WebSVN - FlightCtrl - Diff - Rev 2011 and 2012


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char 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 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 level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
 
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
        PlatinenVersion = 21;
#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
    HEF4017R_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2500;
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 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
        }
        printf("\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);
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
 
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
 
        printf("\n\r===================================\n\r");
        //SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
 
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
    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
#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(SenderOkay && DisableRcOffBeeping) { 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 2011	Rev 2012
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	unsigned char DisableRcOffBeeping = 0;	53	unsigned char DisableRcOffBeeping = 0;
54	unsigned char PlatinenVersion = 10;	54	unsigned char PlatinenVersion = 10;
55	unsigned char BattLowVoltageWarning = 94;	55	unsigned char BattLowVoltageWarning = 94;
56	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	56	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
57	unsigned int FlugSekunden = 0;	57	unsigned int FlugSekunden = 0;
58	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;	58	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
59	unsigned char FoundMotors = 0;	59	unsigned char FoundMotors = 0;
60	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box	60	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
61		61
62	void CalMk3Mag(void)	62	void CalMk3Mag(void)
63	{	63	{
64	static unsigned char stick = 1;	64	static unsigned char stick = 1;
65	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	65	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
66	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	66	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
67	{	67	{
68	stick = 1;	68	stick = 1;
69	WinkelOut.CalcState++;	69	WinkelOut.CalcState++;
70	if(WinkelOut.CalcState > 4)	70	if(WinkelOut.CalcState > 4)
71	{	71	{
72	// WinkelOut.CalcState = 0; // in Uart.c	72	// WinkelOut.CalcState = 0; // in Uart.c
73	beeptime = 1000;	73	beeptime = 1000;
74	}	74	}
75	else Piep(WinkelOut.CalcState,150);	75	else Piep(WinkelOut.CalcState,150);
76	}	76	}
77	DebugOut.Analog[19] = WinkelOut.CalcState;	77	DebugOut.Analog[19] = WinkelOut.CalcState;
78	}	78	}
79		79
80		80
81	void LipoDetection(unsigned char print)	81	void LipoDetection(unsigned char print)
82	{	82	{
83	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO	83	#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
84	unsigned int timer, cells;	84	unsigned int timer, cells;
85	if(print) printf("\n\rBatt:");	85	if(print) printf("\n\rBatt:");
86	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	86	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
87	{	87	{
88	timer = SetDelay(500);	88	timer = SetDelay(500);
89	if(print) while (!CheckDelay(timer));	89	if(print) while (!CheckDelay(timer));
90	// up to 6s LiPo, less than 2s is technical impossible	90	// up to 6s LiPo, less than 2s is technical impossible
91	for(cells = 2; cells < 7; cells++)	91	for(cells = 2; cells < 7; cells++)
92	{	92	{
93	if(UBat < cells * MAX_CELL_VOLTAGE) break;	93	if(UBat < cells * MAX_CELL_VOLTAGE) break;
94	}	94	}
95		95
96	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;	96	BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
97	if(print)	97	if(print)
98	{	98	{
99	Piep(cells, 200);	99	Piep(cells, 200);
100	printf(" %d Cells ", cells);	100	printf(" %d Cells ", cells);
101	}	101	}
102	}	102	}
103	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	103	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
104	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	104	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
105	}	105	}
106		106
107	//############################################################################	107	//############################################################################
108	//Hauptprogramm	108	//Hauptprogramm
109	int main (void)	109	int main (void)
110	//############################################################################	110	//############################################################################
111	{	111	{
112	unsigned int timer,i,timer2 = 0, timerPolling;	112	unsigned int timer,i,timer2 = 0, timerPolling;
113		113
114	DDRB = 0x00;	114	DDRB = 0x00;
115	PORTB = 0x00;	115	PORTB = 0x00;
116	for(timer = 0; timer < 1000; timer++); // verzögern	116	for(timer = 0; timer < 1000; timer++); // verzögern
117	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	117	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
118	PlatinenVersion = 21;	118	PlatinenVersion = 21;
119	#else	119	#else
