WebSVN - FlightCtrl - Diff - Rev 2482 and 2486


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char DisableRcOffBeeping = 0;
unsigned char PlatinenVersion = 10;
unsigned char BattLowVoltageWarning = 94;
unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0;
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
unsigned char ActiveParamSet = 3;
unsigned char LipoCells = 4;
 
void PrintLine(void)
{
 printf("\n\r===================================");
}
 
 
void CalMk3Mag(void)
{
 static unsigned char stick = 1;
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
  {
   stick = 1;
   WinkelOut.CalcState++;
   if(WinkelOut.CalcState > 4)
    {
//     WinkelOut.CalcState = 0; // in Uart.c
     beeptime = 1000;
    }
   else Piep(WinkelOut.CalcState,150);
  }
}
 
 
void LipoDetection(unsigned char print)
{
        #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO
        if(print)
         {
          printf("\n\rBatt:");
          LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;
          if(LipoCells > 6) LipoCells = 6;
         }
 
        if(EE_Parameter.UnterspannungsWarnung < 50)
        {
                BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;
                if(print)
                {
                        Piep(LipoCells, 200);
                        printf(" %d Cells ", LipoCells);
                }
        }
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
 
        // automatische Zellenerkennung
        if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage;
        if(EE_Parameter.ComingHomeVoltage < 50)  BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage;
 
        if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1;
        if(BattComingHomeVoltage  >= BattLowVoltageWarning) BattComingHomeVoltage  = BattLowVoltageWarning - 1;
        if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1;
       
        if(print)
         {
          printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
          if(BattComingHomeVoltage) printf("  Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);
          if(BattAutoLandingVoltage) printf("  Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);
         }
 
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
        unsigned char update_spi = 1;
    DDRB  = 0x00;
    PORTB = 0x00;
    DDRD  = 0x0A; // UART & J3 J4 J5
        PORTD = 0x5F; // PPM-Input & UART
    for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
        unsigned char AccZ_ErrorCnt = 0;
    if(PINB & 0x02)
         {
          if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
          else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
         }
     else          
     {
          PlatinenVersion = 25; ACC_AltitudeControl = 1;
         }  
#else
        if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else          
            {
                 PlatinenVersion = 10;
                 DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
             PORTD = 0x47; // 
                }
     }
#endif
 
    DDRC  = 0x81; // I2C, Spaker
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
 
    HEF4017Reset_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2500;
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
    ROT_OFF;
    GRN_ON;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        I2C_Init(1);
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init(LIB_FC_COMPATIBLE);
        GRN_ON;
    sei();
        ParamSet_Init();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(PlatinenVersion < 20)
        {
            wdt_enable(WDTO_250MS); // Reset-Commando
                while(1) printf("\n\rOld FC Hardware not supported by this Firmware!");
        }
#ifndef REDUNDANT_FC_SLAVE
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        // Check connected BL-Ctrls
        BLFlags |= BLFLAG_READ_VERSION;
        motor_read = 0;  // read the first I2C-Data
        for(i=0; i < 500; i++)
        {
         SendMotorData();
         timer = SetDelay(5);
         while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
    }
    printf("\n\rFound BL-Ctrl: ");
//    timer = SetDelay(1000);
        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)
                {
                    unsigned char vers;
                        printf("%d",(i+1)%10);
                        FoundMotors++;
                        vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04
                        if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers;
//                      if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");
//                      else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");
//                      printf(":V%03d\n\r",vers);
                }
        }
        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
        }
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
   if(VersionInfo.BL_Firmware != 255)
    {
         printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100);
         if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!");
        }
#endif
 
   PrintLine();// ("\n\r===================================");
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
        if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;
#else
 printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r");
#endif
 
#ifdef REDUNDANT_FC_MASTER
 printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r");
#endif
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Calibrating altitude sensor
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
        {
                printf("\n\rCalibrating pressure sensor..");
                timer = SetDelay(1000);
                SucheLuftruckOffset();
                while (!CheckDelay(timer));
                printf("OK\n\r");
        }
 
