WebSVN - FlightCtrl - Diff - Rev 2093 and 2165 - /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; // MartinR wird in fc.c verwendet
}
 
 
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 2093	Rev 2165
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

Subversion Repositories FlightCtrl

(root)/branches/V0.88e_ACC-HH_HR_MartinR/main.c @ 2115 - Rev 2093 → 2165