WebSVN - FlightCtrl - Diff - Rev 2345 and 2346 - /branches/V0.91L_ACC-HH


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 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 ActiveParamSet = 3;
 
void PrintLine(void)
{
 printf("\n\r===================================");
}
 
 
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);
  }
}
 
 
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);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
        unsigned char update_spi = 1;
    DDRB  = 0x00;
    PORTB = 0x00;
    DDRD  = 0x0A; // UART & J3 J4 J5
        PORTD = 0x5F; // PPM-Input & UART
    for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
        unsigned char AccZ_ErrorCnt = 0;
    if(PINB & 0x02)
         {
          if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
          else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
         }
     else          
     {
          PlatinenVersion = 23; ACC_AltitudeControl = 1;
         }  
#else
        if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else          
            {
                 PlatinenVersion = 10;
                 DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
             PORTD = 0x47; // 
                }
     }
#endif
 
    DDRC  = 0x81; // I2C, Spaker
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
 
    HEF4017Reset_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;
    GRN_ON;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        I2C_Init(1);
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init(LIB_FC_COMPATIBLE);
        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
        }
   PrintLine();// ("\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);
    LcdClear();
    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
//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);
 
    DebugOut.Status[0] = 0x01 | 0x02;
        JetiBeep = 0;
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
        EEAR = EE_DUMMY;  // Set the EEPROM Address pointer to an unused space
        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
                                CalcNickServoValue();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
                                else
                                if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
                                // ++++++++++++++++++++++++++++
                                // + check the ACC-Z range
                                if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
                                 {
                                  if(++AccZ_ErrorCnt > 50)
                                   {
                                    if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP;
                                        else CalibrationDone = 0;
                                   }
                                 }
                                 else AccZ_ErrorCnt = 0;
                                // ++++++++++++++++++++++++++++
#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;
                                        VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT;
                                }
                                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;
                                        FromNC_AltitudeSpeed = 0;
                                        FromNC_AltitudeSetpoint = 0;
                                        VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
                    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;
                                SendSPI = SPI_BYTEGAP;
                                EEAR = EE_DUMMY;  // Set the EEPROM Address pointer to an unused space
                                // +++++++++++++++++++++++++++++++++
                                // Sekundentakt
                if(++second == 49)
                                 {
                                   second = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                   if(ShowSettingNameTime) ShowSettingNameTime--;
#endif                             
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
                                   else timer2 = 1450; // 0,5 Minuten aufrunden
                                   if(modell_fliegt < 1024)
                                    {
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
                                         else
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
                                        }
                                 }
                                // +++++++++++++++++++++++++++++++++
                                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(update_spi) update_spi--;
                 } // 500Hz
         if(update_spi == 0) { SPI_StartTransmitPacket(); update_spi = 12;}  // 41Hz
         else if(!SendSPI) { SPI_TransmitByte(); }
    }
}
//DebugOut.Analog[16]
 
 

