells++) |
103 | { |
103 | { |
104 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
104 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
105 | } |
105 | } |
106 | 106 | ||
107 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
107 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
108 | if(print) |
108 | if(print) |
109 | { |
109 | { |
110 | Piep(cells, 200); |
110 | Piep(cells, 200); |
111 | printf(" %d Cells ", cells); |
111 | printf(" %d Cells ", cells); |
112 | } |
112 | } |
113 | } |
113 | } |
114 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
114 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
115 | //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 |
116 | if(print) printf("Low Batt level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); /// Martinw; removed memorysaving |
117 | } |
117 | } |
118 | 118 | ||
119 | //############################################################################ |
119 | //############################################################################ |
120 | //Hauptprogramm |
120 | //Hauptprogramm |
121 | int main (void) |
121 | int main (void) |
122 | //############################################################################ |
122 | //############################################################################ |
123 | { |
123 | { |
124 | unsigned int timer,i,timer2 = 0, timerPolling; |
124 | unsigned int timer,i,timer2 = 0, timerPolling; |
125 | 125 | ||
126 | DDRB = 0x00; |
126 | DDRB = 0x00; |
127 | PORTB = 0x00; |
127 | PORTB = 0x00; |
128 | for(timer = 0; timer < 1000; timer++); // verzögern |
128 | for(timer = 0; timer < 1000; timer++); // verzögern |
129 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
129 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
130 | PlatinenVersion = 21; |
130 | PlatinenVersion = 21; |
131 | #else |
131 | #else |
132 | if(PINB & 0x01) |
132 | if(PINB & 0x01) |
133 | { |
133 | { |
134 | if(PINB & 0x02) PlatinenVersion = 13; |
134 | if(PINB & 0x02) PlatinenVersion = 13; |
135 | else PlatinenVersion = 11; |
135 | else PlatinenVersion = 11; |
136 | } |
136 | } |
137 | else |
137 | else |
138 | { |
138 | { |
139 | if(PINB & 0x02) PlatinenVersion = 20; |
139 | if(PINB & 0x02) PlatinenVersion = 20; |
140 | else PlatinenVersion = 10; |
140 | else PlatinenVersion = 10; |
141 | } |
141 | } |
142 | #endif |
142 | #endif |
143 | DDRC = 0x81; // SCL |
143 | DDRC = 0x81; // SCL |
144 | DDRC |=0x40; // HEF4017 Reset |
144 | DDRC |=0x40; // HEF4017 Reset |
145 | PORTC = 0xff; // Pullup SDA |
145 | PORTC = 0xff; // Pullup SDA |
146 | DDRB = 0x1B; // LEDs und Druckoffset |
146 | DDRB = 0x1B; // LEDs und Druckoffset |
147 | PORTB = 0x01; // LED_Rot |
147 | PORTB = 0x01; // LED_Rot |
148 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
148 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
149 | PORTD = 0x47; // LED |
149 | PORTD = 0x47; // LED |
150 | HEF4017R_ON; |
150 | HEF4017R_ON; |
151 | MCUSR &=~(1<<WDRF); |
151 | MCUSR &=~(1<<WDRF); |
152 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
152 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
153 | WDTCSR = 0; |
153 | WDTCSR = 0; |
154 | 154 | ||
155 | beeptime = 2500; |
155 | beeptime = 2500; |
156 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
156 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
157 | 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 |
158 | ROT_OFF; |
158 | ROT_OFF; |
159 | 159 | ||
160 | Timer_Init(); |
160 | Timer_Init(); |
161 | TIMER2_Init(); |
161 | TIMER2_Init(); |
162 | UART_Init(); |
162 | UART_Init(); |
163 | rc_sum_init(); |
163 | rc_sum_init(); |
164 | ADC_Init(); |
164 | ADC_Init(); |
165 | I2C_Init(1); |
165 | I2C_Init(1); |
166 | SPI_MasterInit(); |
166 | SPI_MasterInit(); |
167 | //Capacity_Init(); //Moved by metro |
167 | //Capacity_Init(); //Moved by metro |
168 | LIBFC_Init(); |
168 | LIBFC_Init(); |
169 | GRN_ON; |
169 | GRN_ON; |
170 | sei(); |
170 | sei(); |
171 | ParamSet_Init(); |
171 | ParamSet_Init(); |
172 | Capacity_Init(); //Moved by metro |
172 | Capacity_Init(); //Moved by metro |
173 | 173 | ||
174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | // + Check connected BL-Ctrls |
175 | // + Check connected BL-Ctrls |
176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
177 | // Check connected BL-Ctrls |
177 | // Check connected BL-Ctrls |
178 | BLFlags |= BLFLAG_READ_VERSION; |
178 | BLFlags |= BLFLAG_READ_VERSION; |
179 | motor_read = 0; // read the first I2C-Data |
