WebSVN - FlightCtrl - Diff - Rev 1907 and 1912 - /branches/V0.91L_ACC-HH


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
 
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
 
void CalMk3Mag(void)
{
 static unsigned char stick = 1;
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
  {
   stick = 1;
   WinkelOut.CalcState++;
   if(WinkelOut.CalcState > 4)
    {
//     WinkelOut.CalcState = 0; // in Uart.c
     beeptime = 1000;
    }
   else Piep(WinkelOut.CalcState,150);
  }
  DebugOut.Analog[19] = WinkelOut.CalcState;
}
 
 
void LipoDetection(unsigned char print)
{
        #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
        unsigned int timer, cells;
        if(print) printf("\n\rBatt:");
        if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
        {
                timer = SetDelay(500);
                if(print) while (!CheckDelay(timer));
                // up to 6s LiPo, less than 2s is technical impossible
                for(cells = 2; cells < 7; cells++)
                {
                        if(UBat < cells * MAX_CELL_VOLTAGE) break;
                }
 
                BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
                if(print)
                {
                        Piep(cells, 200);
                        printf(" %d Cells ", cells);
                }
        }
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
        if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//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();
        LIBFC_Init();
        GRN_ON;
    sei();
        ParamSet_Init();
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
        }
        printf("\n\r===================================");
 
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
 
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
        {
                printf("\n\rCalibrating pressure sensor..");
                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);
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
 
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
 
        printf("\n\r===================================\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;
        while (1)
        {
       
        if (JetiUpdateModeActive) while (1);
 
       
        if(CheckDelay(timerPolling))
        {
          timerPolling = SetDelay(1);
          LIBFC_Polling();
        }
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
                   
                        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 = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                                 if(!beeptime)
                                  {
                                   VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
                                  }
                }
          if(!UpdateMotor)
                   {
                        if(CalculateServoSignals) CalculateServo();
                        DatenUebertragung();
                        BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
                                if(MissingMotor)
                                 {
                                  VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                 }
                                 else
                                 {
                                   VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;
                                   if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
                                 }
 