120	if(PINB & 0x01)	120	if(PINB & 0x01)
121	{	121	{
122	if(PINB & 0x02) PlatinenVersion = 13;	122	if(PINB & 0x02) PlatinenVersion = 13;
123	else PlatinenVersion = 11;	123	else PlatinenVersion = 11;
124	}	124	}
125	else	125	else
126	{	126	{
127	if(PINB & 0x02) PlatinenVersion = 20;	127	if(PINB & 0x02) PlatinenVersion = 20;
128	else PlatinenVersion = 10;	128	else PlatinenVersion = 10;
129	}	129	}
130	#endif	130	#endif
131	DDRC = 0x81; // SCL	131	DDRC = 0x81; // SCL
132	DDRC \|=0x40; // HEF4017 Reset	132	DDRC \|=0x40; // HEF4017 Reset
133	PORTC = 0xff; // Pullup SDA	133	PORTC = 0xff; // Pullup SDA
134	DDRB = 0x1B; // LEDs und Druckoffset	134	DDRB = 0x1B; // LEDs und Druckoffset
135	PORTB = 0x01; // LED_Rot	135	PORTB = 0x01; // LED_Rot
136	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	136	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
137	PORTD = 0x47; // LED	137	PORTD = 0x47; // LED
138	HEF4017R_ON;	138	HEF4017R_ON;
139	MCUSR &=~(1<<WDRF);	139	MCUSR &=~(1<<WDRF);
140	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	140	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
141	WDTCSR = 0;	141	WDTCSR = 0;
142		142
143	beeptime = 2500;	143	beeptime = 2500;
144	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	144	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
145	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	145	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
146	ROT_OFF;	146	ROT_OFF;
147		147
148	Timer_Init();	148	Timer_Init();
149	TIMER2_Init();	149	TIMER2_Init();
150	UART_Init();	150	UART_Init();
151	rc_sum_init();	151	rc_sum_init();
152	ADC_Init();	152	ADC_Init();
153	I2C_Init(1);	153	I2C_Init(1);
154	SPI_MasterInit();	154	SPI_MasterInit();
155	Capacity_Init();	155	Capacity_Init();
156	LIBFC_Init();	156	LIBFC_Init();
157	GRN_ON;	157	GRN_ON;
158	sei();	158	sei();
159	ParamSet_Init();	159	ParamSet_Init();
160		160
161		161
162	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	162	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
163	// + Check connected BL-Ctrls	163	// + Check connected BL-Ctrls
164	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	164	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
165	// Check connected BL-Ctrls	165	// Check connected BL-Ctrls
166	BLFlags \|= BLFLAG_READ_VERSION;	166	BLFlags \|= BLFLAG_READ_VERSION;
167	motor_read = 0; // read the first I2C-Data	167	motor_read = 0; // read the first I2C-Data
168	SendMotorData();	168	SendMotorData();
169	timer = SetDelay(500);	169	timer = SetDelay(500);
170	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	170	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
171		171
172	printf("\n\rFound BL-Ctrl: ");	172	printf("\n\rFound BL-Ctrl: ");
173	timer = SetDelay(4000);	173	timer = SetDelay(4000);
174	for(i=0; i < MAX_MOTORS; i++)	174	for(i=0; i < MAX_MOTORS; i++)
175	{	175	{
176	SendMotorData();	176	SendMotorData();
177	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	177	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
178	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	178	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
179	{	179	{
180	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	180	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
181	{	181	{
182	SendMotorData();	182	SendMotorData();
183	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	183	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
184	}	184	}
185	}	185	}
186	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	186	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
187	{	187	{
188	printf("%d",i+1);	188	printf("%d",i+1);
189	FoundMotors++;	189	FoundMotors++;
190	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");	190	// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
191	}	191	}
192	}	192	}
193	for(i=0; i < MAX_MOTORS; i++)	193	for(i=0; i < MAX_MOTORS; i++)
194	{	194	{
195	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	195	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
196	{	196	{
197	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	197	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
198	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	198	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
199	}	199	}
200	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	200	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
201	}	201	}
202	printf("\n\r===================================");	202	printf("\n\r===================================");
203		203
204	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	204	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
205		205
206	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	206	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
207	{	207	{
208	printf("\n\rCalibrating pressure sensor..");	208	printf("\n\rCalibrating pressure sensor..");
209	timer = SetDelay(1000);	209	timer = SetDelay(1000);
210	SucheLuftruckOffset();	210	SucheLuftruckOffset();
211	while (!CheckDelay(timer));	211	while (!CheckDelay(timer));
212	printf("OK\n\r");	212	printf("OK\n\r");
213	}	213	}
214		214
215	SetNeutral(0);	215	SetNeutral(0);
216		216
217	ROT_OFF;	217	ROT_OFF;
218		218
219	beeptime = 2000;	219	beeptime = 2000;