179 | motor_read = 0; // read the first I2C-Data |
180 | SendMotorData(); |
180 | SendMotorData(); |
181 | timer = SetDelay(500); |
181 | timer = SetDelay(500); |
182 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
182 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
183 | 183 | ||
184 | printf("\n\rFound BL-Ctrl: "); |
184 | printf("\n\rFound BL-Ctrl: "); |
185 | timer = SetDelay(4000); |
185 | timer = SetDelay(4000); |
186 | for(i=0; i < MAX_MOTORS; i++) |
186 | for(i=0; i < MAX_MOTORS; i++) |
187 | { |
187 | { |
188 | SendMotorData(); |
188 | SendMotorData(); |
189 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
189 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
190 | 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 |
191 | { |
191 | { |
192 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
192 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
193 | { |
193 | { |
194 | SendMotorData(); |
194 | SendMotorData(); |
195 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
195 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
196 | } |
196 | } |
197 | } |
197 | } |
198 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
198 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
199 | { |
199 | { |
200 | printf("%d",i+1); |
200 | printf("%d",i+1); |
201 | FoundMotors++; |
201 | FoundMotors++; |
202 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
202 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
203 | } |
203 | } |
204 | } |
204 | } |
205 | for(i=0; i < MAX_MOTORS; i++) |
205 | for(i=0; i < MAX_MOTORS; i++) |
206 | { |
206 | { |
207 | 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) |
208 | { |
208 | { |
209 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
209 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
210 | 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 |
211 | } |
211 | } |
212 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
212 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
213 | } |
213 | } |
214 | PrintLine();// ("\n\r==================================="); |
214 | PrintLine();// ("\n\r==================================="); |
215 | 215 | ||
216 | 216 | ||
217 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
217 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
218 | 218 | ||
219 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
219 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
220 | { |
220 | { |
221 | //printf("\n\rCalibrating pressure sensor.."); |
221 | //printf("\n\rCalibrating pressure sensor.."); |
222 | printf("\n\rCal. pressure sensor");/// Martinw; removed memorysaving |
222 | printf("\n\rCal. pressure sensor");/// Martinw; removed memorysaving |
223 | timer = SetDelay(1000); |
223 | timer = SetDelay(1000); |
224 | SucheLuftruckOffset(); |
224 | SucheLuftruckOffset(); |
225 | while (!CheckDelay(timer)); |
225 | while (!CheckDelay(timer)); |
226 | printf("OK\n\r"); |
226 | printf("OK\n\r"); |
227 | } |
227 | } |
228 | 228 | ||
229 | SetNeutral(0); |
229 | SetNeutral(0); |
230 | 230 | ||
231 | ROT_OFF; |
231 | ROT_OFF; |
232 | 232 | ||
233 | beeptime = 2000; |
233 | beeptime = 2000; |
234 | ExternControl.Digital[0] = 0x55; |
234 | ExternControl.Digital[0] = 0x55; |
235 | 235 | ||
236 | 236 | ||
237 | 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); |
238 | 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); |
239 | 239 | ||
240 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
240 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
241 | { |
241 | { |
242 | FlugMinuten = 0; |
242 | FlugMinuten = 0; |
243 | FlugMinutenGesamt = 0; |
243 | FlugMinutenGesamt = 0; |
244 | } |
244 | } |
245 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
245 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
246 | 246 | ||
247 | #ifdef WITH_MKTOOL_Display // MartinW; for no MKT Display main.h |
247 | #ifdef WITH_MKTOOL_Display // MartinW; for no MKT Display main.h |
248 | #warning : "### with MKTool Display ###" |
248 | #warning : "### with MKTool Display ###" |
249 | LcdClear(); |
249 | LcdClear(); |
250 | #endif |
250 | #endif |
251 | 251 | ||
252 | I2CTimeout = 5000; |
252 | I2CTimeout = 5000; |
253 | WinkelOut.Orientation = 1; |
253 | WinkelOut.Orientation = 1; |
254 | LipoDetection(1); |
254 | LipoDetection(1); |
255 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
255 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