#ifdef REDUNDANT_FC_SLAVE
VersionInfo.HardwareError[0] = 0;
VersionInfo.HardwareError[1] = 0;
#endif
 
        SetNeutral(0);
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
        FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
 
        if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF))
        {
                FlugMinuten = 0;
                FlugMinutenGesamt = 0;
        }
    printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
    PrintLine();// ("\n\r===================================");
        //SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
 
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);
 
    DebugOut.Status[0] = 0x01 | 0x02;
        JetiBeep = 0;
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
        ReadBlSize = 3; // don't read the version any more
#ifdef REDUNDANT_FC_SLAVE
        timer = SetDelay(2500);
        while(!CheckDelay(timer));
        printf("\n\rStart\n\r");
#endif
        while(1)
        {
        EEAR = EE_DUMMY;  // Set the EEPROM Address pointer to an unused space
        if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
cli();
                        UpdateMotor--;    
sei();
            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;
                                // Now clear the channel values - they would be wrong
                                PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
                                PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
                                PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
                                PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
                                PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
                                PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0;
                        }
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//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(BytegapSPI == 0)  SPI_TransmitByte();
                        if(CalculateServoSignals) CalculateServo();
                        DatenUebertragung();
                        BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
                                CalcNickServoValue();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
                                else
                                if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
                                // ++++++++++++++++++++++++++++
                                // + check the ACC-Z range
                                if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
                                 {
                                  if(++AccZ_ErrorCnt > 50)
                                   {
                                    if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP;
                                        else CalibrationDone = 0;
                                   }
                                 }
                                 else AccZ_ErrorCnt = 0;
                                // ++++++++++++++++++++++++++++
#endif
                                if(MissingMotor || Capacity.MinOfMaxPWM < 30)
                                 {
                                  if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                 }
                                 else
                                 {
                                   if(!beeptime)
                                    {
                                     if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
                                        }
                                 }
                                if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(!SenderOkay)
                                        {
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
                                          {
                                                  beeptime = 15000;
                                                  BeepMuster = 0x0c00;
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
                                          }
                                        }
                                }
                                if(NaviDataOkay > 200)
                                {
                                        NaviDataOkay--;
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
                                        VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT;
                                }
                                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_Value.Kalman_K = -1;
                                        FromNaviCtrl.AccErrorN = 0;
                                        FromNaviCtrl.AccErrorR = 0;
                    FromNaviCtrl.CompassValue = -1;
                                        FromNC_AltitudeSpeed = 0;
                                        FromNC_AltitudeSetpoint = 0;
                                        VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
                    NaviDataOkay = 0;
                                }
                           if(UBat <= BattLowVoltageWarning)
                                {
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
                                        if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                // +++++++++++++++++++++++++++++++++
                                // Sekundentakt
                if(++second == 49)
                                 {
                                   second = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                   if(ShowSettingNameTime) ShowSettingNameTime--;
#endif                             
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
                                   else timer2 = 1450; // 0,5 Minuten aufrunden
                                   if(modell_fliegt < 1024)
                                    {
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
                                         else
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
                                        }
                             if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
                                 }
                                // +++++++++++++++++++++++++++++++++
                                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[18]++;
                  if(update_spi) update_spi--;
                 } // 500Hz
         if(update_spi == 0) // 41Hz
          {
            if(SPI_StartTransmitPacket()) update_spi = 12;
                else
                if(BytegapSPI == 0)  SPI_TransmitByte();  
           }  
         else if(BytegapSPI == 0)  SPI_TransmitByte();
    }
}
//DebugOut.Analog[16] 
 
 

