WebSVN - FlightCtrl - Diff - Rev 1652 and 1654 - /branches/V2.08a_Rens


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
 
 
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
 
                for(cells = 1; 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(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else           PlatinenVersion = 10;
     }
 
    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 = 1160; 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();
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init();
        GRN_ON;
    sei();
        ParamSet_Init();
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        // Check connected BL-Ctrls
        BLFlags |= BLFLAG_READ_VERSION;
 
        motorread = 0;  // read the first I2C-Data
        SendMotorData();
        while(!(BLFlags & BLFLAG_TX_COMPLETE)); //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)); //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)); //wait for complete transfer
                        }
                }
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
                {
                        printf("%d",i+1);
//                      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 = 1; // 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(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);
//      FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL);
 
        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
 
        while (1)
        {
        if(CheckDelay(timerPolling))
        {
          timerPolling = SetDelay(100);
          LIBFC_Polling();
        }
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
                    UpdateMotor=0;
            if(WinkelOut.CalcState) CalMk3Mag();
            else  MotorRegler();
                        SendMotorData();
            ROT_OFF;
            if(SenderOkay)  SenderOkay--;
                        else
                        {
                                TIMSK1 |= _BV(ICIE1); // enable PPM-Input
                                PPM_in[0] = 0; // set RSSI to zero on data timeout
                        }
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//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
                                        FCFlags |= FCFLAG_I2CERR;
                                   }
                  if((BeepMuster == 0xffff) && MotorenEin)
                   {
                    beeptime = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                                 if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
                }
          if(!UpdateMotor)
                   {
               DatenUebertragung();
               BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(BeepMuster == 0xffff && SenderOkay == 0)
                                        {
                                                beeptime = 15000;
                                                BeepMuster = 0x0c00;
                                        }
                                }
                                if(NaviDataOkay)
                                {
                                        NaviDataOkay--;
                                        FCFlags &= ~FCFLAG_SPI_RX_ERR;
                                }
                                else
                                {
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR;
                                }
                           if(UBat < BattLowVoltageWarning)
                                {
                                        FCFlags |= FCFLAG_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else if(!beeptime) FCFlags &= ~FCFLAG_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();
           }
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1652	Rev 1654
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		61
62		62
63	void CalMk3Mag(void)	63	void CalMk3Mag(void)
64	{	64	{
65	static unsigned char stick = 1;	65	static unsigned char stick = 1;
66	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	66	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
67	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	67	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
68	{	68	{
69	stick = 1;	69	stick = 1;
70	WinkelOut.CalcState++;	70	WinkelOut.CalcState++;
71	if(WinkelOut.CalcState > 4)	71	if(WinkelOut.CalcState > 4)
72	{	72	{
73	// WinkelOut.CalcState = 0; // in Uart.c	73	// WinkelOut.CalcState = 0; // in Uart.c
74	beeptime = 1000;	74	beeptime = 1000;
75	}	75	}
76	else Piep(WinkelOut.CalcState,150);	76	else Piep(WinkelOut.CalcState,150);
77	}	77	}
78	DebugOut.Analog[19] = WinkelOut.CalcState;	78	DebugOut.Analog[19] = WinkelOut.CalcState;
79	}	79	}
80		80
81		-
82		81
