WebSVN - FlightCtrl - Diff - Rev 2183 and 2191 - /branches/V2.08a_Rens


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
 
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);
  }
  DebugOut.Analog[19] = WinkelOut.CalcState;
}
 
 
void LipoDetection(unsigned char print)
{
        #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
        unsigned int timer, cells;
        if(print) printf("\n\rBatt:");
        if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
        {
                timer = SetDelay(500);
                if(print) while (!CheckDelay(timer));
                // up to 6s LiPo, less than 2s is technical impossible
                for(cells = 2; cells < 7; cells++)
                {
                        if(UBat < cells * MAX_CELL_VOLTAGE) break;
                }
 
                BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
                if(print)
                {
                        Piep(cells, 200);
                        printf(" %d Cells ", cells);
                }
        }
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
        if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
 
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
       
    if(PINB & 0x02) PlatinenVersion = 21;
       else          
            {
                  PlatinenVersion = 22;
//                ACC_AMPLIFY = 7; // der ACC-Sensor hat etwa 16% weniger Ausschlag
                }  
 
#else
        if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else           PlatinenVersion = 10;
     }
#endif
    DDRC  = 0x81; // SCL
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
        PORTD = 0x47; // LED
    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;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        I2C_Init(1);
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init();
        GRN_ON;
    sei();
        ParamSet_Init();
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        // Check connected BL-Ctrls
        BLFlags |= BLFLAG_READ_VERSION;
        motor_read = 0;  // read the first I2C-Data
        SendMotorData();
        timer = SetDelay(500);
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
 
    printf("\n\rFound BL-Ctrl: ");
    timer = SetDelay(4000);
        for(i=0; i < MAX_MOTORS; i++)
        {
                SendMotorData();
                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
                if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
                {
                        while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
                        {
                                SendMotorData();
                                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
                        }
                }
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
                {
                        printf("%d",i+1);
                        FoundMotors++;
//                      if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
                }
        }
        for(i=0; i < MAX_MOTORS; i++)
        {
                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
                {
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
                        ServoActive = 2; // just in case the FC would be used as camera-stabilizer
                }
                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
        }
   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
    DebugOut.Status[0] = 0x01 | 0x02;
        JetiBeep = 0;
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
        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();
#endif
                                if(MissingMotor)
                                 {
                                  VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                 }
                                 else
                                 {
                                   if(!beeptime)
                                    {
                                     if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
                                        }
                                 }
                                if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(!SenderOkay)
                                        {
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
                                          {
                                                  beeptime = 15000;
                                                  BeepMuster = 0x0c00;
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
                                          }
                                        }
                                }
                                if(NaviDataOkay > 200)
                                {
                                        NaviDataOkay--;
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
                                }
                                else
                                {
                                        if(NC_Version.Compatible)
                                         {
                                           VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
                                           NC_ErrorCode = 9; // "ERR: no NC communication"
                       if(BeepMuster == 0xffff && MotorenEin)
                                                {
                                                        beeptime = 15000;
                                                        BeepMuster = 0xA800;
                                                }
                                         }
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        GPS_Aid_StickMultiplikator = 0;
                                        GPSInfo.Flags = 0;
                                        FromNaviCtrl.AccErrorN = 0;
                                        FromNaviCtrl.AccErrorR = 0;
                    FromNaviCtrl.CompassValue = -1;
                    NaviDataOkay = 0;
                                }
                           if(UBat < BattLowVoltageWarning)
                                {
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
 
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
                                // +++++++++++++++++++++++++++++++++
                                // Sekundentakt
                if(++second == 49)
                                 {
                                   second = 0;
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
                                   else
                                    {
                                         timer2 = 1450; // 0,5 Minuten aufrunden
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck++;
                                         else
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck--;
                                        }
                                 }
                                // +++++++++++++++++++++++++++++++++
                                if(++timer2 == 2930)  // eine Minute
                                 {
                                   timer2 = 0;
                   FlugMinuten++;
                       FlugMinutenGesamt++;
                   SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
                   SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
                             }
                        }
           LED_Update();
           Capacity_Update();
           } //else DebugOut.Analog[26]++;
          }
         }
         if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
//DebugOut.Analog[16]
 
 