Rev 2482	Rev 2486
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + www.MikroKopter.com	2	// + www.MikroKopter.com
3	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	3	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4	// + Software Nutzungsbedingungen (english version: see below)	4	// + Software Nutzungsbedingungen (english version: see below)
5	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	5	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	6	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	7	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
8	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	8	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	9	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	11	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	12	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	13	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	14	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	15	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	16	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	17	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	18	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
19	// + des Mitverschuldens offen.	19	// + des Mitverschuldens offen.
20	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	20	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	21	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	22	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	23	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	24	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	25	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	26	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	27	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Software LICENSING TERMS	29	// + Software LICENSING TERMS
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	31	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware	32	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
33	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	33	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34	// + The Software may only be used with the Licensor's products.	34	// + The Software may only be used with the Licensor's products.
35	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	35	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	36	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37	// + agreement shall be the property of the Licensor.	37	// + agreement shall be the property of the Licensor.
38	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	38	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39	// + features that can be used to identify the program may not be altered or defaced by the customer.	39	// + features that can be used to identify the program may not be altered or defaced by the customer.
40	// + The customer shall be responsible for taking reasonable precautions	40	// + The customer shall be responsible for taking reasonable precautions
41	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	41	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	42	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	43	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	44	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	45	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	46	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	47	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	48	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	49	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50	// + #### END OF LICENSING TERMS ####	50	// + #### END OF LICENSING TERMS ####
51	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	51	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
52	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	52	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53	#include "main.h"	53	#include "main.h"
54	unsigned char DisableRcOffBeeping = 0;	54	unsigned char DisableRcOffBeeping = 0;
55	unsigned char PlatinenVersion = 10;	55	unsigned char PlatinenVersion = 10;
56	unsigned char BattLowVoltageWarning = 94;	56	unsigned char BattLowVoltageWarning = 94;
57	unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0;	57	unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0;
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	unsigned char FoundMotors = 0;	61	unsigned char FoundMotors = 0;
62	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box	62	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
63	unsigned char ActiveParamSet = 3;	63	unsigned char ActiveParamSet = 3;
64	unsigned char LipoCells = 4;	64	unsigned char LipoCells = 4;
65		65
66	void PrintLine(void)	66	void PrintLine(void)
67	{	67	{
68	printf("\n\r===================================");	68	printf("\n\r===================================");
69	}	69	}
70		70
71		71
