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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include "main.h" |
52 | #include "main.h" |
53 | 53 | ||
54 | //MartinW MaxSize is 63488 bytes |
54 | //MartinW MaxSize is 63488 bytes |
55 | 55 | ||
56 | unsigned char PlatinenVersion = 10; |
56 | unsigned char PlatinenVersion = 10; |
57 | unsigned char SendVersionToNavi = 1; |
57 | unsigned char SendVersionToNavi = 1; |
58 | unsigned char BattLowVoltageWarning = 94; |
58 | unsigned char BattLowVoltageWarning = 94; |
59 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
59 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
60 | unsigned int FlugSekunden = 0; |
60 | unsigned int FlugSekunden = 0; |
61 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
61 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
62 | unsigned char FoundMotors = 0; |
62 | unsigned char FoundMotors = 0; |
63 | 63 | ||
64 | void CalMk3Mag(void) |
64 | void CalMk3Mag(void) |
65 | { |
65 | { |
66 | static unsigned char stick = 1; |
66 | static unsigned char stick = 1; |
67 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
67 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
68 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
68 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
69 | { |
69 | { |
70 | stick = 1; |
70 | stick = 1; |
71 | WinkelOut.CalcState++; |
71 | WinkelOut.CalcState++; |
72 | if(WinkelOut.CalcState > 4) |
72 | if(WinkelOut.CalcState > 4) |
73 | { |
73 | { |
74 | // WinkelOut.CalcState = 0; // in Uart.c |
74 | // WinkelOut.CalcState = 0; // in Uart.c |
75 | beeptime = 1000; |
75 | beeptime = 1000; |
76 | } |
76 | } |
77 | else Piep(WinkelOut.CalcState,150); |
77 | else Piep(WinkelOut.CalcState,150); |
78 | } |
78 | } |
79 | DebugOut.Analog[19] = WinkelOut.CalcState; |
79 | DebugOut.Analog[19] = WinkelOut.CalcState; |
80 | } |
80 | } |
81 | 81 | ||
82 | 82 | ||
83 | void LipoDetection(unsigned char print) |
83 | void LipoDetection(unsigned char print) |
84 | { |
84 | { |
85 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
85 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
86 | unsigned int timer, cells; |
86 | unsigned int timer, cells; |
87 | if(print) printf("\n\rBatt:"); |
87 | if(print) printf("\n\rBatt:"); |
88 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
88 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
89 | { |
89 | { |
90 | timer = SetDelay(500); |
90 | timer = SetDelay(500); |
91 | if(print) while (!CheckDelay(timer)); |
91 | if(print) while (!CheckDelay(timer)); |
92 | // up to 6s LiPo, less than 2s is technical impossible |
92 | // up to 6s LiPo, less than 2s is technical impossible |
93 | for(cells = 2; cells < 7; cells++) |
93 | for(cells = 2; cells < 7; cells++) |
94 | { |
94 | { |
95 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
95 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
96 | } |
96 | } |
97 | 97 | ||
98 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
98 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
99 | if(print) |
99 | if(print) |
100 | { |
100 | { |
101 | Piep(cells, 200); |
101 | Piep(cells, 200); |
102 | printf(" %d Cells ", cells); |
102 | printf(" %d Cells ", cells); |
103 | } |
103 | } |
104 | } |
104 | } |
105 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
105 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
106 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
106 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
107 | } |
107 | } |
108 | 108 | ||
109 | //############################################################################ |
109 | //############################################################################ |
110 | //Hauptprogramm |
110 | //Hauptprogramm |
111 | int main (void) |
111 | int main (void) |
112 | //############################################################################ |
112 | //############################################################################ |
113 | { |
113 | { |
114 | unsigned int timer,i,timer2 = 0, timerPolling; |
114 | unsigned int timer,i,timer2 = 0, timerPolling; |