Rev 2183	Rev 2191
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		62
63	void PrintLine(void)	63	void PrintLine(void)
64	{	64	{
65	printf("\n\r===================================");	65	printf("\n\r===================================");
66	}	66	}
67		67
68		68
69	void CalMk3Mag(void)	69	void CalMk3Mag(void)
70	{	70	{
71	static unsigned char stick = 1;	71	static unsigned char stick = 1;
72	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	72	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
73	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	73	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
74	{	74	{
75	stick = 1;	75	stick = 1;
76	WinkelOut.CalcState++;	76	WinkelOut.CalcState++;
77	if(WinkelOut.CalcState > 4)	77	if(WinkelOut.CalcState > 4)
78	{	78	{
79	// WinkelOut.CalcState = 0; // in Uart.c	79	// WinkelOut.CalcState = 0; // in Uart.c
80	beeptime = 1000;	80	beeptime = 1000;
81	}	81	}
82	else Piep(WinkelOut.CalcState,150);	82	else Piep(WinkelOut.CalcState,150);
83	}	83	}
84	DebugOut.Analog[19] = WinkelOut.CalcState;	84	DebugOut.Analog[19] = WinkelOut.CalcState;
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		120
121	DDRB = 0x00;	121	DDRB = 0x00;
122	PORTB = 0x00;	122	PORTB = 0x00;
123	for(timer = 0; timer < 1000; timer++); // verzögern	123	for(timer = 0; timer < 1000; timer++); // verzögern
124	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	124	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
125		125
126	if(PINB & 0x02) PlatinenVersion = 21;	126	if(PINB & 0x02) PlatinenVersion = 21;
127	else	127	else
128	{	128	{
129	PlatinenVersion = 22;	129	PlatinenVersion = 22;
130	ACC_AMPLIFY = 7; // der ACC-Sensor hat etwa 16% weniger Ausschlag	130	// ACC_AMPLIFY = 7; // der ACC-Sensor hat etwa 16% weniger Ausschlag
131	}	131	}
132		132
133	#else	133	#else
134	if(PINB & 0x01)	134	if(PINB & 0x01)
135	{	135	{
136	if(PINB & 0x02) PlatinenVersion = 13;	136	if(PINB & 0x02) PlatinenVersion = 13;
137	else PlatinenVersion = 11;	137	else PlatinenVersion = 11;
138	}	138	}
139	else	139	else
140	{	140	{
141	if(PINB & 0x02) PlatinenVersion = 20;	141	if(PINB & 0x02) PlatinenVersion = 20;
142	else PlatinenVersion = 10;	142	else PlatinenVersion = 10;
143	}	143	}
144	#endif	144	#endif
145	DDRC = 0x81; // SCL	145	DDRC = 0x81; // SCL
146	DDRC \|=0x40; // HEF4017 Reset	146	DDRC \|=0x40; // HEF4017 Reset
147	PORTC = 0xff; // Pullup SDA	147	PORTC = 0xff; // Pullup SDA
148	DDRB = 0x1B; // LEDs und Druckoffset	148	DDRB = 0x1B; // LEDs und Druckoffset
149	PORTB = 0x01; // LED_Rot	149	PORTB = 0x01; // LED_Rot
150	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	150	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
151	PORTD = 0x47; // LED	151	PORTD = 0x47; // LED
152	HEF4017Reset_ON;	152	HEF4017Reset_ON;
153	MCUSR &=~(1<<WDRF);	153	MCUSR &=~(1<<WDRF);
154	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	154	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
155	WDTCSR = 0;	155	WDTCSR = 0;
156		156
157	beeptime = 2500;	157	beeptime = 2500;
158	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	158	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
159	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	159	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
160	ROT_OFF;	160	ROT_OFF;
161		161
162	Timer_Init();	162	Timer_Init();
163	TIMER2_Init();	163	TIMER2_Init();
164	UART_Init();	164	UART_Init();
165	rc_sum_init();	165	rc_sum_init();
166	ADC_Init();	166	ADC_Init();
167	I2C_Init(1);	167	I2C_Init(1);
168	SPI_MasterInit();	168	SPI_MasterInit();
169	Capacity_Init();	169	Capacity_Init();
170	LIBFC_Init();	170	LIBFC_Init();
171	GRN_ON;	171	GRN_ON;
172	sei();	172	sei();
173	ParamSet_Init();	173	ParamSet_Init();
174		174
175		175
176	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	176	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
177	// + Check connected BL-Ctrls	177	// + Check connected BL-Ctrls
178	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	178	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
179	// Check connected BL-Ctrls	179	// Check connected BL-Ctrls
180	BLFlags \|= BLFLAG_READ_VERSION;	180	BLFlags \|= BLFLAG_READ_VERSION;
181	motor_read = 0; // read the first I2C-Data	181	motor_read = 0; // read the first I2C-Data
182	SendMotorData();	182	SendMotorData();
183	timer = SetDelay(500);	183	timer = SetDelay(500);