72	void CalMk3Mag(void)	72	void CalMk3Mag(void)
73	{	73	{
74	static unsigned char stick = 1;	74	static unsigned char stick = 1;
75	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	75	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
76	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	76	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
77	{	77	{
78	stick = 1;	78	stick = 1;
79	WinkelOut.CalcState++;	79	WinkelOut.CalcState++;
80	if(WinkelOut.CalcState > 4)	80	if(WinkelOut.CalcState > 4)
81	{	81	{
82	// WinkelOut.CalcState = 0; // in Uart.c	82	// WinkelOut.CalcState = 0; // in Uart.c
83	beeptime = 1000;	83	beeptime = 1000;
84	}	84	}
85	else Piep(WinkelOut.CalcState,150);	85	else Piep(WinkelOut.CalcState,150);
86	}	86	}
87	}	87	}
88		88
89		89
90	void LipoDetection(unsigned char print)	90	void LipoDetection(unsigned char print)
91	{	91	{
92	#define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO	92	#define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO
93	if(print)	93	if(print)
94	{	94	{
95	printf("\n\rBatt:");	95	printf("\n\rBatt:");
96	LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;	96	LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;
97	if(LipoCells > 6) LipoCells = 6;	97	if(LipoCells > 6) LipoCells = 6;
98	}	98	}
99		99
100	if(EE_Parameter.UnterspannungsWarnung < 50)	100	if(EE_Parameter.UnterspannungsWarnung < 50)
101	{	101	{
102	BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;	102	BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;
103	if(print)	103	if(print)
104	{	104	{
105	Piep(LipoCells, 200);	105	Piep(LipoCells, 200);
106	printf(" %d Cells ", LipoCells);	106	printf(" %d Cells ", LipoCells);
107	}	107	}
108	}	108	}
109	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	109	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
110		110
111	// automatische Zellenerkennung	111	// automatische Zellenerkennung
112	if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage;	112	if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage;
113	if(EE_Parameter.ComingHomeVoltage < 50) BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage;	113	if(EE_Parameter.ComingHomeVoltage < 50) BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage;
114		114
115	if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1;	115	if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1;
116	if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1;	116	if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1;
117	if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1;	117	if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1;
118		118
119	if(print)	119	if(print)
120	{	120	{
121	printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	121	printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
122	if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);	122	if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);
123	if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);	123	if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);
124	}	124	}
125		125
126	}	126	}
127		127
128	//############################################################################	128	//############################################################################
129	//Hauptprogramm	129	//Hauptprogramm
130	int main (void)	130	int main (void)
131	//############################################################################	131	//############################################################################
132	{	132	{
133	unsigned int timer,i,timer2 = 0, timerPolling;	133	unsigned int timer,i,timer2 = 0, timerPolling;
134	unsigned char update_spi = 1;	134	unsigned char update_spi = 1;
135	DDRB = 0x00;	135	DDRB = 0x00;
136	PORTB = 0x00;	136	PORTB = 0x00;
137	DDRD = 0x0A; // UART & J3 J4 J5	137	DDRD = 0x0A; // UART & J3 J4 J5
138	PORTD = 0x5F; // PPM-Input & UART	138	PORTD = 0x5F; // PPM-Input & UART
139	for(timer = 0; timer < 1000; timer++); // verzögern	139	for(timer = 0; timer < 1000; timer++); // verzögern
140	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	140	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
141	unsigned char AccZ_ErrorCnt = 0;	141	unsigned char AccZ_ErrorCnt = 0;
142	if(PINB & 0x02)	142	if(PINB & 0x02)
143	{	143	{
144	if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND	144	if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
145	else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};	145	else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
146	}	146	}
147	else	147	else
148	{	148	{
149	PlatinenVersion = 25; ACC_AltitudeControl = 1;	149	PlatinenVersion = 25; ACC_AltitudeControl = 1;
150	}	150	}
151	#else	151	#else
152	if(PINB & 0x01)	152	if(PINB & 0x01)
153	{	153	{
154	if(PINB & 0x02) PlatinenVersion = 13;	154	if(PINB & 0x02) PlatinenVersion = 13;
155	else PlatinenVersion = 11;	155	else PlatinenVersion = 11;
156	}	156	}
157	else	157	else
158	{	158	{