256 | PrintLine();// ("\n\r==================================="); |
256 | PrintLine();// ("\n\r==================================="); |
257 | //SpektrumBinding(); |
257 | //SpektrumBinding(); |
258 | timer = SetDelay(2000); |
258 | timer = SetDelay(2000); |
259 | timerPolling = SetDelay(250); |
259 | timerPolling = SetDelay(250); |
260 | 260 | ||
261 | 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 |
262 | DebugOut.Status[0] = 0x01 | 0x02; |
262 | DebugOut.Status[0] = 0x01 | 0x02; |
263 | JetiBeep = 0; |
263 | JetiBeep = 0; |
264 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
264 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
265 | 265 | ||
266 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) ///MartinW; only for 1284er |
266 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) ///MartinW; only for 1284er |
267 | //#warning : "### with Sponsored Message ###" |
267 | //#warning : "### with Sponsored Message ###" |
268 | // printf("\n\rJETI+ / HoTT+ Version sponsored by Flyinghigh.ch, progammed by metro, MartinW\n\r"); |
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"); |
269 | printf("\n\rACC-HH Version progammed by MartinR\n\r"); |
270 | //#endif |
270 | //#endif |
271 | 271 | ||
272 | 272 | ||
273 | while (1) |
273 | while (1) |
274 | { |
274 | { |
275 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
275 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
276 | 276 | ||
277 | //GRN_ON; |
277 | //GRN_ON; |
278 | if(UpdateMotor && AdReady) // ReglerIntervall |
278 | if(UpdateMotor && AdReady) // ReglerIntervall |
279 | { |
279 | { |
280 | //GRN_OFF; |
280 | //GRN_OFF; |
281 | UpdateMotor=0; |
281 | UpdateMotor=0; |
282 | if(WinkelOut.CalcState) CalMk3Mag(); |
282 | if(WinkelOut.CalcState) CalMk3Mag(); |
283 | else MotorRegler(); |
283 | else MotorRegler(); |
284 | SendMotorData(); |
284 | SendMotorData(); |
285 | ROT_OFF; |
285 | ROT_OFF; |
286 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
286 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
287 | else |
287 | else |
288 | { |
288 | { |
289 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
289 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
290 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
290 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
291 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
291 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
292 | } |
292 | } |
293 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
293 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
294 | //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; |
295 | //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; |
296 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
296 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
297 | if(!--I2CTimeout || MissingMotor) |
297 | if(!--I2CTimeout || MissingMotor) |
298 | { |
298 | { |
299 | if(!I2CTimeout) |
299 | if(!I2CTimeout) |
300 | { |
300 | { |
301 | I2C_Reset(); |
301 | I2C_Reset(); |
302 | I2CTimeout = 5; |
302 | I2CTimeout = 5; |
303 | DebugOut.Analog[28]++; // I2C-Error |
303 | DebugOut.Analog[28]++; // I2C-Error |
304 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
304 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
305 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
305 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
306 | } |
306 | } |
307 | if((BeepMuster == 0xffff) && MotorenEin) |
307 | if((BeepMuster == 0xffff) && MotorenEin) |
308 | { |
308 | { |
309 | beeptime = 25000; |
309 | beeptime = 25000; |
310 | BeepMuster = 0x0080; |
310 | BeepMuster = 0x0080; |
311 | } |
311 | } |
312 | } |
312 | } |
313 | else |
313 | else |
314 | { |
314 | { |
315 | ROT_OFF; |
315 | ROT_OFF; |
316 | } |
316 | } |
317 | LIBFC_Polling(); |
317 | LIBFC_Polling(); |
318 | 318 | ||
319 | if(!UpdateMotor) |
319 | if(!UpdateMotor) |
320 | { |
320 | { |
321 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
321 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
322 | if(NewSBusData) ProcessSBus(); |
322 | if(NewSBusData) ProcessSBus(); |
323 | else |
323 | else |
324 | #endif |
324 | #endif |
325 | { |
325 | { |
326 | if(CalculateServoSignals) CalculateServo(); |
326 | if(CalculateServoSignals) CalculateServo(); |
327 | DatenUebertragung(); |
327 | DatenUebertragung(); |
328 | BearbeiteRxDaten(); |
328 | BearbeiteRxDaten(); |
329 | if(CheckDelay(timer)) |
329 | if(CheckDelay(timer)) |
330 | { |
330 | { |
