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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include "main.h" |
52 | #include "main.h" |
53 | unsigned char DisableRcOffBeeping = 0; |
53 | unsigned char DisableRcOffBeeping = 0; |
54 | unsigned char PlatinenVersion = 10; |
54 | unsigned char PlatinenVersion = 10; |
55 | unsigned char BattLowVoltageWarning = 94; |
55 | unsigned char BattLowVoltageWarning = 94; |
56 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
56 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
57 | unsigned int FlugSekunden = 0; |
57 | unsigned int FlugSekunden = 0; |
58 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
58 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
59 | unsigned char FoundMotors = 0; |
59 | unsigned char FoundMotors = 0; |
60 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
60 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
61 | 61 | ||
62 | void PrintLine(void) |
62 | void PrintLine(void) |
63 | { |
63 | { |
64 | printf("\n\r==================================="); |
64 | printf("\n\r==================================="); |
65 | } |
65 | } |
66 | 66 | ||
67 | 67 | ||
68 | void CalMk3Mag(void) |
68 | void CalMk3Mag(void) |
69 | { |
69 | { |
70 | static unsigned char stick = 1; |
70 | static unsigned char stick = 1; |
71 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
71 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
72 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
72 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
73 | { |
73 | { |
74 | stick = 1; |
74 | stick = 1; |
75 | WinkelOut.CalcState++; |
75 | WinkelOut.CalcState++; |
76 | if(WinkelOut.CalcState > 4) |
76 | if(WinkelOut.CalcState > 4) |
77 | { |
77 | { |
78 | // WinkelOut.CalcState = 0; // in Uart.c |
78 | // WinkelOut.CalcState = 0; // in Uart.c |
79 | beeptime = 1000; |
79 | beeptime = 1000; |
80 | } |
80 | } |
81 | else Piep(WinkelOut.CalcState,150); |
81 | else Piep(WinkelOut.CalcState,150); |
82 | } |
82 | } |
83 | DebugOut.Analog[19] = WinkelOut.CalcState; |
83 | DebugOut.Analog[19] = WinkelOut.CalcState; |
84 | } |
84 | } |
85 | 85 | ||
86 | 86 | ||
87 | void LipoDetection(unsigned char print) |
87 | void LipoDetection(unsigned char print) |
88 | { |
88 | { |
89 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
89 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
90 | unsigned int timer, cells; |
90 | unsigned int timer, cells; |
91 | if(print) printf("\n\rBatt:"); |
91 | if(print) printf("\n\rBatt:"); |
92 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
92 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
93 | { |
93 | { |
94 | timer = SetDelay(500); |
94 | timer = SetDelay(500); |
95 | if(print) while (!CheckDelay(timer)); |
95 | if(print) while (!CheckDelay(timer)); |
96 | // up to 6s LiPo, less than 2s is technical impossible |
96 | // up to 6s LiPo, less than 2s is technical impossible |
97 | for(cells = 2; cells < 7; cells++) |
97 | for(cells = 2; cells < 7; cells++) |
98 | { |
98 | { |
99 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
99 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
100 | } |
100 | } |
101 | 101 | ||
102 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
102 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
103 | if(print) |
103 | if(print) |
104 | { |
104 | { |
105 | Piep(cells, 200); |
105 | Piep(cells, 200); |
106 | printf(" %d Cells ", cells); |
106 | printf(" %d Cells ", cells); |
107 | } |
107 | } |
108 | } |
108 | } |
109 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
109 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
110 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
110 | if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
111 | } |
111 | } |
112 | 112 | ||
113 | //############################################################################ |
113 | //############################################################################ |
114 | //Hauptprogramm |
114 | //Hauptprogramm |
115 | int main (void) |
115 | int main (void) |
116 | //############################################################################ |
116 | //############################################################################ |
117 | { |
117 | { |
118 | unsigned int timer,i,timer2 = 0, timerPolling; |
118 | unsigned int timer,i,timer2 = 0, timerPolling; |
119 | 119 | ||