184	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	184	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
185		185
186	printf("\n\rFound BL-Ctrl: ");	186	printf("\n\rFound BL-Ctrl: ");
187	timer = SetDelay(4000);	187	timer = SetDelay(4000);
188	for(i=0; i < MAX_MOTORS; i++)	188	for(i=0; i < MAX_MOTORS; i++)
189	{	189	{
190	SendMotorData();	190	SendMotorData();
191	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	191	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
192	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	192	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
193	{	193	{
194	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	194	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
195	{	195	{
196	SendMotorData();	196	SendMotorData();
197	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	197	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
198	}	198	}
199	}	199	}
200	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	200	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
201	{	201	{
202	printf("%d",i+1);	202	printf("%d",i+1);
203	FoundMotors++;	203	FoundMotors++;
204	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	204	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
205	}	205	}
206	}	206	}
207	for(i=0; i < MAX_MOTORS; i++)	207	for(i=0; i < MAX_MOTORS; i++)
208	{	208	{
209	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	209	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
210	{	210	{
211	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	211	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
212	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	212	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
213	}	213	}
214	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	214	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
215	}	215	}
216	PrintLine();// ("\n\r===================================");	216	PrintLine();// ("\n\r===================================");
217		217
218		218
219	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	219	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
220		220
221	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	221	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
222	{	222	{
223	printf("\n\rCalibrating pressure sensor..");	223	printf("\n\rCalibrating pressure sensor..");
224	timer = SetDelay(1000);	224	timer = SetDelay(1000);
225	SucheLuftruckOffset();	225	SucheLuftruckOffset();
226	while (!CheckDelay(timer));	226	while (!CheckDelay(timer));
227	printf("OK\n\r");	227	printf("OK\n\r");
228	}	228	}
229		229
230	SetNeutral(0);	230	SetNeutral(0);
231		231
232	ROT_OFF;	232	ROT_OFF;
233		233
234	beeptime = 2000;	234	beeptime = 2000;
235	ExternControl.Digital[0] = 0x55;	235	ExternControl.Digital[0] = 0x55;
236		236
237		237
238	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	238	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
239	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	239	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
240		240
241	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	241	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
242	{	242	{
243	FlugMinuten = 0;	243	FlugMinuten = 0;
244	FlugMinutenGesamt = 0;	244	FlugMinutenGesamt = 0;
245	}	245	}
246	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	246	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
247		247
248	LcdClear();	248	LcdClear();
249	I2CTimeout = 5000;	249	I2CTimeout = 5000;
250	WinkelOut.Orientation = 1;	250	WinkelOut.Orientation = 1;
251	LipoDetection(1);	251	LipoDetection(1);
252	LIBFC_ReceiverInit(EE_Parameter.Receiver);	252	LIBFC_ReceiverInit(EE_Parameter.Receiver);
253	PrintLine();// ("\n\r===================================");	253	PrintLine();// ("\n\r===================================");
254	//SpektrumBinding();	254	//SpektrumBinding();
255	timer = SetDelay(2000);	255	timer = SetDelay(2000);
256	timerPolling = SetDelay(250);	256	timerPolling = SetDelay(250);
257		257
258	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	258	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
259	DebugOut.Status[0] = 0x01 \| 0x02;	259	DebugOut.Status[0] = 0x01 \| 0x02;
260	JetiBeep = 0;	260	JetiBeep = 0;
261	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;	261	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