159	if(PINB & 0x02) PlatinenVersion = 20;	159	if(PINB & 0x02) PlatinenVersion = 20;
160	else	160	else
161	{	161	{
162	PlatinenVersion = 10;	162	PlatinenVersion = 10;
163	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	163	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
164	PORTD = 0x47; //	164	PORTD = 0x47; //
165	}	165	}
166	}	166	}
167	#endif	167	#endif
168		168
169	DDRC = 0x81; // I2C, Spaker	169	DDRC = 0x81; // I2C, Spaker
170	DDRC \|=0x40; // HEF4017 Reset	170	DDRC \|=0x40; // HEF4017 Reset
171	PORTC = 0xff; // Pullup SDA	171	PORTC = 0xff; // Pullup SDA
172	DDRB = 0x1B; // LEDs und Druckoffset	172	DDRB = 0x1B; // LEDs und Druckoffset
173	PORTB = 0x01; // LED_Rot	173	PORTB = 0x01; // LED_Rot
174		174
175	HEF4017Reset_ON;	175	HEF4017Reset_ON;
176	MCUSR &=~(1<<WDRF);	176	MCUSR &=~(1<<WDRF);
177	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	177	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
178	WDTCSR = 0;	178	WDTCSR = 0;
179		179
180	beeptime = 2500;	180	beeptime = 2500;
181	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	181	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
182	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	182	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
183	ROT_OFF;	183	ROT_OFF;
184	GRN_ON;	184	GRN_ON;
185		185
186	Timer_Init();	186	Timer_Init();
187	TIMER2_Init();	187	TIMER2_Init();
188	UART_Init();	188	UART_Init();
189	rc_sum_init();	189	rc_sum_init();
190	ADC_Init();	190	ADC_Init();
191	I2C_Init(1);	191	I2C_Init(1);
192	SPI_MasterInit();	192	SPI_MasterInit();
193	Capacity_Init();	193	Capacity_Init();
194	LIBFC_Init(LIB_FC_COMPATIBLE);	194	LIBFC_Init(LIB_FC_COMPATIBLE);
195	GRN_ON;	195	GRN_ON;
196	sei();	196	sei();
197	ParamSet_Init();	197	ParamSet_Init();
198	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	198	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
199	if(PlatinenVersion < 20)	199	if(PlatinenVersion < 20)
200	{	200	{
201	wdt_enable(WDTO_250MS); // Reset-Commando	201	wdt_enable(WDTO_250MS); // Reset-Commando
202	while(1) printf("\n\rOld FC Hardware not supported by this Firmware!");	202	while(1) printf("\n\rOld FC Hardware not supported by this Firmware!");
203	}	203	}
204	#ifndef REDUNDANT_FC_SLAVE	204	#ifndef REDUNDANT_FC_SLAVE
205	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	205	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
206	// + Check connected BL-Ctrls	206	// + Check connected BL-Ctrls
207	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	207	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
208	// Check connected BL-Ctrls	208	// Check connected BL-Ctrls
209	BLFlags \|= BLFLAG_READ_VERSION;	209	BLFlags \|= BLFLAG_READ_VERSION;
210	motor_read = 0; // read the first I2C-Data	210	motor_read = 0; // read the first I2C-Data
211	for(i=0; i < 500; i++)	211	for(i=0; i < 500; i++)
212	{	212	{
213	SendMotorData();	213	SendMotorData();
214	timer = SetDelay(5);	214	timer = SetDelay(5);
215	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	215	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
216	}	216	}
217	printf("\n\rFound BL-Ctrl: ");	217	printf("\n\rFound BL-Ctrl: ");
218	// timer = SetDelay(1000);	218	// timer = SetDelay(1000);
219	for(i=0; i < MAX_MOTORS; i++)	219	for(i=0; i < MAX_MOTORS; i++)
220	{	220	{
221	// SendMotorData();	221	// SendMotorData();
222	// while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	222	// while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
223	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	223	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
224	{	224	{
225	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	225	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
226	{	226	{
227	SendMotorData();	227	SendMotorData();
228	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	228	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
229	}	229	}
230	}	230	}
231	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	231	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
232	{	232	{
233	unsigned char vers;	233	unsigned char vers;
234	printf("%d",(i+1)%10);	234	printf("%d",(i+1)%10);
235	FoundMotors++;	235	FoundMotors++;
236	vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04	236	vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04
237	if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers;	237	if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers;
238	// if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");	238	// if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");
239	// else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");	239	// else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");
240	// printf(":V%03d\n\r",vers);	240	// printf(":V%03d\n\r",vers);
241	}	241	}
242	}	242	}
243	for(i=0; i < MAX_MOTORS; i++)	243	for(i=0; i < MAX_MOTORS; i++)
244	{	244	{