Rev 2345	Rev 2346
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 BattLowVoltageWarning = 94;	56	unsigned char BattLowVoltageWarning = 94;
57	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	57	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
58	unsigned int FlugSekunden = 0;	58	unsigned int FlugSekunden = 0;
59	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;	59	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
60	unsigned char FoundMotors = 0;	60	unsigned char FoundMotors = 0;
61	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box	61	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
62	unsigned char ActiveParamSet = 3;	62	unsigned char ActiveParamSet = 3;
63		63
64	void PrintLine(void)	64	void PrintLine(void)
65	{	65	{
66	printf("\n\r===================================");	66	printf("\n\r===================================");
67	}	67	}
68		68
69		69
70	void CalMk3Mag(void)	70	void CalMk3Mag(void)
71	{	71	{
72	static unsigned char stick = 1;	72	static unsigned char stick = 1;
73	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	73	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
74	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	74	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
75	{	75	{
76	stick = 1;	76	stick = 1;
77	WinkelOut.CalcState++;	77	WinkelOut.CalcState++;
78	if(WinkelOut.CalcState > 4)	78	if(WinkelOut.CalcState > 4)
79	{	79	{
80	// WinkelOut.CalcState = 0; // in Uart.c	80	// WinkelOut.CalcState = 0; // in Uart.c
81	beeptime = 1000;	81	beeptime = 1000;
82	}	82	}
83	else Piep(WinkelOut.CalcState,150);	83	else Piep(WinkelOut.CalcState,150);
84	}	84	}
85	}	85	}
86		86
87		87
88	void LipoDetection(unsigned char print)	88	void LipoDetection(unsigned char print)
89	{	89	{
90	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO	90	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
91	unsigned int timer, cells;	91	unsigned int timer, cells;
92	if(print) printf("\n\rBatt:");	92	if(print) printf("\n\rBatt:");
93	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	93	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
94	{	94	{
95	timer = SetDelay(500);	95	timer = SetDelay(500);
96	if(print) while (!CheckDelay(timer));	96	if(print) while (!CheckDelay(timer));
97	// up to 6s LiPo, less than 2s is technical impossible	97	// up to 6s LiPo, less than 2s is technical impossible
98	for(cells = 2; cells < 7; cells++)	98	for(cells = 2; cells < 7; cells++)
99	{	99	{
100	if(UBat < cells * MAX_CELL_VOLTAGE) break;	100	if(UBat < cells * MAX_CELL_VOLTAGE) break;
101	}	101	}
102		102
103	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;	103	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
104	if(print)	104	if(print)
105	{	105	{
106	Piep(cells, 200);	106	Piep(cells, 200);
107	printf(" %d Cells ", cells);	107	printf(" %d Cells ", cells);
108	}	108	}
109	}	109	}
110	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	110	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
111	if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	111	if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
112	}	112	}
113		113
114	//############################################################################	114	//############################################################################
115	//Hauptprogramm	115	//Hauptprogramm
116	int main (void)	116	int main (void)
117	//############################################################################	117	//############################################################################
118	{	118	{
119	unsigned int timer,i,timer2 = 0, timerPolling;	119	unsigned int timer,i,timer2 = 0, timerPolling;
120	unsigned char update_spi = 1;	120	unsigned char update_spi = 1;
121	DDRB = 0x00;	121	DDRB = 0x00;
122	PORTB = 0x00;	122	PORTB = 0x00;
123	DDRD = 0x0A; // UART & J3 J4 J5	123	DDRD = 0x0A; // UART & J3 J4 J5
124	PORTD = 0x5F; // PPM-Input & UART	124	PORTD = 0x5F; // PPM-Input & UART
125	for(timer = 0; timer < 1000; timer++); // verzögern	125	for(timer = 0; timer < 1000; timer++); // verzögern
126	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	126	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
127	unsigned char AccZ_ErrorCnt = 0;	127	unsigned char AccZ_ErrorCnt = 0;
128	if(PINB & 0x02)	128	if(PINB & 0x02)
129	{	129	{
130	if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND	130	if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
