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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 | - | ||
| 54 | - | ||
| - | 53 | unsigned char DisableRcOffBeeping = 0; |
|
| 55 | unsigned char PlatinenVersion = 10; |
54 | unsigned char PlatinenVersion = 10; |
| 56 | unsigned char SendVersionToNavi = 1; |
55 | unsigned char SendVersionToNavi = 1; |
| 57 | unsigned char BattLowVoltageWarning = 94; |
56 | unsigned char BattLowVoltageWarning = 94; |
| 58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
57 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| 59 | unsigned int FlugSekunden = 0; |
58 | unsigned int FlugSekunden = 0; |
| 60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
59 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| 61 | unsigned char FoundMotors = 0; |
60 | unsigned char FoundMotors = 0; |
| 62 | 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 |
| 63 | 62 | ||
| 64 | void CalMk3Mag(void) |
63 | void CalMk3Mag(void) |
| 65 | { |
64 | { |
| 66 | static unsigned char stick = 1; |
65 | static unsigned char stick = 1; |
| 67 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
66 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| 68 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
67 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| 69 | { |
68 | { |
| 70 | stick = 1; |
69 | stick = 1; |
| 71 | WinkelOut.CalcState++; |
70 | WinkelOut.CalcState++; |
| 72 | if(WinkelOut.CalcState > 4) |
71 | if(WinkelOut.CalcState > 4) |
| 73 | { |
72 | { |
| 74 | // WinkelOut.CalcState = 0; // in Uart.c |
73 | // WinkelOut.CalcState = 0; // in Uart.c |
| 75 | beeptime = 1000; |
74 | beeptime = 1000; |
| 76 | } |
75 | } |
| 77 | else Piep(WinkelOut.CalcState,150); |
76 | else Piep(WinkelOut.CalcState,150); |
| 78 | } |
77 | } |
| 79 | DebugOut.Analog[19] = WinkelOut.CalcState; |
78 | DebugOut.Analog[19] = WinkelOut.CalcState; |
| 80 | } |
79 | } |
| 81 | 80 | ||
| 82 | 81 | ||
| 83 | void LipoDetection(unsigned char print) |
82 | void LipoDetection(unsigned char print) |
| 84 | { |
83 | { |
| 85 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
84 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
| 86 | unsigned int timer, cells; |
85 | unsigned int timer, cells; |
| 87 | if(print) printf("\n\rBatt:"); |
86 | if(print) printf("\n\rBatt:"); |
| 88 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
87 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
| 89 | { |
88 | { |
| 90 | timer = SetDelay(500); |
89 | timer = SetDelay(500); |
| 91 | if(print) while (!CheckDelay(timer)); |
90 | if(print) while (!CheckDelay(timer)); |
| 92 | // up to 6s LiPo, less than 2s is technical impossible |
91 | // up to 6s LiPo, less than 2s is technical impossible |
| 93 | for(cells = 2; cells < 7; cells++) |
92 | for(cells = 2; cells < 7; cells++) |
| 94 | { |
93 | { |
| 95 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
94 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
| 96 | } |
95 | } |
| 97 | 96 | ||
| 98 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
97 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
| 99 | if(print) |
98 | if(print) |
| 100 | { |
99 | { |
| 101 | Piep(cells, 200); |
100 | Piep(cells, 200); |
| 102 | printf(" %d Cells ", cells); |
101 | printf(" %d Cells ", cells); |
| 103 | } |
102 | } |
| 104 | } |
103 | } |
| 105 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
104 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| 106 | 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); |
| 107 | } |
106 | } |
| 108 | 107 | ||
| 109 | //############################################################################ |
108 | //############################################################################ |
| 110 | //Hauptprogramm |
109 | //Hauptprogramm |
| 111 | int main (void) |
110 | int main (void) |
| 112 | //############################################################################ |
111 | //############################################################################ |
| 113 | { |
112 | { |
| 114 | unsigned int timer,i,timer2 = 0, timerPolling; |
113 | unsigned int timer,i,timer2 = 0, timerPolling; |
| 115 | 114 | ||
| 116 | DDRB = 0x00; |
115 | DDRB = 0x00; |