83	void LipoDetection(unsigned char print)	82	void LipoDetection(unsigned char print)
-		83	{
84	{	84	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
85	unsigned int timer;	85	unsigned int timer, cells;
86	if(print) printf("\n\rBatt:");	86	if(print) printf("\n\rBatt:");
87	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	87	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
88	{	88	{
89	timer = SetDelay(500);	89	timer = SetDelay(500);
90	if(print) while (!CheckDelay(timer));	90	if(print) while (!CheckDelay(timer));
91	if(UBat < 130)	-
92	{	91	// up to 6s LiPo
93	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	-
94	if(print)	92	for(cells = 1; cells < 7; cells++)
95	{	-
96	Piep(3,200);	93	{
97	printf(" 3 Cells ");	94	if(UBat < cells * MAX_CELL_VOLTAGE) break;
98	}	-
99	}	-
100	else	95	}
101	{	96
102	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	97	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
103	if(print)	98	if(print)
104	{	99	{
105	Piep(4,200);	100	Piep(cells, 200);
106	printf(" 4 Cells ");	101	printf(" %d Cells ", cells);
107	}	102	}
108	}	-
109	}	103	}
110	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	-
111	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;	104	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
112	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	105	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
113	}	106	}
114		107
115	//############################################################################	108	//############################################################################
116	//Hauptprogramm	109	//Hauptprogramm
117	int main (void)	110	int main (void)
118	//############################################################################	111	//############################################################################
119	{	112	{
120	unsigned int timer,i,timer2 = 0, timerPolling;	113	unsigned int timer,i,timer2 = 0, timerPolling;
121		114
122	DDRB = 0x00;	115	DDRB = 0x00;
123	PORTB = 0x00;	116	PORTB = 0x00;
124	for(timer = 0; timer < 1000; timer++); // verzögern	117	for(timer = 0; timer < 1000; timer++); // verzögern
125	if(PINB & 0x01)	118	if(PINB & 0x01)
126	{	119	{
127	if(PINB & 0x02) PlatinenVersion = 13;	120	if(PINB & 0x02) PlatinenVersion = 13;
128	else PlatinenVersion = 11;	121	else PlatinenVersion = 11;
129	}	122	}
130	else	123	else
131	{	124	{
132	if(PINB & 0x02) PlatinenVersion = 20;	125	if(PINB & 0x02) PlatinenVersion = 20;
133	else PlatinenVersion = 10;	126	else PlatinenVersion = 10;
134	}	127	}
135		128
136	DDRC = 0x81; // SCL	129	DDRC = 0x81; // SCL
137	DDRC \|=0x40; // HEF4017 Reset	130	DDRC \|=0x40; // HEF4017 Reset
138	PORTC = 0xff; // Pullup SDA	131	PORTC = 0xff; // Pullup SDA
139	DDRB = 0x1B; // LEDs und Druckoffset	132	DDRB = 0x1B; // LEDs und Druckoffset
140	PORTB = 0x01; // LED_Rot	133	PORTB = 0x01; // LED_Rot
141	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	134	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
142	PORTD = 0x47; // LED	135	PORTD = 0x47; // LED
143	HEF4017R_ON;	136	HEF4017R_ON;
144	MCUSR &=~(1<<WDRF);	137	MCUSR &=~(1<<WDRF);
145	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	138	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
146	WDTCSR = 0;	139	WDTCSR = 0;
147		140
148	beeptime = 2500;	141	beeptime = 2500;
149	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	142	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
150	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	143	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
151	ROT_OFF;	144	ROT_OFF;
152		145
153	Timer_Init();	146	Timer_Init();
154	TIMER2_Init();	147	TIMER2_Init();
155	UART_Init();	148	UART_Init();
156	rc_sum_init();	149	rc_sum_init();
157	ADC_Init();	150	ADC_Init();
158	i2c_init();	151	i2c_init();
159	SPI_MasterInit();	152	SPI_MasterInit();
160	Capacity_Init();	153	Capacity_Init();
161	LIBFC_Init();	154	LIBFC_Init();
162	GRN_ON;	155	GRN_ON;
163	sei();	156	sei();
164	ParamSet_Init();	157	ParamSet_Init();
165		158
166		159
167	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	160	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
168	// + Check connected BL-Ctrls	161	// + Check connected BL-Ctrls
169	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	162	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
170	// Check connected BL-Ctrls	163	// Check connected BL-Ctrls
171	BLFlags \|= BLFLAG_READ_VERSION;	164	BLFlags \|= BLFLAG_READ_VERSION;
172	UpdateMotor = 0;	-
173	motorread = 0;	165	motorread = 0; // read the first I2C-Data
174	SendMotorData();	166	SendMotorData();
175	while(!UpdateMotor);	167	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
-		168
176	printf("\n\rFound BL-Ctrl: ");	169	printf("\n\rFound BL-Ctrl: ");
177	timer = SetDelay(4000);	170	timer = SetDelay(4000);