262	while (1)	262	while (1)
263	{	263	{
264	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off	264	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
265		265
266	//GRN_ON;	266	//GRN_ON;
267	if(UpdateMotor && AdReady) // ReglerIntervall	267	if(UpdateMotor && AdReady) // ReglerIntervall
268	{	268	{
269	//GRN_OFF;	269	//GRN_OFF;
270	UpdateMotor=0;	270	UpdateMotor=0;
271	if(WinkelOut.CalcState) CalMk3Mag();	271	if(WinkelOut.CalcState) CalMk3Mag();
272	else MotorRegler();	272	else MotorRegler();
273	SendMotorData();	273	SendMotorData();
274	ROT_OFF;	274	ROT_OFF;
275	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }	275	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }
276	else	276	else
277	{	277	{
278	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	278	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
279	PPM_in[0] = 0; // set RSSI to zero on data timeout	279	PPM_in[0] = 0; // set RSSI to zero on data timeout
280	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	280	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
281	}	281	}
282	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	282	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
283	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	283	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
284	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	284	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
285	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	285	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
286	if(!--I2CTimeout \|\| MissingMotor)	286	if(!--I2CTimeout \|\| MissingMotor)
287	{	287	{
288	if(!I2CTimeout)	288	if(!I2CTimeout)
289	{	289	{
290	I2C_Reset();	290	I2C_Reset();
291	I2CTimeout = 5;	291	I2CTimeout = 5;
292	DebugOut.Analog[28]++; // I2C-Error	292	DebugOut.Analog[28]++; // I2C-Error
293	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	293	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
294	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	294	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
295	}	295	}
296	if((BeepMuster == 0xffff) && MotorenEin)	296	if((BeepMuster == 0xffff) && MotorenEin)
297	{	297	{
298	beeptime = 25000;	298	beeptime = 25000;
299	BeepMuster = 0x0080;	299	BeepMuster = 0x0080;
300	}	300	}
301	}	301	}
302	else	302	else
303	{	303	{
304	ROT_OFF;	304	ROT_OFF;
305	}	305	}
306	LIBFC_Polling();	306	LIBFC_Polling();
307		307
308	if(!UpdateMotor)	308	if(!UpdateMotor)
309	{	309	{
310	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	310	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
311	if(NewSBusData) ProcessSBus();	311	if(NewSBusData) ProcessSBus();
312	else	312	else
313	#endif	313	#endif
314	{	314	{
315	if(CalculateServoSignals) CalculateServo();	315	if(CalculateServoSignals) CalculateServo();
316	DatenUebertragung();	316	DatenUebertragung();
317	BearbeiteRxDaten();	317	BearbeiteRxDaten();
318	if(CheckDelay(timer))	318	if(CheckDelay(timer))
319	{	319	{
320	static unsigned char second;	320	static unsigned char second;
321	timer += 20; // 20 ms interval	321	timer += 20; // 20 ms interval
-		322	CalcNickServoValue();
322	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	323	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
323	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();	324	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
324	#endif	325	#endif
325	if(MissingMotor)	326	if(MissingMotor)
326	{	327	{
327	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	328	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
328	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	329	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
329	}	330	}
330	else	331	else
331	{	332	{
332	if(!beeptime)	333	if(!beeptime)
333	{	334	{
334	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	335	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
335	}	336	}
336	}	337	}
337	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};	338	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
338	if(PcZugriff) PcZugriff--;	339	if(PcZugriff) PcZugriff--;
339	else	340	else
340	{	341	{
341	ExternControl.Config = 0;	342	ExternControl.Config = 0;
342	ExternStickNick = 0;	343	ExternStickNick = 0;
343	ExternStickRoll = 0;	344	ExternStickRoll = 0;
344	ExternStickGier = 0;	345	ExternStickGier = 0;