115 | 115 | ||
116 | DDRB = 0x00; |
116 | DDRB = 0x00; |
117 | PORTB = 0x00; |
117 | PORTB = 0x00; |
118 | for(timer = 0; timer < 1000; timer++); // verzögern |
118 | for(timer = 0; timer < 1000; timer++); // verzögern |
119 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
119 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
120 | PlatinenVersion = 21; |
120 | PlatinenVersion = 21; |
121 | #else |
121 | #else |
122 | if(PINB & 0x01) |
122 | if(PINB & 0x01) |
123 | { |
123 | { |
124 | if(PINB & 0x02) PlatinenVersion = 13; |
124 | if(PINB & 0x02) PlatinenVersion = 13; |
125 | else PlatinenVersion = 11; |
125 | else PlatinenVersion = 11; |
126 | } |
126 | } |
127 | else |
127 | else |
128 | { |
128 | { |
129 | if(PINB & 0x02) PlatinenVersion = 20; |
129 | if(PINB & 0x02) PlatinenVersion = 20; |
130 | else PlatinenVersion = 10; |
130 | else PlatinenVersion = 10; |
131 | } |
131 | } |
132 | #endif |
132 | #endif |
133 | DDRC = 0x81; // SCL |
133 | DDRC = 0x81; // SCL |
134 | DDRC |=0x40; // HEF4017 Reset |
134 | DDRC |=0x40; // HEF4017 Reset |
135 | PORTC = 0xff; // Pullup SDA |
135 | PORTC = 0xff; // Pullup SDA |
136 | DDRB = 0x1B; // LEDs und Druckoffset |
136 | DDRB = 0x1B; // LEDs und Druckoffset |
137 | PORTB = 0x01; // LED_Rot |
137 | PORTB = 0x01; // LED_Rot |
138 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
138 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
139 | PORTD = 0x47; // LED |
139 | PORTD = 0x47; // LED |
140 | HEF4017R_ON; |
140 | HEF4017R_ON; |
141 | MCUSR &=~(1<<WDRF); |
141 | MCUSR &=~(1<<WDRF); |
142 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
142 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
143 | WDTCSR = 0; |
143 | WDTCSR = 0; |
144 | 144 | ||
145 | beeptime = 2500; |
145 | beeptime = 2500; |
146 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
146 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
147 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
147 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
148 | ROT_OFF; |
148 | ROT_OFF; |
149 | 149 | ||
150 | Timer_Init(); |
150 | Timer_Init(); |
151 | TIMER2_Init(); |
151 | TIMER2_Init(); |
152 | UART_Init(); |
152 | UART_Init(); |
153 | rc_sum_init(); |
153 | rc_sum_init(); |
154 | ADC_Init(); |
154 | ADC_Init(); |
155 | I2C_Init(1); |
155 | I2C_Init(1); |
156 | SPI_MasterInit(); |
156 | SPI_MasterInit(); |
157 | LIBFC_Init(); |
157 | LIBFC_Init(); |
158 | GRN_ON; |
158 | GRN_ON; |
159 | sei(); |
159 | sei(); |
160 | ParamSet_Init(); |
160 | ParamSet_Init(); |
161 | Capacity_Init(); //Moved by metro |
161 | Capacity_Init(); //Moved by metro |
162 | 162 | ||
163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
164 | // + Check connected BL-Ctrls |
164 | // + Check connected BL-Ctrls |
165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
166 | // Check connected BL-Ctrls |
166 | // Check connected BL-Ctrls |
167 | BLFlags |= BLFLAG_READ_VERSION; |
167 | BLFlags |= BLFLAG_READ_VERSION; |
168 | motor_read = 0; // read the first I2C-Data |
168 | motor_read = 0; // read the first I2C-Data |
169 | SendMotorData(); |
169 | SendMotorData(); |
170 | timer = SetDelay(500); |
170 | timer = SetDelay(500); |
171 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
171 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
172 | 172 | ||
173 | printf("\n\rFound BL-Ctrl: "); |
173 | printf("\n\rFound BL-Ctrl: "); |
174 | timer = SetDelay(4000); |
174 | timer = SetDelay(4000); |
175 | for(i=0; i < MAX_MOTORS; i++) |
175 | for(i=0; i < MAX_MOTORS; i++) |
176 | { |
176 | { |
177 | SendMotorData(); |
177 | SendMotorData(); |
178 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
178 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
179 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
179 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
180 | { |
180 | { |
181 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
181 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
182 | { |
182 | { |
183 | SendMotorData(); |
183 | SendMotorData(); |