331 | static unsigned char second; |
331 | static unsigned char second; |
332 | timer += 20; // 20 ms interval |
332 | timer += 20; // 20 ms interval |
333 | #if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU)) |
333 | #if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU)) |
334 | #warning : "### with Hottmenu ###" |
334 | #warning : "### with Hottmenu ###" |
335 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
335 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
336 | #endif |
336 | #endif |
337 | if(MissingMotor) |
337 | if(MissingMotor) |
338 | { |
338 | { |
339 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
339 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
340 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
340 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
341 | } |
341 | } |
342 | else |
342 | else |
343 | { |
343 | { |
344 | if(!beeptime) |
344 | if(!beeptime) |
345 | { |
345 | { |
346 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
346 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
347 | } |
347 | } |
348 | } |
348 | } |
349 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
349 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
350 | if(PcZugriff) PcZugriff--; |
350 | if(PcZugriff) PcZugriff--; |
351 | else |
351 | else |
352 | { |
352 | { |
353 | ExternControl.Config = 0; |
353 | ExternControl.Config = 0; |
354 | ExternStickNick = 0; |
354 | ExternStickNick = 0; |
355 | ExternStickRoll = 0; |
355 | ExternStickRoll = 0; |
356 | ExternStickGier = 0; |
356 | ExternStickGier = 0; |
357 | if(!SenderOkay) |
357 | if(!SenderOkay) |
358 | { |
358 | { |
359 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
359 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
360 | { |
360 | { |
361 | beeptime = 15000; |
361 | beeptime = 15000; |
362 | BeepMuster = 0x0c00; |
362 | BeepMuster = 0x0c00; |
363 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
363 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
364 | } |
364 | } |
365 | } |
365 | } |
366 | } |
366 | } |
367 | if(NaviDataOkay > 200) |
367 | if(NaviDataOkay > 200) |
368 | { |
368 | { |
369 | NaviDataOkay--; |
369 | NaviDataOkay--; |
370 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
370 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
371 | } |
371 | } |
372 | else |
372 | else |
373 | { |
373 | { |
374 | if(NC_Version.Compatible) |
374 | if(NC_Version.Compatible) |
375 | { |
375 | { |
376 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
376 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
377 | NC_ErrorCode = 9; // "ERR: no NC communication" |
377 | NC_ErrorCode = 9; // "ERR: no NC communication" |
378 | if(BeepMuster == 0xffff && MotorenEin) |
378 | if(BeepMuster == 0xffff && MotorenEin) |
379 | { |
379 | { |
380 | beeptime = 15000; |
380 | beeptime = 15000; |
381 | BeepMuster = 0xA800; |
381 | BeepMuster = 0xA800; |
382 | } |
382 | } |
383 | } |
383 | } |
384 | GPS_Nick = 0; |
384 | GPS_Nick = 0; |
385 | GPS_Roll = 0; |
385 | GPS_Roll = 0; |
386 | GPS_Aid_StickMultiplikator = 0; |
386 | GPS_Aid_StickMultiplikator = 0; |
387 | GPSInfo.Flags = 0; |
387 | GPSInfo.Flags = 0; |
388 | FromNaviCtrl.AccErrorN = 0; |
388 | FromNaviCtrl.AccErrorN = 0; |
389 | FromNaviCtrl.AccErrorR = 0; |
389 | FromNaviCtrl.AccErrorR = 0; |
390 | FromNaviCtrl.CompassValue = -1; |
390 | FromNaviCtrl.CompassValue = -1; |
391 | NaviDataOkay = 0; |
391 | NaviDataOkay = 0; |
392 | } |
392 | } |
393 | if(UBat < BattLowVoltageWarning) |
393 | if(UBat < BattLowVoltageWarning) |
394 | { |
394 | { |
395 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
395 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
396 | if(BeepMuster == 0xffff) |
396 | if(BeepMuster == 0xffff) |
397 | { |
397 | { |
398 | beeptime = 6000; |
398 | beeptime = 6000; |
399 | BeepMuster = 0x0300; |
399 | BeepMuster = 0x0300; |
400 | } |
400 | } |
401 | } |
401 | } |
402 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
402 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
403 | 403 | ||
404 | SPI_StartTransmitPacket(); |
404 | SPI_StartTransmitPacket(); |
405 | SendSPI = 4; |
405 | SendSPI = 4; |
406 | // +++++++++++++++++++++++++++++++++ |
406 | // +++++++++++++++++++++++++++++++++ |
407 | // Sekundentakt |
407 | // Sekundentakt |
408 | if(++second == 49) |
408 | if(++second == 49) |
409 | { |
409 | { |
410 | second = 0; |
410 | second = 0; |
411 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