| 117 | PORTB = 0x00; |
116 | PORTB = 0x00; |
| 118 | for(timer = 0; timer < 1000; timer++); // verzögern |
117 | for(timer = 0; timer < 1000; timer++); // verzögern |
| 119 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
118 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 120 | PlatinenVersion = 21; |
119 | PlatinenVersion = 21; |
| 121 | #else |
120 | #else |
| 122 | if(PINB & 0x01) |
121 | if(PINB & 0x01) |
| 123 | { |
122 | { |
| 124 | if(PINB & 0x02) PlatinenVersion = 13; |
123 | if(PINB & 0x02) PlatinenVersion = 13; |
| 125 | else PlatinenVersion = 11; |
124 | else PlatinenVersion = 11; |
| 126 | } |
125 | } |
| 127 | else |
126 | else |
| 128 | { |
127 | { |
| 129 | if(PINB & 0x02) PlatinenVersion = 20; |
128 | if(PINB & 0x02) PlatinenVersion = 20; |
| 130 | else PlatinenVersion = 10; |
129 | else PlatinenVersion = 10; |
| 131 | } |
130 | } |
| 132 | #endif |
131 | #endif |
| 133 | DDRC = 0x81; // SCL |
132 | DDRC = 0x81; // SCL |
| 134 | DDRC |=0x40; // HEF4017 Reset |
133 | DDRC |=0x40; // HEF4017 Reset |
| 135 | PORTC = 0xff; // Pullup SDA |
134 | PORTC = 0xff; // Pullup SDA |
| 136 | DDRB = 0x1B; // LEDs und Druckoffset |
135 | DDRB = 0x1B; // LEDs und Druckoffset |
| 137 | PORTB = 0x01; // LED_Rot |
136 | PORTB = 0x01; // LED_Rot |
| 138 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
137 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| 139 | PORTD = 0x47; // LED |
138 | PORTD = 0x47; // LED |
| 140 | HEF4017R_ON; |
139 | HEF4017R_ON; |
| 141 | MCUSR &=~(1<<WDRF); |
140 | MCUSR &=~(1<<WDRF); |
| 142 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
141 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
| 143 | WDTCSR = 0; |
142 | WDTCSR = 0; |
| 144 | 143 | ||
| 145 | beeptime = 2500; |
144 | beeptime = 2500; |
| 146 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
145 | 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 |
146 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| 148 | ROT_OFF; |
147 | ROT_OFF; |
| 149 | 148 | ||
| 150 | Timer_Init(); |
149 | Timer_Init(); |
| 151 | TIMER2_Init(); |
150 | TIMER2_Init(); |
| 152 | UART_Init(); |
151 | UART_Init(); |
| 153 | rc_sum_init(); |
152 | rc_sum_init(); |
| 154 | ADC_Init(); |
153 | ADC_Init(); |
| 155 | I2C_Init(1); |
154 | I2C_Init(1); |
| 156 | SPI_MasterInit(); |
155 | SPI_MasterInit(); |
| 157 | Capacity_Init(); |
156 | Capacity_Init(); |
| 158 | LIBFC_Init(); |
157 | LIBFC_Init(); |
| 159 | GRN_ON; |
158 | GRN_ON; |
| 160 | sei(); |
159 | sei(); |
| 161 | ParamSet_Init(); |
160 | ParamSet_Init(); |
| 162 | 161 | ||
| 163 | 162 | ||
| 164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 165 | // + Check connected BL-Ctrls |
164 | // + Check connected BL-Ctrls |
| 166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 167 | // Check connected BL-Ctrls |
166 | // Check connected BL-Ctrls |
| 168 | BLFlags |= BLFLAG_READ_VERSION; |
167 | BLFlags |= BLFLAG_READ_VERSION; |
| 169 | motor_read = 0; // read the first I2C-Data |
168 | motor_read = 0; // read the first I2C-Data |
| 170 | SendMotorData(); |
169 | SendMotorData(); |
| 171 | timer = SetDelay(500); |
170 | timer = SetDelay(500); |
| 172 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
171 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 173 | 172 | ||
| 174 | printf("\n\rFound BL-Ctrl: "); |
173 | printf("\n\rFound BL-Ctrl: "); |
| 175 | timer = SetDelay(4000); |
174 | timer = SetDelay(4000); |
| 176 | for(i=0; i < MAX_MOTORS; i++) |
175 | for(i=0; i < MAX_MOTORS; i++) |
| 177 | { |
176 | { |
| 178 | SendMotorData(); |
177 | SendMotorData(); |
| 179 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
178 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 180 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
179 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| 181 | { |
180 | { |
| 182 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
181 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| 183 | { |
182 | { |
| 184 | SendMotorData(); |
183 | SendMotorData(); |
| 185 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
184 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 186 | } |
185 | } |
| 187 | } |
186 | } |
