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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 | 54 | ||
| 55 | unsigned char PlatinenVersion = 10; |
55 | unsigned char PlatinenVersion = 10; |
| 56 | unsigned char SendVersionToNavi = 1; |
56 | unsigned char SendVersionToNavi = 1; |
| 57 | unsigned char BattLowVoltageWarning = 94; |
57 | unsigned char BattLowVoltageWarning = 94; |
| 58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| 59 | unsigned int FlugSekunden = 0; |
59 | unsigned int FlugSekunden = 0; |
| 60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| 61 | 61 | ||
| 62 | 62 | ||
| 63 | void CalMk3Mag(void) |
63 | void CalMk3Mag(void) |
| 64 | { |
64 | { |
| 65 | static unsigned char stick = 1; |
65 | static unsigned char stick = 1; |
| 66 | 66 | ||
| 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 | 83 | ||
| 84 | void LipoDetection(unsigned char print) |
84 | void LipoDetection(unsigned char print) |
| 85 | { |
85 | { |
| 86 | unsigned int timer; |
86 | unsigned int timer; |
| 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 | if(UBat < 130) |
92 | if(UBat < 130) |
| 93 | { |
93 | { |
| 94 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
94 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
| 95 | if(print) |
95 | if(print) |
| 96 | { |
96 | { |
| 97 | Piep(3,200); |
97 | Piep(3,200); |
| 98 | printf(" 3 Cells "); |
98 | printf(" 3 Cells "); |
| 99 | } |
99 | } |
| 100 | } |
100 | } |
| 101 | else |
101 | else |
| 102 | { |
102 | { |
| 103 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
103 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
| 104 | if(print) |
104 | if(print) |
| 105 | { |
105 | { |
| 106 | Piep(4,200); |
106 | Piep(4,200); |
| 107 | printf(" 4 Cells "); |
107 | printf(" 4 Cells "); |
| 108 | } |
108 | } |
| 109 | } |
109 | } |
| 110 | } |
110 | } |
| 111 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
111 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| 112 | // if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93; |
112 | // if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93; |
| 113 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
113 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| 114 | } |
114 | } |
| 115 | 115 | ||
| 116 | //############################################################################ |
116 | //############################################################################ |
| 117 | //Hauptprogramm |
117 | //Hauptprogramm |
| 118 | int main (void) |
118 | int main (void) |
| 119 | //############################################################################ |
119 | //############################################################################ |
| 120 | { |
120 | { |
| 121 | unsigned int timer,i,timer2 = 0, timerPolling; |
121 | unsigned int timer,i,timer2 = 0, timerPolling; |
| 122 | 122 | ||
| 123 | DDRB = 0x00; |
123 | DDRB = 0x00; |
| 124 | PORTB = 0x00; |
124 | PORTB = 0x00; |
| 125 | for(timer = 0; timer < 1000; timer++); // verzögern |
125 | for(timer = 0; timer < 1000; timer++); // verzögern |
| 126 | if(PINB & 0x01) |
126 | if(PINB & 0x01) |
| 127 | { |
127 | { |
| 128 | if(PINB & 0x02) PlatinenVersion = 13; |
128 | if(PINB & 0x02) PlatinenVersion = 13; |
| 129 | else PlatinenVersion = 11; |
129 | else PlatinenVersion = 11; |
| 130 | } |
130 | } |
| 131 | else |
131 | else |
| 132 | { |
132 | { |
| 133 | if(PINB & 0x02) PlatinenVersion = 20; |
133 | if(PINB & 0x02) PlatinenVersion = 20; |
| 134 | else PlatinenVersion = 10; |
134 | else PlatinenVersion = 10; |
| 135 | } |
135 | } |
| 136 | 136 | ||
| 137 | DDRC = 0x81; // SCL |
137 | DDRC = 0x81; // SCL |
| 138 | DDRC |=0x40; // HEF4017 Reset |
138 | DDRC |=0x40; // HEF4017 Reset |
| 139 | PORTC = 0xff; // Pullup SDA |
139 | PORTC = 0xff; // Pullup SDA |
| 140 | DDRB = 0x1B; // LEDs und Druckoffset |
140 | DDRB = 0x1B; // LEDs und Druckoffset |
| 141 | PORTB = 0x01; // LED_Rot |
141 | PORTB = 0x01; // LED_Rot |
| 142 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
142 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| 143 | PORTD = 0x47; // LED |
143 | PORTD = 0x47; // LED |
| 144 | HEF4017R_ON; |
144 | HEF4017R_ON; |