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 | } |
186 | } |
187 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
187 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
188 | { |
188 | { |
189 | printf("%d",i+1); |
189 | printf("%d",i+1); |
190 | FoundMotors++; |
190 | FoundMotors++; |
191 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
191 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
192 | } |
192 | } |
193 | } |
193 | } |
194 | for(i=0; i < MAX_MOTORS; i++) |
194 | for(i=0; i < MAX_MOTORS; i++) |
195 | { |
195 | { |
196 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
196 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
197 | { |
197 | { |
198 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
198 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
199 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
199 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
200 | } |
200 | } |
201 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
201 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
202 | } |
202 | } |
203 | printf("\n\r==================================="); |
203 | printf("\n\r==================================="); |
204 | 204 | ||
205 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
205 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
206 | 206 | ||
207 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
207 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
208 | { |
208 | { |
209 | printf("\n\rCalibrating pressure sensor.."); |
209 | printf("\n\rCalibrating pressure sensor.."); |
210 | timer = SetDelay(1000); |
210 | timer = SetDelay(1000); |
211 | SucheLuftruckOffset(); |
211 | SucheLuftruckOffset(); |
212 | while (!CheckDelay(timer)); |
212 | while (!CheckDelay(timer)); |
213 | printf("OK\n\r"); |
213 | printf("OK\n\r"); |
214 | } |
214 | } |
215 | 215 | ||
216 | SetNeutral(0); |
216 | SetNeutral(0); |
217 | 217 | ||
218 | ROT_OFF; |
218 | ROT_OFF; |
219 | 219 | ||
220 | beeptime = 2000; |
220 | beeptime = 2000; |
221 | ExternControl.Digital[0] = 0x55; |
221 | ExternControl.Digital[0] = 0x55; |
222 | 222 | ||
223 | 223 | ||
224 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
224 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
225 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
225 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
226 | 226 | ||
227 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
227 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
228 | { |
228 | { |
229 | FlugMinuten = 0; |
229 | FlugMinuten = 0; |
230 | FlugMinutenGesamt = 0; |
230 | FlugMinutenGesamt = 0; |
231 | } |
231 | } |
232 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
232 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
233 | 233 | ||
234 | printf("\n\rControl: "); |
234 | printf("\n\rControl: "); |
235 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
235 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
236 | else printf("Normal (ACC-Mode)"); |
236 | else printf("Normal (ACC-Mode)"); |
237 | 237 | ||
238 | LcdClear(); |
238 | LcdClear(); |
239 | I2CTimeout = 5000; |
239 | I2CTimeout = 5000; |
240 | WinkelOut.Orientation = 1; |
240 | WinkelOut.Orientation = 1; |
241 | LipoDetection(1); |
241 | LipoDetection(1); |
242 | 242 | ||
243 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
243 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
244 | 244 | ||
245 | printf("\n\r===================================\n\r"); |
245 | printf("\n\r===================================\n\r"); |
246 | //SpektrumBinding(); |
246 | //SpektrumBinding(); |
247 | timer = SetDelay(2000); |
247 | timer = SetDelay(2000); |
248 | timerPolling = SetDelay(250); |
248 | timerPolling = SetDelay(250); |
249 | 249 | ||
250 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
250 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
251 | DebugOut.Status[0] = 0x01 | 0x02; |
251 | DebugOut.Status[0] = 0x01 | 0x02; |
252 | 252 | ||
253 | while (1) |
253 | while (1) |
254 | { |
254 | { |
255 | 255 | ||
256 | if (JetiUpdateModeActive) while (1); |