| 188 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
187 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| 189 | { |
188 | { |
| 190 | printf("%d",i+1); |
189 | printf("%d",i+1); |
| 191 | FoundMotors++; |
190 | FoundMotors++; |
| 192 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
191 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
| 193 | } |
192 | } |
| 194 | } |
193 | } |
| 195 | for(i=0; i < MAX_MOTORS; i++) |
194 | for(i=0; i < MAX_MOTORS; i++) |
| 196 | { |
195 | { |
| 197 | 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) |
| 198 | { |
197 | { |
| 199 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
198 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| 200 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
199 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| 201 | } |
200 | } |
| 202 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
201 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| 203 | } |
202 | } |
| 204 | printf("\n\r==================================="); |
203 | printf("\n\r==================================="); |
| 205 | 204 | ||
| 206 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
205 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| 207 | 206 | ||
| 208 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
207 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| 209 | { |
208 | { |
| 210 | printf("\n\rCalibrating pressure sensor.."); |
209 | printf("\n\rCalibrating pressure sensor.."); |
| 211 | timer = SetDelay(1000); |
210 | timer = SetDelay(1000); |
| 212 | SucheLuftruckOffset(); |
211 | SucheLuftruckOffset(); |
| 213 | while (!CheckDelay(timer)); |
212 | while (!CheckDelay(timer)); |
| 214 | printf("OK\n\r"); |
213 | printf("OK\n\r"); |
| 215 | } |
214 | } |
| 216 | 215 | ||
| 217 | SetNeutral(0); |
216 | SetNeutral(0); |
| 218 | 217 | ||
| 219 | ROT_OFF; |
218 | ROT_OFF; |
| 220 | 219 | ||
| 221 | beeptime = 2000; |
220 | beeptime = 2000; |
| 222 | ExternControl.Digital[0] = 0x55; |
221 | ExternControl.Digital[0] = 0x55; |
| 223 | 222 | ||
| 224 | 223 | ||
| 225 | 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); |
| 226 | 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); |
| 227 | 226 | ||
| 228 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
227 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| 229 | { |
228 | { |
| 230 | FlugMinuten = 0; |
229 | FlugMinuten = 0; |
| 231 | FlugMinutenGesamt = 0; |
230 | FlugMinutenGesamt = 0; |
| 232 | } |
231 | } |
| 233 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
232 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| 234 | 233 | ||
| 235 | printf("\n\rControl: "); |
234 | printf("\n\rControl: "); |
| 236 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
235 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| 237 | else printf("Normal (ACC-Mode)"); |
236 | else printf("Normal (ACC-Mode)"); |
| 238 | 237 | ||
| 239 | LcdClear(); |
238 | LcdClear(); |
| 240 | I2CTimeout = 5000; |
239 | I2CTimeout = 5000; |
| 241 | WinkelOut.Orientation = 1; |
240 | WinkelOut.Orientation = 1; |
| 242 | LipoDetection(1); |
241 | LipoDetection(1); |
| 243 | 242 | ||
| 244 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
243 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 245 | 244 | ||
| 246 | printf("\n\r===================================\n\r"); |
245 | printf("\n\r===================================\n\r"); |
| 247 | //SpektrumBinding(); |
246 | //SpektrumBinding(); |
| 248 | timer = SetDelay(2000); |
247 | timer = SetDelay(2000); |
| 249 | timerPolling = SetDelay(250); |
248 | timerPolling = SetDelay(250); |
| 250 | 249 | ||
| 251 | 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 |
| 252 | DebugOut.Status[0] = 0x01 | 0x02; |
251 | DebugOut.Status[0] = 0x01 | 0x02; |
| 253 | JetiBeep = 0; |
252 | JetiBeep = 0; |
| - | 253 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
|
| 254 | while (1) |
254 | while (1) |
| 255 | { |
255 | { |
| 256 | 256 | ||
| 257 | if (JetiUpdateModeActive) while (1); |
257 | if (JetiUpdateModeActive) while (1); |
| 258 | 258 | ||
| 259 | 259 | ||
| 260 | if(CheckDelay(timerPolling)) |
260 | if(CheckDelay(timerPolling)) |
| 261 | { |
261 | { |