| 145 | MCUSR &=~(1<<WDRF); |
145 | MCUSR &=~(1<<WDRF); |
| 146 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
146 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
| 147 | WDTCSR = 0; |
147 | WDTCSR = 0; |
| 148 | 148 | ||
| 149 | beeptime = 2000; |
149 | beeptime = 2000; |
| 150 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
150 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| 151 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
151 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| 152 | ROT_OFF; |
152 | ROT_OFF; |
| 153 | 153 | ||
| 154 | Timer_Init(); |
154 | Timer_Init(); |
| 155 | TIMER2_Init(); |
155 | TIMER2_Init(); |
| 156 | UART_Init(); |
156 | UART_Init(); |
| 157 | rc_sum_init(); |
157 | rc_sum_init(); |
| 158 | ADC_Init(); |
158 | ADC_Init(); |
| 159 | i2c_init(); |
159 | i2c_init(); |
| 160 | SPI_MasterInit(); |
160 | SPI_MasterInit(); |
| 161 | Capacity_Init(); |
161 | Capacity_Init(); |
| 162 | LIBFC_Init(); |
162 | LIBFC_Init(); |
| 163 | GRN_ON; |
163 | GRN_ON; |
| 164 | sei(); |
164 | sei(); |
| 165 | ParamSet_Init(); |
165 | ParamSet_Init(); |
| 166 | 166 | ||
| 167 | 167 | ||
| 168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 169 | // + Check connected BL-Ctrls |
169 | // + Check connected BL-Ctrls |
| 170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 171 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
171 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
| 172 | printf("\n\rFound BL-Ctrl: "); |
172 | printf("\n\rFound BL-Ctrl: "); |
| 173 | timer = SetDelay(4000); |
173 | timer = SetDelay(4000); |
| 174 | 174 | ||
| 175 | for(i=0; i < MAX_MOTORS; i++) |
175 | for(i=0; i < MAX_MOTORS; i++) |
| 176 | { |
176 | { |
| 177 | UpdateMotor = 0; |
177 | UpdateMotor = 0; |
| 178 | SendMotorData(); |
178 | SendMotorData(); |
| 179 | while(!UpdateMotor); |
179 | while(!UpdateMotor); |
| 180 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
180 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| 181 | { |
181 | { |
| 182 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
182 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
| 183 | } |
183 | } |
| 184 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
184 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| 185 | { |
185 | { |
| 186 | printf("%d",i+1); |
186 | printf("%d",i+1); |
| 187 | if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); else printf(" "); |
187 | if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); else printf(" "); |
| 188 | } |
188 | } |
| 189 | } |
189 | } |
| 190 | for(i=0; i < MAX_MOTORS; i++) |
190 | for(i=0; i < MAX_MOTORS; i++) |
| 191 | { |
191 | { |
| 192 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
192 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| 193 | { |
193 | { |
| 194 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
194 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| 195 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
195 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
| 196 | } |
196 | } |
| 197 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
197 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| 198 | } |
198 | } |
| 199 | printf("\n\r==================================="); |
199 | printf("\n\r==================================="); |
| 200 | SendMotorData(); |
200 | SendMotorData(); |
| - | 201 | TransmitBlConfig = 1; |
|
| 201 | 202 | motorread = 0; |
|
| 202 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
203 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| 203 | { |
204 | { |
| 204 | printf("\n\rCalibrating pressure sensor.."); |
205 | printf("\n\rCalibrating pressure sensor.."); |
| 205 | timer = SetDelay(1000); |
206 | timer = SetDelay(1000); |
| 206 | SucheLuftruckOffset(); |
207 | SucheLuftruckOffset(); |
| 207 | while (!CheckDelay(timer)); |
208 | while (!CheckDelay(timer)); |
| 208 | printf("OK\n\r"); |
209 | printf("OK\n\r"); |
| 209 | } |
210 | } |
| 210 | 211 | ||
| 211 | SetNeutral(0); |
212 | SetNeutral(0); |
| 212 | 213 | ||
| 213 | ROT_OFF; |
214 | ROT_OFF; |
| 214 | 215 | ||
| 215 | beeptime = 2000; |
216 | beeptime = 2000; |
| 216 | ExternControl.Digital[0] = 0x55; |