256 | if (JetiUpdateModeActive) while (1); |
257 | 257 | ||
258 | if(CheckDelay(timerPolling)) |
258 | if(CheckDelay(timerPolling)) |
259 | { |
259 | { |
260 | timerPolling = SetDelay(100); |
260 | timerPolling = SetDelay(100); |
261 | LIBFC_Polling(); |
261 | LIBFC_Polling(); |
262 | } |
262 | } |
263 | if(UpdateMotor && AdReady) // ReglerIntervall |
263 | if(UpdateMotor && AdReady) // ReglerIntervall |
264 | { |
264 | { |
265 | UpdateMotor=0; |
265 | UpdateMotor=0; |
266 | if(WinkelOut.CalcState) CalMk3Mag(); |
266 | if(WinkelOut.CalcState) CalMk3Mag(); |
267 | else MotorRegler(); |
267 | else MotorRegler(); |
268 | SendMotorData(); |
268 | SendMotorData(); |
269 | ROT_OFF; |
269 | ROT_OFF; |
270 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
270 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
271 | else |
271 | else |
272 | { |
272 | { |
273 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
273 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
274 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
274 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
275 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
275 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
276 | } |
276 | } |
277 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
277 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
278 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
278 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
279 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
279 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
280 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
280 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
281 | if(!--I2CTimeout || MissingMotor) |
281 | if(!--I2CTimeout || MissingMotor) |
282 | { |
282 | { |
283 | if(!I2CTimeout) |
283 | if(!I2CTimeout) |
284 | { |
284 | { |
285 | I2C_Reset(); |
285 | I2C_Reset(); |
286 | I2CTimeout = 5; |
286 | I2CTimeout = 5; |
287 | DebugOut.Analog[28]++; // I2C-Error |
287 | DebugOut.Analog[28]++; // I2C-Error |
288 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
288 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
289 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
289 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
290 | } |
290 | } |
291 | if((BeepMuster == 0xffff) && MotorenEin) |
291 | if((BeepMuster == 0xffff) && MotorenEin) |
292 | { |
292 | { |
293 | beeptime = 10000; |
293 | beeptime = 10000; |
294 | BeepMuster = 0x0080; |
294 | BeepMuster = 0x0080; |
295 | } |
295 | } |
296 | } |
296 | } |
297 | else |
297 | else |
298 | { |
298 | { |
299 | ROT_OFF; |
299 | ROT_OFF; |
300 | if(!beeptime) |
300 | if(!beeptime) |
301 | { |
301 | { |
302 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
302 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
303 | } |
303 | } |
304 | } |
304 | } |
305 | if(!UpdateMotor) |
305 | if(!UpdateMotor) |
306 | { |
306 | { |
307 | if(CalculateServoSignals) CalculateServo(); |
307 | if(CalculateServoSignals) CalculateServo(); |
308 | DatenUebertragung(); |
308 | DatenUebertragung(); |
309 | BearbeiteRxDaten(); |
309 | BearbeiteRxDaten(); |
310 | if(CheckDelay(timer)) |
310 | if(CheckDelay(timer)) |
311 | { |
311 | { |
312 | static unsigned char second; |
312 | static unsigned char second; |
313 | timer += 20; // 20 ms interval |
313 | timer += 20; // 20 ms interval |
314 | if(MissingMotor) |
314 | if(MissingMotor) |
315 | { |
315 | { |
316 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
316 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
317 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
317 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
318 | } |
318 | } |
319 | else |
319 | else |
320 | { |
320 | { |
321 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
321 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
322 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
322 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
323 | } |
323 | } |
324 | 324 | ||
325 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