| 262 | timerPolling = SetDelay(1); |
262 | timerPolling = SetDelay(1); |
| 263 | LIBFC_Polling(); |
263 | LIBFC_Polling(); |
| 264 | } |
264 | } |
| 265 | if(UpdateMotor && AdReady) // ReglerIntervall |
265 | if(UpdateMotor && AdReady) // ReglerIntervall |
| 266 | { |
266 | { |
| 267 | 267 | ||
| 268 | UpdateMotor=0; |
268 | UpdateMotor=0; |
| 269 | if(WinkelOut.CalcState) CalMk3Mag(); |
269 | if(WinkelOut.CalcState) CalMk3Mag(); |
| 270 | else MotorRegler(); |
270 | else MotorRegler(); |
| 271 | SendMotorData(); |
271 | SendMotorData(); |
| 272 | ROT_OFF; |
272 | ROT_OFF; |
| 273 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
273 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
| 274 | else |
274 | else |
| 275 | { |
275 | { |
| 276 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
276 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| 277 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
277 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
| 278 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
278 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
| 279 | } |
279 | } |
| 280 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
280 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 281 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
281 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| 282 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
282 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| 283 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
283 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 284 | if(!--I2CTimeout || MissingMotor) |
284 | if(!--I2CTimeout || MissingMotor) |
| 285 | { |
285 | { |
| 286 | if(!I2CTimeout) |
286 | if(!I2CTimeout) |
| 287 | { |
287 | { |
| 288 | I2C_Reset(); |
288 | I2C_Reset(); |
| 289 | I2CTimeout = 5; |
289 | I2CTimeout = 5; |
| 290 | DebugOut.Analog[28]++; // I2C-Error |
290 | DebugOut.Analog[28]++; // I2C-Error |
| 291 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
291 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
| 292 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
292 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| 293 | } |
293 | } |
| 294 | if((BeepMuster == 0xffff) && MotorenEin) |
294 | if((BeepMuster == 0xffff) && MotorenEin) |
| 295 | { |
295 | { |
| 296 | beeptime = 10000; |
296 | beeptime = 10000; |
| 297 | BeepMuster = 0x0080; |
297 | BeepMuster = 0x0080; |
| 298 | } |
298 | } |
| 299 | } |
299 | } |
| 300 | else |
300 | else |
| 301 | { |
301 | { |
| 302 | ROT_OFF; |
302 | ROT_OFF; |
| 303 | if(!beeptime) |
303 | if(!beeptime) |
| 304 | { |
304 | { |
| 305 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
305 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
| 306 | } |
306 | } |
| 307 | } |
307 | } |
| 308 | if(!UpdateMotor) |
308 | if(!UpdateMotor) |
| 309 | { |
309 | { |
| 310 | if(CalculateServoSignals) CalculateServo(); |
310 | if(CalculateServoSignals) CalculateServo(); |
| 311 | DatenUebertragung(); |
311 | DatenUebertragung(); |
| 312 | BearbeiteRxDaten(); |
312 | BearbeiteRxDaten(); |
| 313 | if(CheckDelay(timer)) |
313 | if(CheckDelay(timer)) |
| 314 | { |
314 | { |
| 315 | static unsigned char second; |
315 | static unsigned char second; |
| 316 | timer += 20; // 20 ms interval |
316 | timer += 20; // 20 ms interval |
| 317 | if(MissingMotor) |
317 | if(MissingMotor) |
| 318 | { |
318 | { |
| 319 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
319 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| 320 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
320 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| 321 | } |
321 | } |
| 322 | else |
322 | else |
| 323 | { |
323 | { |
| 324 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
324 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
| 325 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
325 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
| 326 | } |
326 | } |
| 327 | 327 | ||
| 328 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
328 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
| 329 | 329 | ||
| 330 | if(PcZugriff) PcZugriff--; |
330 | if(PcZugriff) PcZugriff--; |
| 331 | else |