245	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	245	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
246	{	246	{
247	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	247	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
248	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	248	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
249	}	249	}
250	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	250	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
251	}	251	}
252	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	252	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
253	if(VersionInfo.BL_Firmware != 255)	253	if(VersionInfo.BL_Firmware != 255)
254	{	254	{
255	printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100);	255	printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100);
256	if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!");	256	if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!");
257	}	257	}
258	#endif	258	#endif
259		259
260	PrintLine();// ("\n\r===================================");	260	PrintLine();// ("\n\r===================================");
261	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	261	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
262	if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;	262	if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;
263	#else	263	#else
264	printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r");	264	printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r");
265	#endif	265	#endif
266		266
267	#ifdef REDUNDANT_FC_MASTER	267	#ifdef REDUNDANT_FC_MASTER
268	printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r");	268	printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r");
269	#endif	269	#endif
270		270
271	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	271	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
272	// Calibrating altitude sensor	272	// Calibrating altitude sensor
273	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	273	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
274	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	274	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
275	{	275	{
276	printf("\n\rCalibrating pressure sensor..");	276	printf("\n\rCalibrating pressure sensor..");
277	timer = SetDelay(1000);	277	timer = SetDelay(1000);
278	SucheLuftruckOffset();	278	SucheLuftruckOffset();
279	while (!CheckDelay(timer));	279	while (!CheckDelay(timer));
280	printf("OK\n\r");	280	printf("OK\n\r");
281	}	281	}
282		282
283	#ifdef REDUNDANT_FC_SLAVE	283	#ifdef REDUNDANT_FC_SLAVE
284	VersionInfo.HardwareError[0] = 0;	284	VersionInfo.HardwareError[0] = 0;
285	VersionInfo.HardwareError[1] = 0;	285	VersionInfo.HardwareError[1] = 0;
286	#endif	286	#endif
287		287
288	SetNeutral(0);	288	SetNeutral(0);
289		289
290	ROT_OFF;	290	ROT_OFF;
291		291
292	beeptime = 2000;	292	beeptime = 2000;
293	ExternControl.Digital[0] = 0x55;	293	ExternControl.Digital[0] = 0x55;
294		294
295		295
296	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	296	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
297	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	297	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
298		298
299	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	299	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
300	{	300	{
301	FlugMinuten = 0;	301	FlugMinuten = 0;
302	FlugMinutenGesamt = 0;	302	FlugMinutenGesamt = 0;
303	}	303	}
304	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	304	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
305	LcdClear();	305	LcdClear();
306	I2CTimeout = 5000;	306	I2CTimeout = 5000;
307	WinkelOut.Orientation = 1;	307	WinkelOut.Orientation = 1;
308	LipoDetection(1);	308	LipoDetection(1);
309	LIBFC_ReceiverInit(EE_Parameter.Receiver);	309	LIBFC_ReceiverInit(EE_Parameter.Receiver);
310	PrintLine();// ("\n\r===================================");	310	PrintLine();// ("\n\r===================================");
311	//SpektrumBinding();	311	//SpektrumBinding();
312	timer = SetDelay(2000);	312	timer = SetDelay(2000);
313	timerPolling = SetDelay(250);	313	timerPolling = SetDelay(250);
314		314
315	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	315	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
316	//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);	316	//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);
317		317
318	DebugOut.Status[0] = 0x01 \| 0x02;	318	DebugOut.Status[0] = 0x01 \| 0x02;
319	JetiBeep = 0;	319	JetiBeep = 0;
320	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;	320	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
321	ReadBlSize = 3; // don't read the version any more	321	ReadBlSize = 3; // don't read the version any more
322	#ifdef REDUNDANT_FC_SLAVE	322	#ifdef REDUNDANT_FC_SLAVE
323	timer = SetDelay(2500);	323	timer = SetDelay(2500);
324	while(!CheckDelay(timer));	324	while(!CheckDelay(timer));