120 | DDRB = 0x00; |
120 | DDRB = 0x00; |
121 | PORTB = 0x00; |
121 | PORTB = 0x00; |
122 | for(timer = 0; timer < 1000; timer++); // verzögern |
122 | for(timer = 0; timer < 1000; timer++); // verzögern |
123 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
123 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
124 | PlatinenVersion = 21; |
124 | PlatinenVersion = 21; |
125 | #else |
125 | #else |
126 | if(PINB & 0x01) |
126 | if(PINB & 0x01) |
127 | { |
127 | { |
128 | if(PINB & 0x02) PlatinenVersion = 13; |
128 | if(PINB & 0x02) PlatinenVersion = 13; |
129 | else PlatinenVersion = 11; |
129 | else PlatinenVersion = 11; |
130 | } |
130 | } |
131 | else |
131 | else |
132 | { |
132 | { |
133 | if(PINB & 0x02) PlatinenVersion = 20; |
133 | if(PINB & 0x02) PlatinenVersion = 20; |
134 | else PlatinenVersion = 10; |
134 | else PlatinenVersion = 10; |
135 | } |
135 | } |
136 | #endif |
136 | #endif |
137 | DDRC = 0x81; // SCL |
137 | DDRC = 0x81; // SCL |
138 | DDRC |=0x40; // HEF4017 Reset |
138 | DDRC |=0x40; // HEF4017 Reset |
139 | PORTC = 0xff; // Pullup SDA |
139 | PORTC = 0xff; // Pullup SDA |
140 | DDRB = 0x1B; // LEDs und Druckoffset |
140 | DDRB = 0x1B; // LEDs und Druckoffset |
141 | PORTB = 0x01; // LED_Rot |
141 | PORTB = 0x01; // LED_Rot |
142 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
142 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
143 | PORTD = 0x47; // LED |
143 | PORTD = 0x47; // LED |
144 | HEF4017R_ON; |
144 | HEF4017R_ON; |
145 | MCUSR &=~(1<<WDRF); |
145 | MCUSR &=~(1<<WDRF); |
146 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
146 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
147 | WDTCSR = 0; |
147 | WDTCSR = 0; |
148 | 148 | ||
149 | beeptime = 2500; |
149 | beeptime = 2500; |
150 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
150 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
151 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
151 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
152 | ROT_OFF; |
152 | ROT_OFF; |
153 | 153 | ||
154 | Timer_Init(); |
154 | Timer_Init(); |
155 | TIMER2_Init(); |
155 | TIMER2_Init(); |
156 | UART_Init(); |
156 | UART_Init(); |
157 | rc_sum_init(); |
157 | rc_sum_init(); |
158 | ADC_Init(); |
158 | ADC_Init(); |
159 | I2C_Init(1); |
159 | I2C_Init(1); |
160 | SPI_MasterInit(); |
160 | SPI_MasterInit(); |
161 | Capacity_Init(); |
161 | Capacity_Init(); |
162 | LIBFC_Init(); |
162 | LIBFC_Init(); |
163 | GRN_ON; |
163 | GRN_ON; |
164 | sei(); |
164 | sei(); |
165 | ParamSet_Init(); |
165 | ParamSet_Init(); |
166 | 166 | ||
167 | 167 | ||
168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | // + Check connected BL-Ctrls |
169 | // + Check connected BL-Ctrls |
170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
171 | // Check connected BL-Ctrls |
171 | // Check connected BL-Ctrls |
172 | BLFlags |= BLFLAG_READ_VERSION; |
172 | BLFlags |= BLFLAG_READ_VERSION; |
173 | motor_read = 0; // read the first I2C-Data |
173 | motor_read = 0; // read the first I2C-Data |
174 | SendMotorData(); |
174 | SendMotorData(); |
175 | timer = SetDelay(500); |
175 | timer = SetDelay(500); |
176 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
176 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
177 | 177 | ||
178 | printf("\n\rFound BL-Ctrl: "); |
178 | printf("\n\rFound BL-Ctrl: "); |
179 | timer = SetDelay(4000); |
179 | timer = SetDelay(4000); |
180 | for(i=0; i < MAX_MOTORS; i++) |
180 | for(i=0; i < MAX_MOTORS; i++) |
181 | { |
181 | { |
182 | SendMotorData(); |
182 | SendMotorData(); |
183 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
183 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
184 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
184 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
185 | { |
185 | { |
186 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
186 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
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 | } |
190 | } |
191 | } |
191 | } |
192 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
192 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
193 | { |
193 | { |
194 | printf("%d",i+1); |
194 | printf("%d",i+1); |
195 | FoundMotors++; |
195 | FoundMotors++; |
196 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
196 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