331 | else |
| 332 | { |
332 | { |
| 333 | ExternControl.Config = 0; |
333 | ExternControl.Config = 0; |
| 334 | ExternStickNick = 0; |
334 | ExternStickNick = 0; |
| 335 | ExternStickRoll = 0; |
335 | ExternStickRoll = 0; |
| 336 | ExternStickGier = 0; |
336 | ExternStickGier = 0; |
| 337 | if(BeepMuster == 0xffff && SenderOkay == 0) |
337 | if(!SenderOkay) |
| 338 | { |
338 | { |
| - | 339 | if(BeepMuster == 0xffff && !DisableRcOffBeeping) |
|
| - | 340 | { |
|
| 339 | beeptime = 15000; |
341 | beeptime = 15000; |
| 340 | BeepMuster = 0x0c00; |
342 | BeepMuster = 0x0c00; |
| 341 | } |
343 | } |
| - | 344 | } else DisableRcOffBeeping = 0; |
|
| 342 | } |
345 | } |
| 343 | if(NaviDataOkay > 200) |
346 | if(NaviDataOkay > 200) |
| 344 | { |
347 | { |
| 345 | NaviDataOkay--; |
348 | NaviDataOkay--; |
| 346 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
349 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| 347 | } |
350 | } |
| 348 | else |
351 | else |
| 349 | { |
352 | { |
| 350 | if(NC_Version.Compatible) |
353 | if(NC_Version.Compatible) |
| 351 | { |
354 | { |
| 352 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
355 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| 353 | if(BeepMuster == 0xffff && MotorenEin) |
356 | if(BeepMuster == 0xffff && MotorenEin) |
| 354 | { |
357 | { |
| 355 | beeptime = 15000; |
358 | beeptime = 15000; |
| 356 | BeepMuster = 0xA800; |
359 | BeepMuster = 0xA800; |
| 357 | } |
360 | } |
| 358 | } |
361 | } |
| 359 | GPS_Nick = 0; |
362 | GPS_Nick = 0; |
| 360 | GPS_Roll = 0; |
363 | GPS_Roll = 0; |
| 361 | GPS_AidMode = 0; |
364 | GPS_AidMode = 0; |
| 362 | //if(!beeptime) |
365 | //if(!beeptime) |
| 363 | FromNaviCtrl.CompassValue = -1; |
366 | FromNaviCtrl.CompassValue = -1; |
| 364 | NaviDataOkay = 0; |
367 | NaviDataOkay = 0; |
| 365 | } |
368 | } |
| 366 | if(UBat < BattLowVoltageWarning) |
369 | if(UBat < BattLowVoltageWarning) |
| 367 | { |
370 | { |
| 368 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
371 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
| 369 | if(BeepMuster == 0xffff) |
372 | if(BeepMuster == 0xffff) |
| 370 | { |
373 | { |
| 371 | beeptime = 6000; |
374 | beeptime = 6000; |
| 372 | BeepMuster = 0x0300; |
375 | BeepMuster = 0x0300; |
| 373 | } |
376 | } |
| 374 | } |
377 | } |
| 375 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
378 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| 376 | 379 | ||
| 377 | SPI_StartTransmitPacket(); |
380 | SPI_StartTransmitPacket(); |
| 378 | SendSPI = 4; |
381 | SendSPI = 4; |
| 379 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
382 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
| 380 | else |
383 | else |
| 381 | if(++second == 49) |
384 | if(++second == 49) |
| 382 | { |
385 | { |
| 383 | second = 0; |
386 | second = 0; |
| 384 | FlugSekunden++; |
387 | FlugSekunden++; |
| 385 | } |
388 | } |
| 386 | if(++timer2 == 2930) // eine Minute |
389 | if(++timer2 == 2930) // eine Minute |
| 387 | { |
390 | { |
| 388 | timer2 = 0; |
391 | timer2 = 0; |
| 389 | FlugMinuten++; |
392 | FlugMinuten++; |
| 390 | FlugMinutenGesamt++; |
393 | FlugMinutenGesamt++; |
| 391 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
394 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| 392 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
395 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
| 393 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
396 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| 394 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
397 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| 395 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
398 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| 396 | } |
399 | } |
| 397 | } |
400 | } |
| 398 | LED_Update(); |
401 | LED_Update(); |
| 399 | Capacity_Update(); |
402 | Capacity_Update(); |
| 400 | } //else DebugOut.Analog[26]++; |
403 | } //else DebugOut.Analog[26]++; |
| 401 | } |
404 | } |
| 402 | if(!SendSPI) { SPI_TransmitByte(); } |
405 | if(!SendSPI) { SPI_TransmitByte(); } |
| 403 | } |
406 | } |
| 404 | return (1); |
407 | return (1); |
| 405 | } |
408 | } |
| 406 | 409 | ||
| 407 | 410 | ||
| 408 | 411 | ||