325	printf("\n\rStart\n\r");	325	printf("\n\rStart\n\r");
326	#endif	326	#endif
327	while(1)	327	while(1)
328	{	328	{
329	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space	329	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
330	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off	330	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
331	if(UpdateMotor && AdReady) // ReglerIntervall	331	if(UpdateMotor && AdReady) // ReglerIntervall
332	{	332	{
333	cli();	333	cli();
334	UpdateMotor--;	334	UpdateMotor--;
335	sei();	335	sei();
336	if(WinkelOut.CalcState) CalMk3Mag();	336	if(WinkelOut.CalcState) CalMk3Mag();
337	else MotorRegler();	337	else MotorRegler();
338	SendMotorData();	338	SendMotorData();
339	ROT_OFF;	339	ROT_OFF;
340	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }	340	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }
341	else	341	else
342	{	342	{
343	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	343	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
344	PPM_in[0] = 0; // set RSSI to zero on data timeout	344	PPM_in[0] = 0; // set RSSI to zero on data timeout
345	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	345	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
-		346	// Now clear the channel values - they would be wrong
-		347	PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
-		348	PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
-		349	PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
-		350	PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
-		351	PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
-		352	PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0;
346	}	353	}
347	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	354	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
348	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	355	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
349	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	356	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
350	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	357	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
351	if(!--I2CTimeout \|\| MissingMotor)	358	if(!--I2CTimeout \|\| MissingMotor)
352	{	359	{
353	if(!I2CTimeout)	360	if(!I2CTimeout)
354	{	361	{
355	I2C_Reset();	362	I2C_Reset();
356	I2CTimeout = 5;	363	I2CTimeout = 5;
357	DebugOut.Analog[28]++; // I2C-Error	364	DebugOut.Analog[28]++; // I2C-Error
358	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	365	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
359	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	366	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
360	}	367	}
361	if((BeepMuster == 0xffff) && MotorenEin)	368	if((BeepMuster == 0xffff) && MotorenEin)
362	{	369	{
363	beeptime = 25000;	370	beeptime = 25000;
364	BeepMuster = 0x0080;	371	BeepMuster = 0x0080;
365	}	372	}
366	}	373	}
367	else	374	else
368	{	375	{
369	ROT_OFF;	376	ROT_OFF;
370	}	377	}
371	LIBFC_Polling();	378	LIBFC_Polling();
372		379
373	if(!UpdateMotor)	380	if(!UpdateMotor)
374	{	381	{
375	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	382	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
376	if(NewSBusData) ProcessSBus();	383	if(NewSBusData) ProcessSBus();
377	else	384	else
378	#endif	385	#endif
379	{	386	{
380	if(BytegapSPI == 0) SPI_TransmitByte();	387	if(BytegapSPI == 0) SPI_TransmitByte();
381	if(CalculateServoSignals) CalculateServo();	388	if(CalculateServoSignals) CalculateServo();
382	DatenUebertragung();	389	DatenUebertragung();
383	BearbeiteRxDaten();	390	BearbeiteRxDaten();
384	if(CheckDelay(timer))	391	if(CheckDelay(timer))
385	{	392	{
386	static unsigned char second;	393	static unsigned char second;
387	timer += 20; // 20 ms interval	394	timer += 20; // 20 ms interval
388	CalcNickServoValue();	395	CalcNickServoValue();
389	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	396	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
390	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();	397	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
391	else	398	else
392	if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();	399	if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
393	// ++++++++++++++++++++++++++++	400	// ++++++++++++++++++++++++++++
394	// + check the ACC-Z range	401	// + check the ACC-Z range
395	if(ACC_AltitudeControl && ((Aktuell_az < 300) \|\| (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil	402	if(ACC_AltitudeControl && ((Aktuell_az < 300) \|\| (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
396	{	403	{
397	if(++AccZ_ErrorCnt > 50)	404	if(++AccZ_ErrorCnt > 50)
398	{	405	{
399	if(MotorenEin) VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP;	406	if(MotorenEin) VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP;
400	else CalibrationDone = 0;	407	else CalibrationDone = 0;
401	}	408	}
402	}	409	}