411 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
412 | else |
412 | else |
413 | { |
413 | { |
414 | timer2 = 1450; // 0,5 Minuten aufrunden |
414 | timer2 = 1450; // 0,5 Minuten aufrunden |
415 | if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
415 | if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
416 | else |
416 | else |
417 | if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
417 | if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
418 | } |
418 | } |
419 | } |
419 | } |
420 | // +++++++++++++++++++++++++++++++++ |
420 | // +++++++++++++++++++++++++++++++++ |
421 | if(++timer2 == 2930) // eine Minute |
421 | if(++timer2 == 2930) // eine Minute |
422 | { |
422 | { |
423 | timer2 = 0; |
423 | timer2 = 0; |
424 | FlugMinuten++; |
424 | FlugMinuten++; |
425 | FlugMinutenGesamt++; |
425 | FlugMinutenGesamt++; |
426 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
426 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
427 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
427 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
428 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
428 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
429 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
429 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
430 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
430 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
431 | } |
431 | } |
432 | } |
432 | } |
433 | 433 | ||
434 | #ifdef WITH_PANOTRIGGER /// MartinW main.h means no memsave |
434 | #ifdef WITH_PANOTRIGGER /// MartinW main.h means no memsave |
435 | #warning : "### with Panorama Trigger Function ###" |
435 | #warning : "### with Panorama Trigger Function ###" |
436 | //// Pano Trigger |
436 | //// Pano Trigger |
437 | if(Parameter_UserParam8 >= 200) //enable/disable Pano Trigger Function |
437 | if(Parameter_UserParam8 >= 200) //enable/disable Pano Trigger Function |
438 | { |
438 | { |
439 | if(Parameter_UserParam4 <=9) { Parameter_UserParam4 = 10; } |
439 | if(Parameter_UserParam4 <=9) { Parameter_UserParam4 = 10; } |
440 | degreedivold = degreediv; |
440 | degreedivold = degreediv; |
441 | degreediv = (ErsatzKompass / GIER_GRAD_FAKTOR) / Parameter_UserParam4;//Division |
441 | degreediv = (ErsatzKompass / GIER_GRAD_FAKTOR) / Parameter_UserParam4;//Division |
442 | 442 | ||
443 | if((degreediv-degreedivold)==2||(degreediv-degreedivold)==1||(degreediv-degreedivold)== -2||(degreediv-degreedivold)== -1) |
443 | if((degreediv-degreedivold)==2||(degreediv-degreedivold)==1||(degreediv-degreedivold)== -2||(degreediv-degreedivold)== -1) |
444 | { |
444 | { |
445 | 445 | ||
446 | if(panodelay == 0) |
446 | if(panodelay == 0) |
447 | { |
447 | { |
448 | panotrigger= 1; // muss wieder geleert werden |
448 | panotrigger= 1; // muss wieder geleert werden |
449 | ROT_ON; |
449 | ROT_ON; |
450 | J16_ON; |
450 | J16_ON; |
451 | panodelay = Parameter_UserParam5; |
451 | panodelay = Parameter_UserParam5; |
452 | } |
452 | } |
453 | } |
453 | } |
454 | 454 | ||
455 | else |
455 | else |
456 | { |
456 | { |
457 | if(panodelay <= Parameter_UserParam6) //ms Intervall |
457 | if(panodelay <= Parameter_UserParam6) //ms Intervall |
458 | { |
458 | { |
459 | //panoleddelay = Parameter_UserParam6; |
459 | //panoleddelay = Parameter_UserParam6; |
460 | J16_OFF; |
460 | J16_OFF; |
461 | ROT_OFF; |
461 | ROT_OFF; |
462 | } |
462 | } |
463 | if(panodelay > 0) |
463 | if(panodelay > 0) |
464 | { |
464 | { |
465 | panodelay--; |
465 | panodelay--; |
466 | } |
466 | } |
467 | 467 | ||
468 | } |
468 | } |
469 | }// END if(Parameter_UserParam4 >= 1) |
469 | }// END if(Parameter_UserParam4 >= 1) |
470 | //// Pano Trigger |
470 | //// Pano Trigger |
471 | 471 | ||
472 | #else |
472 | #else |
473 | #warning : "### without Panorama Trigger Function ###" |
473 | #warning : "### without Panorama Trigger Function ###" |
474 | 474 | ||
475 | #endif |
475 | #endif |
476 | 476 | ||
477 | 477 | ||
478 | 478 | ||
479 | LED_Update(); |
479 | LED_Update(); |
480 | Capacity_Update(); |
480 | Capacity_Update(); |
481 | } //else DebugOut.Analog[26]++; |
481 | } //else DebugOut.Analog[26]++; |
482 | } |
482 | } |
483 | } |
483 | } |
484 | if(!SendSPI) { SPI_TransmitByte(); } |
484 | if(!SendSPI) { SPI_TransmitByte(); } |
485 | } |
485 | } |
486 | return (1); |
486 | return (1); |
487 | } |
487 | } |
488 | //DebugOut.Analog[16] |
488 | //DebugOut.Analog[16] |
489 | 489 | ||
490 | 490 |