131	else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};	131	else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
132	}	132	}
133	else	133	else
134	{	134	{
135	PlatinenVersion = 23; ACC_AltitudeControl = 1;	135	PlatinenVersion = 23; ACC_AltitudeControl = 1;
136	}	136	}
137	#else	137	#else
138	if(PINB & 0x01)	138	if(PINB & 0x01)
139	{	139	{
140	if(PINB & 0x02) PlatinenVersion = 13;	140	if(PINB & 0x02) PlatinenVersion = 13;
141	else PlatinenVersion = 11;	141	else PlatinenVersion = 11;
142	}	142	}
143	else	143	else
144	{	144	{
145	if(PINB & 0x02) PlatinenVersion = 20;	145	if(PINB & 0x02) PlatinenVersion = 20;
146	else	146	else
147	{	147	{
148	PlatinenVersion = 10;	148	PlatinenVersion = 10;
149	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	149	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
150	PORTD = 0x47; //	150	PORTD = 0x47; //
151	}	151	}
152	}	152	}
153	#endif	153	#endif
154		154
155	DDRC = 0x81; // I2C, Spaker	155	DDRC = 0x81; // I2C, Spaker
156	DDRC \|=0x40; // HEF4017 Reset	156	DDRC \|=0x40; // HEF4017 Reset
157	PORTC = 0xff; // Pullup SDA	157	PORTC = 0xff; // Pullup SDA
158	DDRB = 0x1B; // LEDs und Druckoffset	158	DDRB = 0x1B; // LEDs und Druckoffset
159	PORTB = 0x01; // LED_Rot	159	PORTB = 0x01; // LED_Rot
160		160
161	HEF4017Reset_ON;	161	HEF4017Reset_ON;
162	MCUSR &=~(1<<WDRF);	162	MCUSR &=~(1<<WDRF);
163	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	163	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
164	WDTCSR = 0;	164	WDTCSR = 0;
165		165
166	beeptime = 2500;	166	beeptime = 2500;
167	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	167	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
168	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	168	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
169	ROT_OFF;	169	ROT_OFF;
170	GRN_ON;	170	GRN_ON;
171		171
172	Timer_Init();	172	Timer_Init();
173	TIMER2_Init();	173	TIMER2_Init();
174	UART_Init();	174	UART_Init();
175	rc_sum_init();	175	rc_sum_init();
176	ADC_Init();	176	ADC_Init();
177	I2C_Init(1);	177	I2C_Init(1);
178	SPI_MasterInit();	178	SPI_MasterInit();
179	Capacity_Init();	179	Capacity_Init();
180	LIBFC_Init(LIB_FC_COMPATIBLE);	180	LIBFC_Init(LIB_FC_COMPATIBLE);
181	GRN_ON;	181	GRN_ON;
182	sei();	182	sei();
183	ParamSet_Init();	183	ParamSet_Init();
184		184
185	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	185	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
186	// + Check connected BL-Ctrls	186	// + Check connected BL-Ctrls
187	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	187	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
188	// Check connected BL-Ctrls	188	// Check connected BL-Ctrls
189	BLFlags \|= BLFLAG_READ_VERSION;	189	BLFlags \|= BLFLAG_READ_VERSION;
190	motor_read = 0; // read the first I2C-Data	190	motor_read = 0; // read the first I2C-Data
191	SendMotorData();	191	SendMotorData();
192	timer = SetDelay(500);	192	timer = SetDelay(500);
193	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	193	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
194		194
195	printf("\n\rFound BL-Ctrl: ");	195	printf("\n\rFound BL-Ctrl: ");
196	timer = SetDelay(4000);	196	timer = SetDelay(4000);
197	for(i=0; i < MAX_MOTORS; i++)	197	for(i=0; i < MAX_MOTORS; i++)
198	{	198	{
199	SendMotorData();	199	SendMotorData();
200	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	200	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
201	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	201	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
202	{	202	{
203	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	203	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
204	{	204	{
205	SendMotorData();	205	SendMotorData();
206	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	206	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
207	}	207	}
208	}	208	}
209	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	209	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
210	{	210	{
211	printf("%d",i+1);	211	printf("%d",i+1);
212	FoundMotors++;	212	FoundMotors++;
213	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	213	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
214	}	214	}
215	}	215	}
216	for(i=0; i < MAX_MOTORS; i++)	216	for(i=0; i < MAX_MOTORS; i++)
217	{	217	{
218	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	218	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
219	{	219	{
220	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	220	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