345	if(!SenderOkay)	346	if(!SenderOkay)
346	{	347	{
347	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)	348	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
348	{	349	{
349	beeptime = 15000;	350	beeptime = 15000;
350	BeepMuster = 0x0c00;	351	BeepMuster = 0x0c00;
351	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;	352	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
352	}	353	}
353	}	354	}
354	}	355	}
355	if(NaviDataOkay > 200)	356	if(NaviDataOkay > 200)
356	{	357	{
357	NaviDataOkay--;	358	NaviDataOkay--;
358	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	359	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
359	}	360	}
360	else	361	else
361	{	362	{
362	if(NC_Version.Compatible)	363	if(NC_Version.Compatible)
363	{	364	{
364	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	365	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
365	NC_ErrorCode = 9; // "ERR: no NC communication"	366	NC_ErrorCode = 9; // "ERR: no NC communication"
366	if(BeepMuster == 0xffff && MotorenEin)	367	if(BeepMuster == 0xffff && MotorenEin)
367	{	368	{
368	beeptime = 15000;	369	beeptime = 15000;
369	BeepMuster = 0xA800;	370	BeepMuster = 0xA800;
370	}	371	}
371	}	372	}
372	GPS_Nick = 0;	373	GPS_Nick = 0;
373	GPS_Roll = 0;	374	GPS_Roll = 0;
374	GPS_Aid_StickMultiplikator = 0;	375	GPS_Aid_StickMultiplikator = 0;
375	GPSInfo.Flags = 0;	376	GPSInfo.Flags = 0;
376	FromNaviCtrl.AccErrorN = 0;	377	FromNaviCtrl.AccErrorN = 0;
377	FromNaviCtrl.AccErrorR = 0;	378	FromNaviCtrl.AccErrorR = 0;
378	FromNaviCtrl.CompassValue = -1;	379	FromNaviCtrl.CompassValue = -1;
379	NaviDataOkay = 0;	380	NaviDataOkay = 0;
380	}	381	}
381	if(UBat < BattLowVoltageWarning)	382	if(UBat < BattLowVoltageWarning)
382	{	383	{
383	FC_StatusFlags \|= FC_STATUS_LOWBAT;	384	FC_StatusFlags \|= FC_STATUS_LOWBAT;
384	if(BeepMuster == 0xffff)	385	if(BeepMuster == 0xffff)
385	{	386	{
386	beeptime = 6000;	387	beeptime = 6000;
387	BeepMuster = 0x0300;	388	BeepMuster = 0x0300;
388	}	389	}
389	}	390	}
390	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	391	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
391		392
392	SPI_StartTransmitPacket();	393	SPI_StartTransmitPacket();
393	SendSPI = 4;	394	SendSPI = 4;
394	// +++++++++++++++++++++++++++++++++	395	// +++++++++++++++++++++++++++++++++
395	// Sekundentakt	396	// Sekundentakt
396	if(++second == 49)	397	if(++second == 49)
397	{	398	{
398	second = 0;	399	second = 0;
399	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;	400	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
400	else	401	else
401	{	402	{
402	timer2 = 1450; // 0,5 Minuten aufrunden	403	timer2 = 1450; // 0,5 Minuten aufrunden
403	if(StartLuftdruck < Luftdruck) StartLuftdruck++;	404	if(StartLuftdruck < Luftdruck) StartLuftdruck++;
404	else	405	else
405	if(StartLuftdruck > Luftdruck) StartLuftdruck--;	406	if(StartLuftdruck > Luftdruck) StartLuftdruck--;
406	}	407	}
407	}	408	}
408	// +++++++++++++++++++++++++++++++++	409	// +++++++++++++++++++++++++++++++++
409	if(++timer2 == 2930) // eine Minute	410	if(++timer2 == 2930) // eine Minute
410	{	411	{
411	timer2 = 0;	412	timer2 = 0;
412	FlugMinuten++;	413	FlugMinuten++;
413	FlugMinutenGesamt++;	414	FlugMinutenGesamt++;
414	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	415	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
415	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	416	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
416	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	417	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
417	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	418	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
418	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	419	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
419	}	420	}
420	}	421	}
421	LED_Update();	422	LED_Update();
422	Capacity_Update();	423	Capacity_Update();
423	} //else DebugOut.Analog[26]++;	424	} //else DebugOut.Analog[26]++;
424	}	425	}
425	}	426	}
426	if(!SendSPI) { SPI_TransmitByte(); }	427	if(!SendSPI) { SPI_TransmitByte(); }
427	}	428	}
428	return (1);	429	return (1);
429	}	430	}
430	//DebugOut.Analog[16]	431	//DebugOut.Analog[16]
431		432
432		433

Subversion Repositories FlightCtrl

(root)/branches/V2.08a_Rens_Testversion/main.c @ 2654 - Rev 2183 → 2191