197 | } |
197 | } |
198 | } |
198 | } |
199 | for(i=0; i < MAX_MOTORS; i++) |
199 | for(i=0; i < MAX_MOTORS; i++) |
200 | { |
200 | { |
201 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
201 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
202 | { |
202 | { |
203 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
203 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
204 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
204 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
205 | } |
205 | } |
206 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
206 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
207 | } |
207 | } |
208 | PrintLine();// ("\n\r==================================="); |
208 | PrintLine();// ("\n\r==================================="); |
209 | 209 | ||
210 | 210 | ||
211 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
211 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
212 | 212 | ||
213 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
213 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
214 | { |
214 | { |
215 | printf("\n\rCalibrating pressure sensor.."); |
215 | printf("\n\rCalibrating pressure sensor.."); |
216 | timer = SetDelay(1000); |
216 | timer = SetDelay(1000); |
217 | SucheLuftruckOffset(); |
217 | SucheLuftruckOffset(); |
218 | while (!CheckDelay(timer)); |
218 | while (!CheckDelay(timer)); |
219 | printf("OK\n\r"); |
219 | printf("OK\n\r"); |
220 | } |
220 | } |
221 | 221 | ||
222 | SetNeutral(0); |
222 | SetNeutral(0); |
223 | 223 | ||
224 | ROT_OFF; |
224 | ROT_OFF; |
225 | 225 | ||
226 | beeptime = 2000; |
226 | beeptime = 2000; |
227 | ExternControl.Digital[0] = 0x55; |
227 | ExternControl.Digital[0] = 0x55; |
228 | 228 | ||
229 | 229 | ||
230 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
230 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
231 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
231 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
232 | 232 | ||
233 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
233 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
234 | { |
234 | { |
235 | FlugMinuten = 0; |
235 | FlugMinuten = 0; |
236 | FlugMinutenGesamt = 0; |
236 | FlugMinutenGesamt = 0; |
237 | } |
237 | } |
238 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
238 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
239 | 239 | ||
240 | LcdClear(); |
240 | LcdClear(); |
241 | I2CTimeout = 5000; |
241 | I2CTimeout = 5000; |
242 | WinkelOut.Orientation = 1; |
242 | WinkelOut.Orientation = 1; |
243 | LipoDetection(1); |
243 | LipoDetection(1); |
244 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
244 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
245 | PrintLine();// ("\n\r==================================="); |
245 | PrintLine();// ("\n\r==================================="); |
246 | //SpektrumBinding(); |
246 | //SpektrumBinding(); |
247 | timer = SetDelay(2000); |
247 | timer = SetDelay(2000); |
248 | timerPolling = SetDelay(250); |
248 | timerPolling = SetDelay(250); |
249 | 249 | ||
250 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
250 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
251 | DebugOut.Status[0] = 0x01 | 0x02; |
251 | DebugOut.Status[0] = 0x01 | 0x02; |
252 | JetiBeep = 0; |
252 | JetiBeep = 0; |
253 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
253 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
254 | while (1) |
254 | while (1) |
255 | { |
255 | { |
256 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
256 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
257 | 257 | ||
258 | //GRN_ON; |
258 | //GRN_ON; |
259 | if(UpdateMotor && AdReady) // ReglerIntervall |
259 | if(UpdateMotor && AdReady) // ReglerIntervall |
260 | { |
260 | { |
261 | //GRN_OFF; |
261 | //GRN_OFF; |
262 | UpdateMotor=0; |
262 | UpdateMotor=0; |
263 | if(WinkelOut.CalcState) CalMk3Mag(); |
263 | if(WinkelOut.CalcState) CalMk3Mag(); |
264 | else MotorRegler(); |
264 | else MotorRegler(); |
265 | SendMotorData(); |
265 | SendMotorData(); |
266 | ROT_OFF; |
266 | ROT_OFF; |
267 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
267 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
268 | else |
268 | else |
269 | { |
269 | { |
270 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
270 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