220	ExternControl.Digital[0] = 0x55;	220	ExternControl.Digital[0] = 0x55;
221		221
222		222
223	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	223	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
224	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	224	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
225		225
226	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	226	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
227	{	227	{
228	FlugMinuten = 0;	228	FlugMinuten = 0;
229	FlugMinutenGesamt = 0;	229	FlugMinutenGesamt = 0;
230	}	230	}
231	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	231	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
232		232
233	printf("\n\rControl: ");	233	printf("\n\rControl: ");
234	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	234	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
235	else printf("Normal (ACC-Mode)");	235	else printf("Normal (ACC-Mode)");
236		236
237	LcdClear();	237	LcdClear();
238	I2CTimeout = 5000;	238	I2CTimeout = 5000;
239	WinkelOut.Orientation = 1;	239	WinkelOut.Orientation = 1;
240	LipoDetection(1);	240	LipoDetection(1);
241		241
242	LIBFC_ReceiverInit(EE_Parameter.Receiver);	242	LIBFC_ReceiverInit(EE_Parameter.Receiver);
243		243
244	printf("\n\r===================================\n\r");	244	printf("\n\r===================================\n\r");
245	//SpektrumBinding();	245	//SpektrumBinding();
246	timer = SetDelay(2000);	246	timer = SetDelay(2000);
247	timerPolling = SetDelay(250);	247	timerPolling = SetDelay(250);
248		248
249	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	249	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
250	DebugOut.Status[0] = 0x01 \| 0x02;	250	DebugOut.Status[0] = 0x01 \| 0x02;
251	JetiBeep = 0;	251	JetiBeep = 0;
252	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;	252	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
253	while (1)	253	while (1)
254	{	254	{
255	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off	255	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
256		256
257	//GRN_ON;	257	//GRN_ON;
258	if(UpdateMotor && AdReady) // ReglerIntervall	258	if(UpdateMotor && AdReady) // ReglerIntervall
259	{	259	{
260	//GRN_OFF;	260	//GRN_OFF;
261	UpdateMotor=0;	261	UpdateMotor=0;
262	if(WinkelOut.CalcState) CalMk3Mag();	262	if(WinkelOut.CalcState) CalMk3Mag();
263	else MotorRegler();	263	else MotorRegler();
264	SendMotorData();	264	SendMotorData();
265	ROT_OFF;	265	ROT_OFF;
266	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }	266	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }
267	else	267	else
268	{	268	{
269	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	269	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
270	PPM_in[0] = 0; // set RSSI to zero on data timeout	270	PPM_in[0] = 0; // set RSSI to zero on data timeout
271	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	271	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
272	}	272	}
273	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	273	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
274	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	274	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
275	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	275	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
276	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	276	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
277	if(!--I2CTimeout \|\| MissingMotor)	277	if(!--I2CTimeout \|\| MissingMotor)
278	{	278	{
279	if(!I2CTimeout)	279	if(!I2CTimeout)
280	{	280	{
281	I2C_Reset();	281	I2C_Reset();
282	I2CTimeout = 5;	282	I2CTimeout = 5;
283	DebugOut.Analog[28]++; // I2C-Error	283	DebugOut.Analog[28]++; // I2C-Error
284	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	284	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
285	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	285	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
286	}	286	}
287	if((BeepMuster == 0xffff) && MotorenEin)	287	if((BeepMuster == 0xffff) && MotorenEin)
288	{	288	{
289	beeptime = 25000;	289	beeptime = 25000;
290	BeepMuster = 0x0080;	290	BeepMuster = 0x0080;
291	}	291	}
292	}	292	}
293	else	293	else
294	{	294	{
295	ROT_OFF;	295	ROT_OFF;
296	}	296	}
297	LIBFC_Polling();	297	LIBFC_Polling();
298		298
299	if(!UpdateMotor)	299	if(!UpdateMotor)
-		300	{
-		301	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
-		302	if(NewSBusData) ProcessSBus();
-		303	else
-		304	#endif
300	{	305	{
301	if(CalculateServoSignals) CalculateServo();	306	if(CalculateServoSignals) CalculateServo();
302	DatenUebertragung();	307	DatenUebertragung();
303	BearbeiteRxDaten();	308	BearbeiteRxDaten();
304	if(CheckDelay(timer))	309	if(CheckDelay(timer))
305	{	310	{
306	static unsigned char second;	311	static unsigned char second;
307	timer += 20; // 20 ms interval	312	timer += 20; // 20 ms interval
308	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	313	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
309	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();	314	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
310	#endif	315	#endif
311	if(MissingMotor)	316	if(MissingMotor)
312	{	317	{