403	else AccZ_ErrorCnt = 0;	410	else AccZ_ErrorCnt = 0;
404	// ++++++++++++++++++++++++++++	411	// ++++++++++++++++++++++++++++
405	#endif	412	#endif
406	if(MissingMotor \|\| Capacity.MinOfMaxPWM < 30)	413	if(MissingMotor \|\| Capacity.MinOfMaxPWM < 30)
407	{	414	{
408	if(MissingMotor) VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	415	if(MissingMotor) VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
409	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	416	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
410	}	417	}
411	else	418	else
412	{	419	{
413	if(!beeptime)	420	if(!beeptime)
414	{	421	{
415	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	422	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
416	}	423	}
417	}	424	}
418	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};	425	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
419	if(PcZugriff) PcZugriff--;	426	if(PcZugriff) PcZugriff--;
420	else	427	else
421	{	428	{
422	ExternControl.Config = 0;	429	ExternControl.Config = 0;
423	ExternStickNick = 0;	430	ExternStickNick = 0;
424	ExternStickRoll = 0;	431	ExternStickRoll = 0;
425	ExternStickGier = 0;	432	ExternStickGier = 0;
426	if(!SenderOkay)	433	if(!SenderOkay)
427	{	434	{
428	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)	435	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
429	{	436	{
430	beeptime = 15000;	437	beeptime = 15000;
431	BeepMuster = 0x0c00;	438	BeepMuster = 0x0c00;
432	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;	439	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
433	}	440	}
434	}	441	}
435	}	442	}
436	if(NaviDataOkay > 200)	443	if(NaviDataOkay > 200)
437	{	444	{
438	NaviDataOkay--;	445	NaviDataOkay--;
439	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	446	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
440	VersionInfo.Flags \|= FC_VERSION_FLAG_NC_PRESENT;	447	VersionInfo.Flags \|= FC_VERSION_FLAG_NC_PRESENT;
441	}	448	}
442	else	449	else
443	{	450	{
444	if(NC_Version.Compatible)	451	if(NC_Version.Compatible)
445	{	452	{
446	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	453	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
447	NC_ErrorCode = 9; // "ERR: no NC communication"	454	NC_ErrorCode = 9; // "ERR: no NC communication"
448	if(BeepMuster == 0xffff && MotorenEin)	455	if(BeepMuster == 0xffff && MotorenEin)
449	{	456	{
450	beeptime = 15000;	457	beeptime = 15000;
451	BeepMuster = 0xA800;	458	BeepMuster = 0xA800;
452	}	459	}
453	}	460	}
454	GPS_Nick = 0;	461	GPS_Nick = 0;
455	GPS_Roll = 0;	462	GPS_Roll = 0;
456	GPS_Aid_StickMultiplikator = 0;	463	GPS_Aid_StickMultiplikator = 0;
457	GPSInfo.Flags = 0;	464	GPSInfo.Flags = 0;
458	FromNaviCtrl_Value.Kalman_K = -1;	465	FromNaviCtrl_Value.Kalman_K = -1;
459	FromNaviCtrl.AccErrorN = 0;	466	FromNaviCtrl.AccErrorN = 0;
460	FromNaviCtrl.AccErrorR = 0;	467	FromNaviCtrl.AccErrorR = 0;
461	FromNaviCtrl.CompassValue = -1;	468	FromNaviCtrl.CompassValue = -1;
462	FromNC_AltitudeSpeed = 0;	469	FromNC_AltitudeSpeed = 0;
463	FromNC_AltitudeSetpoint = 0;	470	FromNC_AltitudeSetpoint = 0;
464	VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;	471	VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
465	NaviDataOkay = 0;	472	NaviDataOkay = 0;
466	}	473	}
467	if(UBat <= BattLowVoltageWarning)	474	if(UBat <= BattLowVoltageWarning)
468	{	475	{
469	FC_StatusFlags \|= FC_STATUS_LOWBAT;	476	FC_StatusFlags \|= FC_STATUS_LOWBAT;
470	if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)	477	if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)
471	{	478	{
472	beeptime = 6000;	479	beeptime = 6000;
473	BeepMuster = 0x0300;	480	BeepMuster = 0x0300;
474	}	481	}
475	}	482	}
476	// +++++++++++++++++++++++++++++++++	483	// +++++++++++++++++++++++++++++++++
477	// Sekundentakt	484	// Sekundentakt
478	if(++second == 49)	485	if(++second == 49)
479	{	486	{
480	second = 0;	487	second = 0;
481	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	488	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
482	if(ShowSettingNameTime) ShowSettingNameTime--;	489	if(ShowSettingNameTime) ShowSettingNameTime--;
483	#endif	490	#endif
484	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;	491	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
485	else timer2 = 1450; // 0,5 Minuten aufrunden	492	else timer2 = 1450; // 0,5 Minuten aufrunden
486	if(modell_fliegt < 1024)	493	if(modell_fliegt < 1024)
487	{	494	{
488	if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;	495	if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
489	else	496	else
490	if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;	497	if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
491	}	498	}
492	if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	499	if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
493	}	500	}

Subversion Repositories FlightCtrl

(root)/tags/V2.18a/main.c @ 2712 - Rev 2482 → 2486