271 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
271 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
272 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
272 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
273 | } |
273 | } |
274 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
274 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
275 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
275 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
276 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
276 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
277 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
277 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
278 | if(!--I2CTimeout || MissingMotor) |
278 | if(!--I2CTimeout || MissingMotor) |
279 | { |
279 | { |
280 | if(!I2CTimeout) |
280 | if(!I2CTimeout) |
281 | { |
281 | { |
282 | I2C_Reset(); |
282 | I2C_Reset(); |
283 | I2CTimeout = 5; |
283 | I2CTimeout = 5; |
284 | DebugOut.Analog[28]++; // I2C-Error |
284 | DebugOut.Analog[28]++; // I2C-Error |
285 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
285 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
286 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
286 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
287 | } |
287 | } |
288 | if((BeepMuster == 0xffff) && MotorenEin) |
288 | if((BeepMuster == 0xffff) && MotorenEin) |
289 | { |
289 | { |
290 | beeptime = 25000; |
290 | beeptime = 25000; |
291 | BeepMuster = 0x0080; |
291 | BeepMuster = 0x0080; |
292 | } |
292 | } |
293 | } |
293 | } |
294 | else |
294 | else |
295 | { |
295 | { |
296 | ROT_OFF; |
296 | ROT_OFF; |
297 | } |
297 | } |
298 | LIBFC_Polling(); |
298 | LIBFC_Polling(); |
299 | 299 | ||
300 | if(!UpdateMotor) |
300 | if(!UpdateMotor) |
301 | { |
301 | { |
302 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
302 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
303 | if(NewSBusData) ProcessSBus(); |
303 | if(NewSBusData) ProcessSBus(); |
304 | else |
304 | else |
305 | #endif |
305 | #endif |
306 | { |
306 | { |
307 | if(CalculateServoSignals) CalculateServo(); |
307 | if(CalculateServoSignals) CalculateServo(); |
308 | DatenUebertragung(); |
308 | DatenUebertragung(); |
309 | BearbeiteRxDaten(); |
309 | BearbeiteRxDaten(); |
310 | if(CheckDelay(timer)) |
310 | if(CheckDelay(timer)) |
311 | { |
311 | { |
312 | static unsigned char second; |
312 | static unsigned char second; |
313 | timer += 20; // 20 ms interval |
313 | timer += 20; // 20 ms interval |
314 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
314 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
315 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
315 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
316 | #endif |
316 | #endif |
317 | if(MissingMotor) |
317 | if(MissingMotor) |
318 | { |
318 | { |
319 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
319 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
320 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
320 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
321 | } |
321 | } |
322 | else |
322 | else |
323 | { |
323 | { |
324 | if(!beeptime) |
324 | if(!beeptime) |
325 | { |
325 | { |
326 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
326 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
327 | } |
327 | } |
328 | } |
328 | } |
329 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
329 | if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
330 | if(PcZugriff) PcZugriff--; |
330 | if(PcZugriff) PcZugriff--; |
331 | else |
331 | else |
332 | { |
332 | { |
333 | ExternControl.Config = 0; |
333 | ExternControl.Config = 0; |
334 | ExternStickNick = 0; |
334 | ExternStickNick = 0; |
335 | ExternStickRoll = 0; |
335 | ExternStickRoll = 0; |
336 | ExternStickGier = 0; |
336 | ExternStickGier = 0; |
337 | if(!SenderOkay) |
337 | if(!SenderOkay) |
338 | { |
338 | { |
339 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
339 | if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
340 | { |
340 | { |
341 | beeptime = 15000; |
341 | beeptime = 15000; |
342 | BeepMuster = 0x0c00; |
342 | BeepMuster = 0x0c00; |
343 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
343 | if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
344 | } |
344 | } |
345 | } |
345 | } |
346 | } |