217 | ExternControl.Digital[0] = 0x55; |
| 217 | 218 | ||
| 218 | 219 | ||
| 219 | FlugMinuten = GetParamWord(PID_FLIGHT_MINUTES); |
220 | FlugMinuten = GetParamWord(PID_FLIGHT_MINUTES); |
| 220 | FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL); |
221 | FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL); |
| 221 | 222 | ||
| 222 | if( (FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF) ) |
223 | if( (FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF) ) |
| 223 | { |
224 | { |
| 224 | FlugMinuten = 0; |
225 | FlugMinuten = 0; |
| 225 | FlugMinutenGesamt = 0; |
226 | FlugMinutenGesamt = 0; |
| 226 | } |
227 | } |
| 227 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
228 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| 228 | 229 | ||
| 229 | printf("\n\rControl: "); |
230 | printf("\n\rControl: "); |
| 230 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
231 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| 231 | else printf("Normal (ACC-Mode)"); |
232 | else printf("Normal (ACC-Mode)"); |
| 232 | 233 | ||
| 233 | LcdClear(); |
234 | LcdClear(); |
| 234 | I2CTimeout = 5000; |
235 | I2CTimeout = 5000; |
| 235 | WinkelOut.Orientation = 1; |
236 | WinkelOut.Orientation = 1; |
| 236 | LipoDetection(1); |
237 | LipoDetection(1); |
| 237 | 238 | ||
| 238 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
239 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 239 | 240 | ||
| 240 | printf("\n\r===================================\n\r"); |
241 | printf("\n\r===================================\n\r"); |
| 241 | //SpektrumBinding(); |
242 | //SpektrumBinding(); |
| 242 | timer = SetDelay(2000); |
243 | timer = SetDelay(2000); |
| 243 | timerPolling = SetDelay(250); |
244 | timerPolling = SetDelay(250); |
| 244 | 245 | ||
| 245 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
246 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| 246 | 247 | ||
| 247 | while (1) |
248 | while (1) |
| 248 | { |
249 | { |
| 249 | - | ||
| 250 | if(CheckDelay(timerPolling)) |
250 | if(CheckDelay(timerPolling)) |
| 251 | { |
251 | { |
| 252 | timerPolling = SetDelay(100); |
252 | timerPolling = SetDelay(100); |
| 253 | LIBFC_Polling(); |
253 | LIBFC_Polling(); |
| 254 | } |
254 | } |
| 255 | - | ||
| 256 | if(UpdateMotor && AdReady) // ReglerIntervall |
255 | if(UpdateMotor && AdReady) // ReglerIntervall |
| 257 | { |
256 | { |
| 258 | UpdateMotor=0; |
257 | UpdateMotor=0; |
| - | 258 | J4High; |
|
| 259 | if(WinkelOut.CalcState) CalMk3Mag(); |
259 | if(WinkelOut.CalcState) CalMk3Mag(); |
| 260 | else MotorRegler(); |
260 | else MotorRegler(); |
| 261 | SendMotorData(); |
261 | SendMotorData(); |
| - | 262 | if(UpdateMotor) DebugOut.Analog[17]++; |
|
| - | 263 | J4Low; |
|
| 262 | ROT_OFF; |
264 | ROT_OFF; |
| 263 | if(SenderOkay) SenderOkay--; |
265 | if(SenderOkay) SenderOkay--; |
| 264 | else |
266 | else |
| 265 | { |
267 | { |
| 266 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
268 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| 267 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
269 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
| 268 | } |
270 | } |
| 269 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
271 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 270 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
272 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| 271 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
273 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| 272 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
274 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 273 | 275 | ||
| 274 | if(!--I2CTimeout || MissingMotor) |
276 | if(!--I2CTimeout || MissingMotor) |
| 275 | { |
277 | { |
| 276 | if(!I2CTimeout) |
278 | if(!I2CTimeout) |
| 277 | { |
279 | { |
| 278 | i2c_reset(); |
280 | i2c_reset(); |
| 279 | I2CTimeout = 5; |
281 | I2CTimeout = 5; |
| 280 | DebugOut.Analog[28]++; // I2C-Error |
282 | DebugOut.Analog[28]++; // I2C-Error |
| 281 | FCFlags |= FCFLAG_I2CERR; |
283 | FCFlags |= FCFLAG_I2CERR; |
| 282 | } |
284 | } |
| 283 | if((BeepMuster == 0xffff) && MotorenEin) |
285 | if((BeepMuster == 0xffff) && MotorenEin) |