178	for(i=0; i < MAX_MOTORS; i++)	171	for(i=0; i < MAX_MOTORS; i++)
179	{	172	{
180	UpdateMotor = 0;	-
181	SendMotorData();	173	SendMotorData();
182	while(!UpdateMotor);	174	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
183	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	175	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
184	{	176	{
185	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	177	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
186	{	178	{
187	UpdateMotor = 0;	-
188	SendMotorData();	179	SendMotorData();
189	while(!UpdateMotor);	180	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
190	}	181	}
191	}	182	}
192	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	183	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
193	{	184	{
194	printf("%d",i+1);	185	printf("%d",i+1);
195	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	186	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
196	// else printf(" ");	-
197	}	187	}
198	}	188	}
199	for(i=0; i < MAX_MOTORS; i++)	189	for(i=0; i < MAX_MOTORS; i++)
200	{	190	{
201	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	191	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
202	{	192	{
203	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	193	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
204	ServoActive = 1; // just in case the FC would be used as camera-stabilizer	194	ServoActive = 1; // just in case the FC would be used as camera-stabilizer
205	}	195	}
206	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	196	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
207	}	197	}
208	printf("\n\r===================================");	198	printf("\n\r===================================");
209		-
210	I2C_SendBLConfig();	-
211		199
212	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	200	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
213	{	201	{
214	printf("\n\rCalibrating pressure sensor..");	202	printf("\n\rCalibrating pressure sensor..");
215	timer = SetDelay(1000);	203	timer = SetDelay(1000);
216	SucheLuftruckOffset();	204	SucheLuftruckOffset();
217	while (!CheckDelay(timer));	205	while (!CheckDelay(timer));
218	printf("OK\n\r");	206	printf("OK\n\r");
219	}	207	}
220		208
221	SetNeutral(0);	209	SetNeutral(0);
222		210
223	ROT_OFF;	211	ROT_OFF;
224		212
225	beeptime = 2000;	213	beeptime = 2000;
226	ExternControl.Digital[0] = 0x55;	214	ExternControl.Digital[0] = 0x55;
227		215
228		216
229	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	217	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
230	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	218	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
231	// FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL);	219	// FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL);
232		220
233	if( (FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF) )	221	if( (FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF) )
234	{	222	{
235	FlugMinuten = 0;	223	FlugMinuten = 0;
236	FlugMinutenGesamt = 0;	224	FlugMinutenGesamt = 0;
237	}	225	}
238	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	226	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
239		227
240	printf("\n\rControl: ");	228	printf("\n\rControl: ");
241	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	229	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
242	else printf("Normal (ACC-Mode)");	230	else printf("Normal (ACC-Mode)");
243		231
244	LcdClear();	232	LcdClear();
245	I2CTimeout = 5000;	233	I2CTimeout = 5000;
246	WinkelOut.Orientation = 1;	234	WinkelOut.Orientation = 1;
247	LipoDetection(1);	235	LipoDetection(1);
248		236
249	LIBFC_ReceiverInit(EE_Parameter.Receiver);	237	LIBFC_ReceiverInit(EE_Parameter.Receiver);
250		238
251	printf("\n\r===================================\n\r");	239	printf("\n\r===================================\n\r");
252	//SpektrumBinding();	240	//SpektrumBinding();
253	timer = SetDelay(2000);	241	timer = SetDelay(2000);
254	timerPolling = SetDelay(250);	242	timerPolling = SetDelay(250);
255		243
256	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	244	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
257		245
258	while (1)	246	while (1)
259	{	247	{
260	if(CheckDelay(timerPolling))	248	if(CheckDelay(timerPolling))
261	{	249	{
262	timerPolling = SetDelay(100);	250	timerPolling = SetDelay(100);
263	LIBFC_Polling();	251	LIBFC_Polling();
264	}	252	}
265	if(UpdateMotor && AdReady) // ReglerIntervall	253	if(UpdateMotor && AdReady) // ReglerIntervall
266	{	254	{
267	UpdateMotor=0;	255	UpdateMotor=0;
268	if(WinkelOut.CalcState) CalMk3Mag();	256	if(WinkelOut.CalcState) CalMk3Mag();
269	else MotorRegler();	257	else MotorRegler();
270	SendMotorData();	258	SendMotorData();
271	ROT_OFF;	259	ROT_OFF;
272	if(SenderOkay) SenderOkay--;	260	if(SenderOkay) SenderOkay--;
273	else	261	else