325 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
326 | 326 | ||
327 | if(PcZugriff) PcZugriff--; |
327 | if(PcZugriff) PcZugriff--; |
328 | else |
328 | else |
329 | { |
329 | { |
330 | ExternControl.Config = 0; |
330 | ExternControl.Config = 0; |
331 | ExternStickNick = 0; |
331 | ExternStickNick = 0; |
332 | ExternStickRoll = 0; |
332 | ExternStickRoll = 0; |
333 | ExternStickGier = 0; |
333 | ExternStickGier = 0; |
334 | if(BeepMuster == 0xffff && SenderOkay == 0) |
334 | if(BeepMuster == 0xffff && SenderOkay == 0) |
335 | { |
335 | { |
336 | beeptime = 15000; |
336 | beeptime = 15000; |
337 | BeepMuster = 0x0c00; |
337 | BeepMuster = 0x0c00; |
338 | } |
338 | } |
339 | } |
339 | } |
340 | if(NaviDataOkay > 200) |
340 | if(NaviDataOkay > 200) |
341 | { |
341 | { |
342 | NaviDataOkay--; |
342 | NaviDataOkay--; |
343 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
343 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
344 | } |
344 | } |
345 | else |
345 | else |
346 | { |
346 | { |
347 | if(NC_Version.Compatible) |
347 | if(NC_Version.Compatible) |
348 | { |
348 | { |
349 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
349 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
350 | if(BeepMuster == 0xffff && MotorenEin) |
350 | if(BeepMuster == 0xffff && MotorenEin) |
351 | { |
351 | { |
352 | beeptime = 15000; |
352 | beeptime = 15000; |
353 | BeepMuster = 0xA800; |
353 | BeepMuster = 0xA800; |
354 | } |
354 | } |
355 | } |
355 | } |
356 | GPS_Nick = 0; |
356 | GPS_Nick = 0; |
357 | GPS_Roll = 0; |
357 | GPS_Roll = 0; |
358 | //if(!beeptime) |
358 | //if(!beeptime) |
359 | FromNaviCtrl.CompassValue = -1; |
359 | FromNaviCtrl.CompassValue = -1; |
360 | NaviDataOkay = 0; |
360 | NaviDataOkay = 0; |
361 | } |
361 | } |
362 | if((UBat < BattLowVoltageWarning)||((Capacity.RemainCapacity<=0)&&(EE_Parameter.UserParam1!=0))) //Modified by metro |
362 | if(UBat < BattLowVoltageWarning) |
363 | { |
363 | { |
364 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
364 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
365 | if(BeepMuster == 0xffff) |
365 | if(BeepMuster == 0xffff) |
366 | { |
366 | { |
367 | beeptime = 6000; |
367 | beeptime = 6000; |
368 | BeepMuster = 0x0300; |
368 | BeepMuster = 0x0300; |
369 | } |
369 | } |
370 | } |
370 | } |
371 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
371 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
372 | 372 | ||
373 | SPI_StartTransmitPacket(); |
373 | SPI_StartTransmitPacket(); |
374 | SendSPI = 4; |
374 | SendSPI = 4; |
375 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
375 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
376 | else |
376 | else |
377 | if(++second == 49) |
377 | if(++second == 49) |
378 | { |
378 | { |
379 | second = 0; |
379 | second = 0; |
380 | FlugSekunden++; |
380 | FlugSekunden++; |
381 | } |
381 | } |
382 | if(++timer2 == 2930) // eine Minute |
382 | if(++timer2 == 2930) // eine Minute |
383 | { |
383 | { |
384 | timer2 = 0; |
384 | timer2 = 0; |
385 | FlugMinuten++; |
385 | FlugMinuten++; |
386 | FlugMinutenGesamt++; |
386 | FlugMinutenGesamt++; |
387 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
387 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
388 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
388 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
389 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
389 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
390 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
390 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
391 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
391 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
392 | } |
392 | } |
393 | } |
393 | } |
394 | LED_Update(); |
394 | LED_Update(); |
395 | Capacity_Update(); |
395 | Capacity_Update(); |
396 | } |
396 | } |
397 | } |
397 | } |
398 | if(!SendSPI) { SPI_TransmitByte(); } |
398 | if(!SendSPI) { SPI_TransmitByte(); } |
399 | } |
399 | } |
400 | return (1); |
400 | return (1); |
401 | } |
401 | } |
402 | 402 | ||
403 | 403 | ||
404 | 404 |