| 284 | { |
286 | { |
| 285 | beeptime = 10000; |
287 | beeptime = 10000; |
| 286 | BeepMuster = 0x0080; |
288 | BeepMuster = 0x0080; |
| 287 | } |
289 | } |
| 288 | } |
290 | } |
| 289 | else |
291 | else |
| 290 | { |
292 | { |
| 291 | ROT_OFF; |
293 | ROT_OFF; |
| 292 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
294 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
| 293 | } |
295 | } |
| 294 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
296 | if(!UpdateMotor) |
| 295 | { |
297 | { |
| 296 | DatenUebertragung(); |
298 | DatenUebertragung(); |
| 297 | BearbeiteRxDaten(); |
299 | BearbeiteRxDaten(); |
| 298 | } |
- | |
| 299 | else BearbeiteRxDaten(); |
- | |
| 300 | if(CheckDelay(timer)) |
300 | if(CheckDelay(timer)) |
| 301 | { |
301 | { |
| 302 | static unsigned char second; |
302 | static unsigned char second; |
| 303 | timer += 20; // 20 ms interval |
303 | timer += 20; // 20 ms interval |
| 304 | if(PcZugriff) PcZugriff--; |
304 | if(PcZugriff) PcZugriff--; |
| 305 | else |
305 | else |
| 306 | { |
306 | { |
| 307 | ExternControl.Config = 0; |
307 | ExternControl.Config = 0; |
| 308 | ExternStickNick = 0; |
308 | ExternStickNick = 0; |
| 309 | ExternStickRoll = 0; |
309 | ExternStickRoll = 0; |
| 310 | ExternStickGier = 0; |
310 | ExternStickGier = 0; |
| 311 | if(BeepMuster == 0xffff && SenderOkay == 0) |
311 | if(BeepMuster == 0xffff && SenderOkay == 0) |
| 312 | { |
312 | { |
| 313 | beeptime = 15000; |
313 | beeptime = 15000; |
| 314 | BeepMuster = 0x0c00; |
314 | BeepMuster = 0x0c00; |
| 315 | } |
315 | } |
| 316 | } |
316 | } |
| 317 | if(NaviDataOkay) |
317 | if(NaviDataOkay) |
| 318 | { |
318 | { |
| 319 | NaviDataOkay--; |
319 | NaviDataOkay--; |
| 320 | FCFlags &= ~FCFLAG_SPI_RX_ERR; |
320 | FCFlags &= ~FCFLAG_SPI_RX_ERR; |
| 321 | } |
321 | } |
| 322 | else |
322 | else |
| 323 | { |
323 | { |
| 324 | GPS_Nick = 0; |
324 | GPS_Nick = 0; |
| 325 | GPS_Roll = 0; |
325 | GPS_Roll = 0; |
| 326 | if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR; |
326 | if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR; |
| 327 | } |
327 | } |
| 328 | if(UBat < BattLowVoltageWarning) |
328 | if(UBat < BattLowVoltageWarning) |
| 329 | { |
329 | { |
| 330 | FCFlags |= FCFLAG_LOWBAT; |
330 | FCFlags |= FCFLAG_LOWBAT; |
| 331 | if(BeepMuster == 0xffff) |
331 | if(BeepMuster == 0xffff) |
| 332 | { |
332 | { |
| 333 | beeptime = 6000; |
333 | beeptime = 6000; |
| 334 | BeepMuster = 0x0300; |
334 | BeepMuster = 0x0300; |
| 335 | } |
335 | } |
| 336 | } |
336 | } |
| 337 | else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
337 | else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
| 338 | 338 | ||
| 339 | SPI_StartTransmitPacket(); |
339 | SPI_StartTransmitPacket(); |
| 340 | SendSPI = 4; |
340 | SendSPI = 4; |
| 341 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
341 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
| 342 | else |
342 | else |
| 343 | if(++second == 49) |
343 | if(++second == 49) |
| 344 | { |
344 | { |
| 345 | second = 0; |
345 | second = 0; |
| 346 | FlugSekunden++; |
346 | FlugSekunden++; |
| 347 | } |
347 | } |
| 348 | 348 | ||
| 349 | if(++timer2 == 2930) // eine Minute |
349 | if(++timer2 == 2930) // eine Minute |
| 350 | { |
350 | { |
| 351 | timer2 = 0; |
351 | timer2 = 0; |
| 352 | FlugMinuten++; |
352 | FlugMinuten++; |
| 353 | FlugMinutenGesamt++; |
353 | FlugMinutenGesamt++; |
| 354 | SetParamWord(PID_FLIGHT_MINUTES_TOTAL, FlugMinutenGesamt); |
354 | SetParamWord(PID_FLIGHT_MINUTES_TOTAL, FlugMinutenGesamt); |
| 355 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
355 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
| 356 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
356 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| 357 | } |
357 | } |
| 358 | } |
358 | } |
| 359 | LED_Update(); |
359 | LED_Update(); |
| 360 | Capacity_Update(); |
360 | Capacity_Update(); |
| - | 361 | } |
|
| 361 | } |
362 | } |
| 362 | if(!SendSPI) { SPI_TransmitByte(); } |
363 | if(!SendSPI) { SPI_TransmitByte(); } |
| 363 | } |
364 | } |
| 364 | return (1); |
365 | return (1); |
| 365 | } |
366 | } |
| 366 | 367 | ||
| 367 | 368 | ||
| 368 | 369 | ||