274	{	262	{
275	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	263	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
276	PPM_in[0] = 0; // set RSSI to zero on data timeout	264	PPM_in[0] = 0; // set RSSI to zero on data timeout
277	}	265	}
278	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	266	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
279	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	267	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
280	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	268	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
281	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	269	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
282		270
283	if(!--I2CTimeout \|\| MissingMotor)	271	if(!--I2CTimeout \|\| MissingMotor)
284	{	272	{
285	if(!I2CTimeout)	273	if(!I2CTimeout)
286	{	274	{
287	i2c_reset();	275	i2c_reset();
288	I2CTimeout = 5;	276	I2CTimeout = 5;
289	DebugOut.Analog[28]++; // I2C-Error	277	DebugOut.Analog[28]++; // I2C-Error
290	FCFlags \|= FCFLAG_I2CERR;	278	FCFlags \|= FCFLAG_I2CERR;
291	}	279	}
292	if((BeepMuster == 0xffff) && MotorenEin)	280	if((BeepMuster == 0xffff) && MotorenEin)
293	{	281	{
294	beeptime = 10000;	282	beeptime = 10000;
295	BeepMuster = 0x0080;	283	BeepMuster = 0x0080;
296	}	284	}
297	}	285	}
298	else	286	else
299	{	287	{
300	ROT_OFF;	288	ROT_OFF;
301	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;	289	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
302	}	290	}
303	if(!UpdateMotor)	291	if(!UpdateMotor)
304	{	292	{
305	DatenUebertragung();	293	DatenUebertragung();
306	BearbeiteRxDaten();	294	BearbeiteRxDaten();
307	if(CheckDelay(timer))	295	if(CheckDelay(timer))
308	{	296	{
309	static unsigned char second;	297	static unsigned char second;
310	timer += 20; // 20 ms interval	298	timer += 20; // 20 ms interval
311	if(PcZugriff) PcZugriff--;	299	if(PcZugriff) PcZugriff--;
312	else	300	else
313	{	301	{
314	ExternControl.Config = 0;	302	ExternControl.Config = 0;
315	ExternStickNick = 0;	303	ExternStickNick = 0;
316	ExternStickRoll = 0;	304	ExternStickRoll = 0;
317	ExternStickGier = 0;	305	ExternStickGier = 0;
318	if(BeepMuster == 0xffff && SenderOkay == 0)	306	if(BeepMuster == 0xffff && SenderOkay == 0)
319	{	307	{
320	beeptime = 15000;	308	beeptime = 15000;
321	BeepMuster = 0x0c00;	309	BeepMuster = 0x0c00;
322	}	310	}
323	}	311	}
324	if(NaviDataOkay)	312	if(NaviDataOkay)
325	{	313	{
326	NaviDataOkay--;	314	NaviDataOkay--;
327	FCFlags &= ~FCFLAG_SPI_RX_ERR;	315	FCFlags &= ~FCFLAG_SPI_RX_ERR;
328	}	316	}
329	else	317	else
330	{	318	{
331	GPS_Nick = 0;	319	GPS_Nick = 0;
332	GPS_Roll = 0;	320	GPS_Roll = 0;
333	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;	321	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;
334	}	322	}
335	if(UBat < BattLowVoltageWarning)	323	if(UBat < BattLowVoltageWarning)
336	{	324	{
337	FCFlags \|= FCFLAG_LOWBAT;	325	FCFlags \|= FCFLAG_LOWBAT;
338	if(BeepMuster == 0xffff)	326	if(BeepMuster == 0xffff)
339	{	327	{
340	beeptime = 6000;	328	beeptime = 6000;
341	BeepMuster = 0x0300;	329	BeepMuster = 0x0300;
342	}	330	}
343	}	331	}
344	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;	332	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
345		333
346	SPI_StartTransmitPacket();	334	SPI_StartTransmitPacket();
347	SendSPI = 4;	335	SendSPI = 4;
348	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	336	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
349	else	337	else
350	if(++second == 49)	338	if(++second == 49)
351	{	339	{
352	second = 0;	340	second = 0;
353	FlugSekunden++;	341	FlugSekunden++;
354	}	342	}
355	if(++timer2 == 2930) // eine Minute	343	if(++timer2 == 2930) // eine Minute
356	{	344	{
357	timer2 = 0;	345	timer2 = 0;
358	FlugMinuten++;	346	FlugMinuten++;
359	FlugMinutenGesamt++;	347	FlugMinutenGesamt++;
360	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	348	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
361	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	349	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
362	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	350	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
363	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	351	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
364	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	352	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
365	}	353	}
366	}	354	}
367	LED_Update();	355	LED_Update();
368	Capacity_Update();	356	Capacity_Update();
369	}	357	}
370	}	358	}
371	if(!SendSPI) { SPI_TransmitByte(); }	359	if(!SendSPI) { SPI_TransmitByte(); }
372	}	360	}
373	return (1);	361	return (1);
374	}	362	}
375		363
376		364
377		365

Subversion Repositories FlightCtrl

(root)/branches/V2.08a_Rens_Testversion/main.c @ 2503 - Rev 1652 → 1654