                            if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
 
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(BeepMuster == 0xffff && SenderOkay == 0)
                                        {
                                                beeptime = 15000;
                                                BeepMuster = 0x0c00;
                                        }
                                }
                                if(NaviDataOkay > 200)
                                {
                                        NaviDataOkay--;
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
                                }
                                else
                                {
                                        if(NC_Version.Compatible)
                                         {
                                                VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
                       if(BeepMuster == 0xffff && MotorenEin)
                                                {
                                                        beeptime = 15000;
                                                        BeepMuster = 0xA800;
                                                }
                                         }
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        GPS_AidMode = 0;
                                        //if(!beeptime)
                    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;
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
                                else
                if(++second == 49)
                                 {
                                   second = 0;
                                   FlugSekunden++;
                                 }
                                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
                             }
                        }
           LED_Update();
           Capacity_Update();
           } //else DebugOut.Analog[26]++;
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1907	Rev 1912
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		53
54		54
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	void CalMk3Mag(void)	64	void CalMk3Mag(void)
65	{	65	{
66	static unsigned char stick = 1;	66	static unsigned char stick = 1;
67	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	67	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
68	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	68	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
69	{	69	{
70	stick = 1;	70	stick = 1;
71	WinkelOut.CalcState++;	71	WinkelOut.CalcState++;
72	if(WinkelOut.CalcState > 4)	72	if(WinkelOut.CalcState > 4)
73	{	73	{
74	// WinkelOut.CalcState = 0; // in Uart.c	74	// WinkelOut.CalcState = 0; // in Uart.c
75	beeptime = 1000;	75	beeptime = 1000;
76	}	76	}
77	else Piep(WinkelOut.CalcState,150);	77	else Piep(WinkelOut.CalcState,150);
78	}	78	}
79	DebugOut.Analog[19] = WinkelOut.CalcState;	79	DebugOut.Analog[19] = WinkelOut.CalcState;
80	}	80	}
81		81
82		82
83	void LipoDetection(unsigned char print)	83	void LipoDetection(unsigned char print)
84	{	84	{
85	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO	85	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
86	unsigned int timer, cells;	86	unsigned int timer, cells;
87	if(print) printf("\n\rBatt:");	87	if(print) printf("\n\rBatt:");
88	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	88	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
89	{	89	{
90	timer = SetDelay(500);	90	timer = SetDelay(500);
91	if(print) while (!CheckDelay(timer));	91	if(print) while (!CheckDelay(timer));
92	// up to 6s LiPo, less than 2s is technical impossible	92	// up to 6s LiPo, less than 2s is technical impossible
93	for(cells = 2; cells < 7; cells++)	93	for(cells = 2; cells < 7; cells++)
94	{	94	{
95	if(UBat < cells * MAX_CELL_VOLTAGE) break;	95	if(UBat < cells * MAX_CELL_VOLTAGE) break;
96	}	96	}
97		97
98	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;	98	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
99	if(print)	99	if(print)
100	{	100	{
101	Piep(cells, 200);	101	Piep(cells, 200);
102	printf(" %d Cells ", cells);	102	printf(" %d Cells ", cells);
103	}	103	}
104	}	104	}
105	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	105	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
106	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	106	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
107	}	107	}
108		108
109	//############################################################################	109	//############################################################################
110	//Hauptprogramm	110	//Hauptprogramm
111	int main (void)	111	int main (void)
112	//############################################################################	112	//############################################################################
113	{	113	{
114	unsigned int timer,i,timer2 = 0, timerPolling;	114	unsigned int timer,i,timer2 = 0, timerPolling;
115		115
116	DDRB = 0x00;	116	DDRB = 0x00;
117	PORTB = 0x00;	117	PORTB = 0x00;
118	for(timer = 0; timer < 1000; timer++); // verzögern	118	for(timer = 0; timer < 1000; timer++); // verzögern
119	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	119	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
120	PlatinenVersion = 21;	120	PlatinenVersion = 21;
121	#else	121	#else
122	if(PINB & 0x01)	122	if(PINB & 0x01)
123	{	123	{
124	if(PINB & 0x02) PlatinenVersion = 13;	124	if(PINB & 0x02) PlatinenVersion = 13;
125	else PlatinenVersion = 11;	125	else PlatinenVersion = 11;
126	}	126	}
127	else	127	else
128	{	128	{
129	if(PINB & 0x02) PlatinenVersion = 20;	129	if(PINB & 0x02) PlatinenVersion = 20;
130	else PlatinenVersion = 10;	130	else PlatinenVersion = 10;
131	}	131	}
132	#endif	132	#endif
133	DDRC = 0x81; // SCL	133	DDRC = 0x81; // SCL
134	DDRC \|=0x40; // HEF4017 Reset	134	DDRC \|=0x40; // HEF4017 Reset
135	PORTC = 0xff; // Pullup SDA	135	PORTC = 0xff; // Pullup SDA
136	DDRB = 0x1B; // LEDs und Druckoffset	136	DDRB = 0x1B; // LEDs und Druckoffset
137	PORTB = 0x01; // LED_Rot	137	PORTB = 0x01; // LED_Rot
138	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	138	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
139	PORTD = 0x47; // LED	139	PORTD = 0x47; // LED
140	HEF4017R_ON;	140	HEF4017R_ON;
141	MCUSR &=~(1<<WDRF);	141	MCUSR &=~(1<<WDRF);