313	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	318	VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
314	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	319	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
315	}	320	}
316	else	321	else
317	{	322	{
318	if(!beeptime)	323	if(!beeptime)
319	{	324	{
320	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	325	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
321	}	326	}
322	}	327	}
323	if(SenderOkay && DisableRcOffBeeping) { DisableRcOffBeeping = 0; beeptime = 5000;};	328	if(SenderOkay && DisableRcOffBeeping) { DisableRcOffBeeping = 0; beeptime = 5000;};
324	if(PcZugriff) PcZugriff--;	329	if(PcZugriff) PcZugriff--;
325	else	330	else
326	{	331	{
327	ExternControl.Config = 0;	332	ExternControl.Config = 0;
328	ExternStickNick = 0;	333	ExternStickNick = 0;
329	ExternStickRoll = 0;	334	ExternStickRoll = 0;
330	ExternStickGier = 0;	335	ExternStickGier = 0;
331	if(!SenderOkay)	336	if(!SenderOkay)
332	{	337	{
333	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)	338	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
334	{	339	{
335	beeptime = 15000;	340	beeptime = 15000;
336	BeepMuster = 0x0c00;	341	BeepMuster = 0x0c00;
337	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;	342	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
338	}	343	}
339	}	344	}
340	}	345	}
341	if(NaviDataOkay > 200)	346	if(NaviDataOkay > 200)
342	{	347	{
343	NaviDataOkay--;	348	NaviDataOkay--;
344	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	349	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
345	}	350	}
346	else	351	else
347	{	352	{
348	if(NC_Version.Compatible)	353	if(NC_Version.Compatible)
349	{	354	{
350	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	355	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
351	NC_ErrorCode = 9; // "ERR: no NC communication"	356	NC_ErrorCode = 9; // "ERR: no NC communication"
352	if(BeepMuster == 0xffff && MotorenEin)	357	if(BeepMuster == 0xffff && MotorenEin)
353	{	358	{
354	beeptime = 15000;	359	beeptime = 15000;
355	BeepMuster = 0xA800;	360	BeepMuster = 0xA800;
356	}	361	}
357	}	362	}
358	GPS_Nick = 0;	363	GPS_Nick = 0;
359	GPS_Roll = 0;	364	GPS_Roll = 0;
360	GPS_Aid_StickMultiplikator = 0;	365	GPS_Aid_StickMultiplikator = 0;
361	GPSInfo.Flags = 0;	366	GPSInfo.Flags = 0;
362	FromNaviCtrl.AccErrorN = 0;	367	FromNaviCtrl.AccErrorN = 0;
363	FromNaviCtrl.AccErrorR = 0;	368	FromNaviCtrl.AccErrorR = 0;
364	FromNaviCtrl.CompassValue = -1;	369	FromNaviCtrl.CompassValue = -1;
365	NaviDataOkay = 0;	370	NaviDataOkay = 0;
366	}	371	}
367	if(UBat < BattLowVoltageWarning)	372	if(UBat < BattLowVoltageWarning)
368	{	373	{
369	FC_StatusFlags \|= FC_STATUS_LOWBAT;	374	FC_StatusFlags \|= FC_STATUS_LOWBAT;
370	if(BeepMuster == 0xffff)	375	if(BeepMuster == 0xffff)
371	{	376	{
372	beeptime = 6000;	377	beeptime = 6000;
373	BeepMuster = 0x0300;	378	BeepMuster = 0x0300;
374	}	379	}
375	}	380	}
376	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	381	else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
377		382
378	SPI_StartTransmitPacket();	383	SPI_StartTransmitPacket();
379	SendSPI = 4;	384	SendSPI = 4;
380	// +++++++++++++++++++++++++++++++++	385	// +++++++++++++++++++++++++++++++++
381	// Sekundentakt	386	// Sekundentakt
382	if(++second == 49)	387	if(++second == 49)
383	{	388	{
384	second = 0;	389	second = 0;
385	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;	390	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
386	else	391	else
387	{	392	{
388	timer2 = 1450; // 0,5 Minuten aufrunden	393	timer2 = 1450; // 0,5 Minuten aufrunden
389	if(StartLuftdruck < Luftdruck) StartLuftdruck++;	394	if(StartLuftdruck < Luftdruck) StartLuftdruck++;
390	else	395	else
391	if(StartLuftdruck > Luftdruck) StartLuftdruck--;	396	if(StartLuftdruck > Luftdruck) StartLuftdruck--;
392	}	397	}
393	}	398	}
394	// +++++++++++++++++++++++++++++++++	399	// +++++++++++++++++++++++++++++++++
395	if(++timer2 == 2930) // eine Minute	400	if(++timer2 == 2930) // eine Minute
396	{	401	{
397	timer2 = 0;	402	timer2 = 0;
398	FlugMinuten++;	403	FlugMinuten++;
399	FlugMinutenGesamt++;	404	FlugMinutenGesamt++;
400	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	405	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
401	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	406	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
402	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	407	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
403	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	408	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
404	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	409	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
405	}	410	}
406	}	411	}
407	LED_Update();	412	LED_Update();
408	Capacity_Update();	413	Capacity_Update();
409	} //else DebugOut.Analog[26]++;	414	} //else DebugOut.Analog[26]++;
410	}	415	}
-		416	}
411	if(!SendSPI) { SPI_TransmitByte(); }	417	if(!SendSPI) { SPI_TransmitByte(); }
412	}	418	}
413	return (1);	419	return (1);
414	}	420	}
415	//DebugOut.Analog[16]	421	//DebugOut.Analog[16]
416		422
417		423

Subversion Repositories FlightCtrl

(root)/tags/V0.90d/main.c @ 2483 - Rev 2011 → 2012