221	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	221	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
222	}	222	}
223	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	223	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
224	}	224	}
225	PrintLine();// ("\n\r===================================");	225	PrintLine();// ("\n\r===================================");
226		226
227		227
228	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	228	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
229		229
230	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	230	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
231	{	231	{
232	printf("\n\rCalibrating pressure sensor..");	232	printf("\n\rCalibrating pressure sensor..");
233	timer = SetDelay(1000);	233	timer = SetDelay(1000);
234	SucheLuftruckOffset();	234	SucheLuftruckOffset();
235	while (!CheckDelay(timer));	235	while (!CheckDelay(timer));
236	printf("OK\n\r");	236	printf("OK\n\r");
237	}	237	}
238		238
239	SetNeutral(0);	239	SetNeutral(0);
240		240
241	ROT_OFF;	241	ROT_OFF;
242		242
243	beeptime = 2000;	243	beeptime = 2000;
244	ExternControl.Digital[0] = 0x55;	244	ExternControl.Digital[0] = 0x55;
245		245
246		246
247	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	247	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
248	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	248	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
249		249
250	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	250	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
251	{	251	{
252	FlugMinuten = 0;	252	FlugMinuten = 0;
253	FlugMinutenGesamt = 0;	253	FlugMinutenGesamt = 0;
254	}	254	}
255	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	255	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
256	LcdClear();	256	LcdClear();
257	I2CTimeout = 5000;	257	I2CTimeout = 5000;
258	WinkelOut.Orientation = 1;	258	WinkelOut.Orientation = 1;
259	LipoDetection(1);	259	LipoDetection(1);
260	LIBFC_ReceiverInit(EE_Parameter.Receiver);	260	LIBFC_ReceiverInit(EE_Parameter.Receiver);
261	PrintLine();// ("\n\r===================================");	261	PrintLine();// ("\n\r===================================");
262	//SpektrumBinding();	262	//SpektrumBinding();
263	timer = SetDelay(2000);	263	timer = SetDelay(2000);
264	timerPolling = SetDelay(250);	264	timerPolling = SetDelay(250);
265		265
266	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	266	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
267	//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);	267	//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);
268		268
269	DebugOut.Status[0] = 0x01 \| 0x02;	269	DebugOut.Status[0] = 0x01 \| 0x02;
270	JetiBeep = 0;	270	JetiBeep = 0;
271	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;	271	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
272	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space	272	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
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	//GRN_ON;	276	//GRN_ON;
277	if(UpdateMotor && AdReady) // ReglerIntervall	277	if(UpdateMotor && AdReady) // ReglerIntervall
278	{	278	{
279	//GRN_OFF;	279	//GRN_OFF;
280	UpdateMotor=0;	280	UpdateMotor=0;
281	if(WinkelOut.CalcState) CalMk3Mag();	281	if(WinkelOut.CalcState) CalMk3Mag();
282	else MotorRegler();	282	else MotorRegler();
283	SendMotorData();	283	SendMotorData();
284	ROT_OFF;	284	ROT_OFF;
285	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }	285	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }
286	else	286	else
287	{	287	{
288	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	288	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
289	PPM_in[0] = 0; // set RSSI to zero on data timeout	289	PPM_in[0] = 0; // set RSSI to zero on data timeout
290	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	290	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
291	}	291	}
292	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	292	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
293	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	293	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
294	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	294	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
295	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	295	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