142	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	142	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
143	WDTCSR = 0;	143	WDTCSR = 0;
144		144
145	beeptime = 2500;	145	beeptime = 2500;
146	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	146	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
147	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	147	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
148	ROT_OFF;	148	ROT_OFF;
149		149
150	Timer_Init();	150	Timer_Init();
151	TIMER2_Init();	151	TIMER2_Init();
152	UART_Init();	152	UART_Init();
153	rc_sum_init();	153	rc_sum_init();
154	ADC_Init();	154	ADC_Init();
155	I2C_Init(1);	155	I2C_Init(1);
156	SPI_MasterInit();	156	SPI_MasterInit();
157	Capacity_Init();	157	Capacity_Init();
158	LIBFC_Init();	158	LIBFC_Init();
159	GRN_ON;	159	GRN_ON;
160	sei();	160	sei();
161	ParamSet_Init();	161	ParamSet_Init();
162		162
163		163
164	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	164	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
165	// + Check connected BL-Ctrls	165	// + Check connected BL-Ctrls
166	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	166	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
167	// Check connected BL-Ctrls	167	// Check connected BL-Ctrls
168	BLFlags \|= BLFLAG_READ_VERSION;	168	BLFlags \|= BLFLAG_READ_VERSION;
169	motor_read = 0; // read the first I2C-Data	169	motor_read = 0; // read the first I2C-Data
170	SendMotorData();	170	SendMotorData();
171	timer = SetDelay(500);	171	timer = SetDelay(500);
172	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	172	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
173		173
174	printf("\n\rFound BL-Ctrl: ");	174	printf("\n\rFound BL-Ctrl: ");
175	timer = SetDelay(4000);	175	timer = SetDelay(4000);
176	for(i=0; i < MAX_MOTORS; i++)	176	for(i=0; i < MAX_MOTORS; i++)
177	{	177	{
178	SendMotorData();	178	SendMotorData();
179	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	179	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
180	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	180	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
181	{	181	{
182	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	182	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
183	{	183	{
184	SendMotorData();	184	SendMotorData();
185	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	185	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
186	}	186	}
187	}	187	}
188	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	188	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
189	{	189	{
190	printf("%d",i+1);	190	printf("%d",i+1);
191	FoundMotors++;	191	FoundMotors++;
192	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	192	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
193	}	193	}
194	}	194	}
195	for(i=0; i < MAX_MOTORS; i++)	195	for(i=0; i < MAX_MOTORS; i++)
196	{	196	{
197	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	197	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
198	{	198	{
199	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	199	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
200	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	200	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
201	}	201	}
202	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	202	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
203	}	203	}
204	printf("\n\r===================================");	204	printf("\n\r===================================");
205		205
206	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	206	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
207		207
208	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	208	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
209	{	209	{
210	printf("\n\rCalibrating pressure sensor..");	210	printf("\n\rCalibrating pressure sensor..");
211	timer = SetDelay(1000);	211	timer = SetDelay(1000);
212	SucheLuftruckOffset();	212	SucheLuftruckOffset();
213	while (!CheckDelay(timer));	213	while (!CheckDelay(timer));
214	printf("OK\n\r");	214	printf("OK\n\r");
215	}	215	}
216		216
217	SetNeutral(0);	217	SetNeutral(0);
218		218
219	ROT_OFF;	219	ROT_OFF;
220		220
221	beeptime = 2000;	221	beeptime = 2000;
222	ExternControl.Digital[0] = 0x55;	222	ExternControl.Digital[0] = 0x55;
223		223
224		224
225	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	225	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
226	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	226	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
227		227
228	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	228	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
229	{	229	{
230	FlugMinuten = 0;	230	FlugMinuten = 0;
231	FlugMinutenGesamt = 0;	231	FlugMinutenGesamt = 0;
232	}	232	}
233	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	233	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
234		234
235	printf("\n\rControl: ");	235	printf("\n\rControl: ");
236	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	236	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
237	else printf("Normal (ACC-Mode)");	237	else printf("Normal (ACC-Mode)");
238		238
239	LcdClear();	239	LcdClear();
240	I2CTimeout = 5000;	240	I2CTimeout = 5000;
241	WinkelOut.Orientation = 1;	241	WinkelOut.Orientation = 1;
242	LipoDetection(1);	242	LipoDetection(1);
243		243
244	LIBFC_ReceiverInit(EE_Parameter.Receiver);	244	LIBFC_ReceiverInit(EE_Parameter.Receiver);
245		245
246	printf("\n\r===================================\n\r");	246	printf("\n\r===================================\n\r");
247	//SpektrumBinding();	247	//SpektrumBinding();
248	timer = SetDelay(2000);	248	timer = SetDelay(2000);
249	timerPolling = SetDelay(250);	249	timerPolling = SetDelay(250);
250		250
251	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	251	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
252	DebugOut.Status[0] = 0x01 \| 0x02;	252	DebugOut.Status[0] = 0x01 \| 0x02;
253	JetiBeep = 0;	253	JetiBeep = 0;
254	while (1)	254	while (1)
255	{	255	{
256		256
257	if (JetiUpdateModeActive) while (1);	257	if (JetiUpdateModeActive) while (1);
258		258
259		259
260	if(CheckDelay(timerPolling))	260	if(CheckDelay(timerPolling))
261	{	261	{
262	timerPolling = SetDelay(1);	262	timerPolling = SetDelay(1);
263	LIBFC_Polling();	263	LIBFC_Polling();
264	}	264	}
265	if(UpdateMotor && AdReady) // ReglerIntervall	265	if(UpdateMotor && AdReady) // ReglerIntervall