346 | } |
347 | if(NaviDataOkay > 200) |
347 | if(NaviDataOkay > 200) |
348 | { |
348 | { |
349 | NaviDataOkay--; |
349 | NaviDataOkay--; |
350 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
350 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
351 | } |
351 | } |
352 | else |
352 | else |
353 | { |
353 | { |
354 | if(NC_Version.Compatible) |
354 | if(NC_Version.Compatible) |
355 | { |
355 | { |
356 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
356 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
357 | NC_ErrorCode = 9; // "ERR: no NC communication" |
357 | NC_ErrorCode = 9; // "ERR: no NC communication" |
358 | if(BeepMuster == 0xffff && MotorenEin) |
358 | if(BeepMuster == 0xffff && MotorenEin) |
359 | { |
359 | { |
360 | beeptime = 15000; |
360 | beeptime = 15000; |
361 | BeepMuster = 0xA800; |
361 | BeepMuster = 0xA800; |
362 | } |
362 | } |
363 | } |
363 | } |
364 | GPS_Nick = 0; |
364 | GPS_Nick = 0; |
365 | GPS_Roll = 0; |
365 | GPS_Roll = 0; |
366 | GPS_Aid_StickMultiplikator = 0; |
366 | GPS_Aid_StickMultiplikator = 0; |
367 | GPSInfo.Flags = 0; |
367 | GPSInfo.Flags = 0; |
368 | FromNaviCtrl.AccErrorN = 0; |
368 | FromNaviCtrl.AccErrorN = 0; |
369 | FromNaviCtrl.AccErrorR = 0; |
369 | FromNaviCtrl.AccErrorR = 0; |
370 | FromNaviCtrl.CompassValue = -1; |
370 | FromNaviCtrl.CompassValue = -1; |
371 | NaviDataOkay = 0; |
371 | NaviDataOkay = 0; |
372 | } |
372 | } |
373 | if(UBat < BattLowVoltageWarning) |
373 | if(UBat < BattLowVoltageWarning) |
374 | { |
374 | { |
375 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
375 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
376 | if(BeepMuster == 0xffff) |
376 | if(BeepMuster == 0xffff) |
377 | { |
377 | { |
378 | beeptime = 6000; |
378 | beeptime = 6000; |
379 | BeepMuster = 0x0300; |
379 | BeepMuster = 0x0300; |
380 | } |
380 | } |
381 | } |
381 | } |
382 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
382 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
383 | 383 | ||
384 | SPI_StartTransmitPacket(); |
384 | SPI_StartTransmitPacket(); |
385 | SendSPI = 4; |
385 | SendSPI = 4; |
386 | // +++++++++++++++++++++++++++++++++ |
386 | // +++++++++++++++++++++++++++++++++ |
387 | // Sekundentakt |
387 | // Sekundentakt |
388 | if(++second == 49) |
388 | if(++second == 49) |
389 | { |
389 | { |
390 | second = 0; |
390 | second = 0; |
391 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
391 | if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
392 | else |
392 | else |
393 | { |
393 | { |
394 | timer2 = 1450; // 0,5 Minuten aufrunden |
394 | timer2 = 1450; // 0,5 Minuten aufrunden |
395 | if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
395 | if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
396 | else |
396 | else |
397 | if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
397 | if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
398 | } |
398 | } |
399 | } |
399 | } |
400 | // +++++++++++++++++++++++++++++++++ |
400 | // +++++++++++++++++++++++++++++++++ |
401 | if(++timer2 == 2930) // eine Minute |
401 | if(++timer2 == 2930) // eine Minute |
402 | { |
402 | { |
403 | timer2 = 0; |
403 | timer2 = 0; |
404 | FlugMinuten++; |
404 | FlugMinuten++; |
405 | FlugMinutenGesamt++; |
405 | FlugMinutenGesamt++; |
406 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
406 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
407 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
407 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
408 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
408 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
409 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
409 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
410 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
410 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
411 | } |
411 | } |
412 | } |
412 | } |
413 | LED_Update(); |
413 | LED_Update(); |
414 | Capacity_Update(); |
414 | Capacity_Update(); |
415 | } //else DebugOut.Analog[26]++; |
415 | } //else DebugOut.Analog[26]++; |
416 | } |
416 | } |
417 | } |
417 | } |
418 | if(!SendSPI) { SPI_TransmitByte(); } |
418 | if(!SendSPI) { SPI_TransmitByte(); } |
419 | } |
419 | } |
420 | return (1); |
420 | return (1); |
421 | } |
421 | } |
422 | //DebugOut.Analog[16] |
422 | //DebugOut.Analog[16] |
423 | 423 | ||
424 | 424 |