296	if(!--I2CTimeout \|\| MissingMotor)	296	if(!--I2CTimeout \|\| MissingMotor)
297	{	297	{
298	if(!I2CTimeout)	298	if(!I2CTimeout)
299	{	299	{
300	I2C_Reset();	300	I2C_Reset();
301	I2CTimeout = 5;	301	I2CTimeout = 5;
302	DebugOut.Analog[28]++; // I2C-Error	302	DebugOut.Analog[28]++; // I2C-Error
303	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	303	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
304	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	304	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
305	}	305	}
306	if((BeepMuster == 0xffff) && MotorenEin)	306	if((BeepMuster == 0xffff) && MotorenEin)
307	{	307	{
308	beeptime = 25000;	308	beeptime = 25000;
309	BeepMuster = 0x0080;	309	BeepMuster = 0x0080;
310	}	310	}
311	}	311	}
312	else	312	else
313	{	313	{
314	ROT_OFF;	314	ROT_OFF;
315	}	315	}
316	LIBFC_Polling();	316	LIBFC_Polling();
317		317
318	if(!UpdateMotor)	318	if(!UpdateMotor)
319	{	319	{
320	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	320	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
321	if(NewSBusData) ProcessSBus();	321	if(NewSBusData) ProcessSBus();
322	else	322	else
323	#endif	323	#endif
324	{	324	{
325	if(CalculateServoSignals) CalculateServo();	325	if(CalculateServoSignals) CalculateServo();
326	DatenUebertragung();	326	DatenUebertragung();
327	BearbeiteRxDaten();	327	BearbeiteRxDaten();
328	if(CheckDelay(timer))	328	if(CheckDelay(timer))
329	{	329	{
330	static unsigned char second;	330	static unsigned char second;
331	timer += 20; // 20 ms interval	331	timer += 20; // 20 ms interval
332	CalcNickServoValue();	332	CalcNickServoValue();
333	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	333	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
334	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();	334	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
335	else	335	else
336	if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();	336	if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
337	// ++++++++++++++++++++++++++++	337	// ++++++++++++++++++++++++++++
338	// + check the ACC-Z range	338	// + check the ACC-Z range
339	if(ACC_AltitudeControl && ((Aktuell_az < 300) \|\| (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil	339	if(ACC_AltitudeControl && ((Aktuell_az < 300) \|\| (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
340	{	340	{
341	if(++AccZ_ErrorCnt > 50)	341	if(++AccZ_ErrorCnt > 50)
342	{	342	{
343	if(MotorenEin) VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP;	343	if(MotorenEin) VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP;
344	else CalibrationDone = 0;	344	else CalibrationDone = 0;
345	}	345	}
346	}	346	}
347	else AccZ_ErrorCnt = 0;	347	else AccZ_ErrorCnt = 0;
348	// ++++++++++++++++++++++++++++	348	// ++++++++++++++++++++++++++++
349	#endif	349	#endif
350	if(MissingMotor)	350	if(MissingMotor)
351	{	351	{
352	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	352	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
353	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	353	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
354	}	354	}
355	else	355	else
356	{	356	{
357	if(!beeptime)	357	if(!beeptime)
358	{	358	{
359	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	359	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
360	}	360	}
361	}	361	}
362	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};	362	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
363	if(PcZugriff) PcZugriff--;	363	if(PcZugriff) PcZugriff--;
364	else	364	else
365	{	365	{
366	ExternControl.Config = 0;	366	ExternControl.Config = 0;
367	ExternStickNick = 0;	367	ExternStickNick = 0;
368	ExternStickRoll = 0;	368	ExternStickRoll = 0;
369	ExternStickGier = 0;	369	ExternStickGier = 0;
370	if(!SenderOkay)	370	if(!SenderOkay)
371	{	371	{
372	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)	372	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
373	{	373	{
374	beeptime = 15000;	374	beeptime = 15000;
375	BeepMuster = 0x0c00;	375	BeepMuster = 0x0c00;
376	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;	376	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
377	}	377	}
378	}	378	}
379	}	379	}
380	if(NaviDataOkay > 200)	380	if(NaviDataOkay > 200)
381	{	381	{
382	NaviDataOkay--;	382	NaviDataOkay--;
383	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	383	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
384	VersionInfo.Flags \|= FC_VERSION_FLAG_NC_PRESENT;	384	VersionInfo.Flags \|= FC_VERSION_FLAG_NC_PRESENT;