266	{	266	{
267		267
268	UpdateMotor=0;	268	UpdateMotor=0;
269	if(WinkelOut.CalcState) CalMk3Mag();	269	if(WinkelOut.CalcState) CalMk3Mag();
270	else MotorRegler();	270	else MotorRegler();
271	SendMotorData();	271	SendMotorData();
272	ROT_OFF;	272	ROT_OFF;
273	if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; }	273	if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; }
274	else	274	else
275	{	275	{
276	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	276	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
277	PPM_in[0] = 0; // set RSSI to zero on data timeout	277	PPM_in[0] = 0; // set RSSI to zero on data timeout
278	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	278	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
279	}	279	}
280	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	280	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
281	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	281	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
282	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	282	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
283	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	283	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
284	if(!--I2CTimeout \|\| MissingMotor)	284	if(!--I2CTimeout \|\| MissingMotor)
285	{	285	{
286	if(!I2CTimeout)	286	if(!I2CTimeout)
287	{	287	{
288	I2C_Reset();	288	I2C_Reset();
289	I2CTimeout = 5;	289	I2CTimeout = 5;
290	DebugOut.Analog[28]++; // I2C-Error	290	DebugOut.Analog[28]++; // I2C-Error
291	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	291	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
292	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	292	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
293	}	293	}
294	if((BeepMuster == 0xffff) && MotorenEin)	294	if((BeepMuster == 0xffff) && MotorenEin)
295	{	295	{
296	beeptime = 10000;	296	beeptime = 10000;
297	BeepMuster = 0x0080;	297	BeepMuster = 0x0080;
298	}	298	}
299	}	299	}
300	else	300	else
301	{	301	{
302	ROT_OFF;	302	ROT_OFF;
303	if(!beeptime)	303	if(!beeptime)
304	{	304	{
305	VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;	305	VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
306	}	306	}
307	}	307	}
308	if(!UpdateMotor)	308	if(!UpdateMotor)
309	{	309	{
310	if(CalculateServoSignals) CalculateServo();	310	if(CalculateServoSignals) CalculateServo();
311	DatenUebertragung();	311	DatenUebertragung();
312	BearbeiteRxDaten();	312	BearbeiteRxDaten();
313	if(CheckDelay(timer))	313	if(CheckDelay(timer))
314	{	314	{
315	static unsigned char second;	315	static unsigned char second;
316	timer += 20; // 20 ms interval	316	timer += 20; // 20 ms interval
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	VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;	324	VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING;
325	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	325	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
326	}	326	}
327		327
328	if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;	328	if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C;
329		329
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(BeepMuster == 0xffff && SenderOkay == 0)	337	if(BeepMuster == 0xffff && SenderOkay == 0)
338	{	338	{
339	beeptime = 15000;	339	beeptime = 15000;
340	BeepMuster = 0x0c00;	340	BeepMuster = 0x0c00;
341	}	341	}
342	}	342	}
343	if(NaviDataOkay > 200)	343	if(NaviDataOkay > 200)
344	{	344	{
345	NaviDataOkay--;	345	NaviDataOkay--;
346	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	346	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
347	}	347	}
348	else	348	else
349	{	349	{
350	if(NC_Version.Compatible)	350	if(NC_Version.Compatible)
351	{	351	{
352	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	352	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
353	if(BeepMuster == 0xffff && MotorenEin)	353	if(BeepMuster == 0xffff && MotorenEin)
354	{	354	{
355	beeptime = 15000;	355	beeptime = 15000;
356	BeepMuster = 0xA800;	356	BeepMuster = 0xA800;
357	}	357	}
358	}	358	}
359	GPS_Nick = 0;	359	GPS_Nick = 0;
360	GPS_Roll = 0;	360	GPS_Roll = 0;
-		361	GPS_AidMode = 0;
361	//if(!beeptime)	362	//if(!beeptime)
362	FromNaviCtrl.CompassValue = -1;	363	FromNaviCtrl.CompassValue = -1;
363	NaviDataOkay = 0;	364	NaviDataOkay = 0;
364	}	365	}
365	if(UBat < BattLowVoltageWarning)	366	if(UBat < BattLowVoltageWarning)
366	{	367	{
367	FC_StatusFlags \|= FC_STATUS_LOWBAT;	368	FC_StatusFlags \|= FC_STATUS_LOWBAT;
368	if(BeepMuster == 0xffff)	369	if(BeepMuster == 0xffff)
369	{	370	{
370	beeptime = 6000;	371	beeptime = 6000;
371	BeepMuster = 0x0300;	372	BeepMuster = 0x0300;
372	}	373	}
373	}	374	}
374	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	375	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
375		376
376	SPI_StartTransmitPacket();	377	SPI_StartTransmitPacket();
377	SendSPI = 4;	378	SendSPI = 4;
378	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	379	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
379	else	380	else
380	if(++second == 49)	381	if(++second == 49)
381	{	382	{
382	second = 0;	383	second = 0;
383	FlugSekunden++;	384	FlugSekunden++;
384	}	385	}
385	if(++timer2 == 2930) // eine Minute	386	if(++timer2 == 2930) // eine Minute
386	{	387	{
387	timer2 = 0;	388	timer2 = 0;
388	FlugMinuten++;	389	FlugMinuten++;
389	FlugMinutenGesamt++;	390	FlugMinutenGesamt++;
390	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	391	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
391	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	392	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
392	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	393	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
393	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	394	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
394	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	395	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
395	}	396	}
396	}	397	}
397	LED_Update();	398	LED_Update();
398	Capacity_Update();	399	Capacity_Update();
399	} //else DebugOut.Analog[26]++;	400	} //else DebugOut.Analog[26]++;
400	}	401	}
401	if(!SendSPI) { SPI_TransmitByte(); }	402	if(!SendSPI) { SPI_TransmitByte(); }
402	}	403	}
403	return (1);	404	return (1);
404	}	405	}
405		406
406		407
407		408

Subversion Repositories FlightCtrl

(root)/branches/V0.91L_ACC-HH_MartinR/main.c @ 2754 - Rev 1907 → 1912