385	}	385	}
386	else	386	else
387	{	387	{
388	if(NC_Version.Compatible)	388	if(NC_Version.Compatible)
389	{	389	{
390	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	390	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
391	NC_ErrorCode = 9; // "ERR: no NC communication"	391	NC_ErrorCode = 9; // "ERR: no NC communication"
392	if(BeepMuster == 0xffff && MotorenEin)	392	if(BeepMuster == 0xffff && MotorenEin)
393	{	393	{
394	beeptime = 15000;	394	beeptime = 15000;
395	BeepMuster = 0xA800;	395	BeepMuster = 0xA800;
396	}	396	}
397	}	397	}
398	GPS_Nick = 0;	398	GPS_Nick = 0;
399	GPS_Roll = 0;	399	GPS_Roll = 0;
400	GPS_Aid_StickMultiplikator = 0;	400	GPS_Aid_StickMultiplikator = 0;
401	GPSInfo.Flags = 0;	401	GPSInfo.Flags = 0;
402	FromNaviCtrl.AccErrorN = 0;	402	FromNaviCtrl.AccErrorN = 0;
403	FromNaviCtrl.AccErrorR = 0;	403	FromNaviCtrl.AccErrorR = 0;
404	FromNaviCtrl.CompassValue = -1;	404	FromNaviCtrl.CompassValue = -1;
405	FromNC_AltitudeSpeed = 0;	405	FromNC_AltitudeSpeed = 0;
406	FromNC_AltitudeSetpoint = 0;	406	FromNC_AltitudeSetpoint = 0;
407	VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;	407	VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
408	NaviDataOkay = 0;	408	NaviDataOkay = 0;
409	}	409	}
410	if(UBat < BattLowVoltageWarning)	410	if(UBat < BattLowVoltageWarning)
411	{	411	{
412	FC_StatusFlags \|= FC_STATUS_LOWBAT;	412	FC_StatusFlags \|= FC_STATUS_LOWBAT;
413	if(BeepMuster == 0xffff)	413	if(BeepMuster == 0xffff)
414	{	414	{
415	beeptime = 6000;	415	beeptime = 6000;
416	BeepMuster = 0x0300;	416	BeepMuster = 0x0300;
417	}	417	}
418	}	418	}
419	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	419	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
420	SendSPI = SPI_BYTEGAP;	420	SendSPI = SPI_BYTEGAP;
421	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space	421	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
422	// +++++++++++++++++++++++++++++++++	422	// +++++++++++++++++++++++++++++++++
423	// Sekundentakt	423	// Sekundentakt
424	if(++second == 49)	424	if(++second == 49)
425	{	425	{
426	second = 0;	426	second = 0;
-		427	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
427	if(ShowSettingNameTime) ShowSettingNameTime--;	428	if(ShowSettingNameTime) ShowSettingNameTime--;
-		429	#endif
428	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;	430	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
429	else timer2 = 1450; // 0,5 Minuten aufrunden	431	else timer2 = 1450; // 0,5 Minuten aufrunden
430	if(modell_fliegt < 1024)	432	if(modell_fliegt < 1024)
431	{	433	{
432	if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;	434	if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
433	else	435	else
434	if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;	436	if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
435	}	437	}
436	}	438	}
437	// +++++++++++++++++++++++++++++++++	439	// +++++++++++++++++++++++++++++++++
438	if(++timer2 == 2930) // eine Minute	440	if(++timer2 == 2930) // eine Minute
439	{	441	{
440	timer2 = 0;	442	timer2 = 0;
441	FlugMinuten++;	443	FlugMinuten++;
442	FlugMinutenGesamt++;	444	FlugMinutenGesamt++;
443	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	445	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
444	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	446	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
445	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	447	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
446	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	448	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
447	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	449	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
448	}	450	}
449	}	451	}
450	LED_Update();	452	LED_Update();
451	Capacity_Update();	453	Capacity_Update();
452	} //else DebugOut.Analog[26]++;	454	} //else DebugOut.Analog[26]++;
453	}	455	}
454	if(update_spi) update_spi--;	456	if(update_spi) update_spi--;
455	} // 500Hz	457	} // 500Hz
456	if(update_spi == 0) { SPI_StartTransmitPacket(); update_spi = 12;} // 41Hz	458	if(update_spi == 0) { SPI_StartTransmitPacket(); update_spi = 12;} // 41Hz
457	else if(!SendSPI) { SPI_TransmitByte(); }	459	else if(!SendSPI) { SPI_TransmitByte(); }
458	}	460	}
459	}	461	}
460	//DebugOut.Analog[16]	462	//DebugOut.Analog[16]
461		463
462		464

Subversion Repositories FlightCtrl

(root)/branches/V0.91L_ACC-HH_MartinR/main.c @ 2754 - Rev 2345 → 2346