Rev 1994 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1994 | Rev 1995 | ||
|---|---|---|---|
| Line 58... | Line 58... | ||
| 58 | unsigned int FlugSekunden = 0; |
58 | unsigned int FlugSekunden = 0; |
| 59 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
59 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| 60 | unsigned char FoundMotors = 0; |
60 | unsigned char FoundMotors = 0; |
| 61 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
61 | unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
| Line -... | Line 62... | ||
| - | 62 | ||
| - | 63 | static char panodelay = 0; ///martinw |
|
| - | 64 | //static char panoleddelay = 0; ///martinw |
|
| 62 | 65 | ||
| 63 | void CalMk3Mag(void) |
66 | void CalMk3Mag(void) |
| 64 | { |
67 | { |
| 65 | static unsigned char stick = 1; |
68 | static unsigned char stick = 1; |
| 66 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
69 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| Line 100... | Line 103... | ||
| 100 | Piep(cells, 200); |
103 | Piep(cells, 200); |
| 101 | printf(" %d Cells ", cells); |
104 | printf(" %d Cells ", cells); |
| 102 | } |
105 | } |
| 103 | } |
106 | } |
| 104 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
107 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| 105 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
108 | //if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| - | 109 | if(print) printf("Low Batt level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); /// Martinw; removed memorysaving |
|
| - | 110 | ||
| 106 | } |
111 | } |
| Line 107... | Line 112... | ||
| 107 | 112 | ||
| 108 | //############################################################################ |
113 | //############################################################################ |
| 109 | //Hauptprogramm |
114 | //Hauptprogramm |
| Line 151... | Line 156... | ||
| 151 | UART_Init(); |
156 | UART_Init(); |
| 152 | rc_sum_init(); |
157 | rc_sum_init(); |
| 153 | ADC_Init(); |
158 | ADC_Init(); |
| 154 | I2C_Init(1); |
159 | I2C_Init(1); |
| 155 | SPI_MasterInit(); |
160 | SPI_MasterInit(); |
| 156 | Capacity_Init(); |
- | |
| 157 | LIBFC_Init(); |
161 | LIBFC_Init(); |
| 158 | GRN_ON; |
162 | GRN_ON; |
| 159 | sei(); |
163 | sei(); |
| 160 | ParamSet_Init(); |
164 | ParamSet_Init(); |
| 161 | - | ||
| - | 165 | Capacity_Init(); //Moved by metro |
|
| Line 162... | Line 166... | ||
| 162 | 166 | ||
| 163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 164 | // + Check connected BL-Ctrls |
168 | // + Check connected BL-Ctrls |
| 165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 193... | Line 197... | ||
| 193 | } |
197 | } |
| 194 | for(i=0; i < MAX_MOTORS; i++) |
198 | for(i=0; i < MAX_MOTORS; i++) |
| 195 | { |
199 | { |
| 196 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
200 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| 197 | { |
201 | { |
| 198 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
202 | //printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| - | 203 | printf("\n\r\n\r!!MISSING BL-CTRL: %d!!",i+1);/// Martinw; removed memorysaving |
|
| 199 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
204 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| 200 | } |
205 | } |
| 201 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
206 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| 202 | } |
207 | } |
| 203 | printf("\n\r==================================="); |
208 | //printf("\n\r===================================");/// Martinw; removed memorysaving |
| - | 209 | printf("\n\r=");/// Martinw; removed memorysaving |
|
| - | 210 | ||
| Line 204... | Line 211... | ||
| 204 | 211 | ||
| Line 205... | Line 212... | ||
| 205 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
212 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| 206 | 213 | ||
| 207 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
214 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| - | 215 | { |
|
| 208 | { |
216 | //printf("\n\rCalibrating pressure sensor.."); |
| 209 | printf("\n\rCalibrating pressure sensor.."); |
217 | printf("\n\rCal. pressure sensor");/// Martinw; removed memorysaving |
| 210 | timer = SetDelay(1000); |
218 | timer = SetDelay(1000); |
| 211 | SucheLuftruckOffset(); |
219 | SucheLuftruckOffset(); |
| 212 | while (!CheckDelay(timer)); |
220 | while (!CheckDelay(timer)); |
| Line 233... | Line 241... | ||
| 233 | 241 | ||
| 234 | printf("\n\rControl: "); |
242 | printf("\n\rControl: "); |
| 235 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
243 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| Line -... | Line 244... | ||
| - | 244 | else printf("Normal (ACC-Mode)"); |
|
| - | 245 | ||
| 236 | else printf("Normal (ACC-Mode)"); |
246 | #ifdef WITH_MKTOOL_Display // MartinW; for no MKT Display main.h |
| - | 247 | #warning : "### with MKTool Display ###" |
|
| - | 248 | LcdClear(); |
|
| 237 | 249 | #endif |
|
| 238 | LcdClear(); |
250 | |
| 239 | I2CTimeout = 5000; |
251 | I2CTimeout = 5000; |
| Line 240... | Line 252... | ||
| 240 | WinkelOut.Orientation = 1; |
252 | WinkelOut.Orientation = 1; |
| Line 241... | Line 253... | ||
| 241 | LipoDetection(1); |
253 | LipoDetection(1); |
| - | 254 | ||
| 242 | 255 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
|
| 243 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
256 | |
| 244 | 257 | //printf("\n\r===================================\n\r"); |
|
| Line 245... | Line 258... | ||
| 245 | printf("\n\r===================================\n\r"); |
258 | printf("\n\r=\n\r"); /// Martinw; removed memorysaving |
| 246 | //SpektrumBinding(); |
259 | //SpektrumBinding(); |
| 247 | timer = SetDelay(2000); |
260 | timer = SetDelay(2000); |
| 248 | timerPolling = SetDelay(250); |
261 | timerPolling = SetDelay(250); |
| Line -... | Line 262... | ||
| - | 262 | ||
| - | 263 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
|
| - | 264 | DebugOut.Status[0] = 0x01 | 0x02; |
|
| - | 265 | JetiBeep = 0; |
|
| - | 266 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
|
| - | 267 | ||
| - | 268 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) ///MartinW; only for 1284er |
|
| 249 | 269 | //#warning : "### with Sponsored Message ###" |
|
| 250 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
270 | printf("\n\rJETI+ Version sponsored by Flyinghigh.ch, progammed by MartinW\n\r"); |
| 251 | DebugOut.Status[0] = 0x01 | 0x02; |
271 | #else |
| Line -... | Line 272... | ||
| - | 272 | #endif |
|
| 252 | JetiBeep = 0; |
273 | |
| 253 | if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
274 | |
| 254 | 275 | while (1) |
|
| 255 | while (1) |
276 | { |
| 256 | { |
277 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| 257 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
278 | |
| Line 305... | Line 326... | ||
| 305 | BearbeiteRxDaten(); |
326 | BearbeiteRxDaten(); |
| 306 | if(CheckDelay(timer)) |
327 | if(CheckDelay(timer)) |
| 307 | { |
328 | { |
| 308 | static unsigned char second; |
329 | static unsigned char second; |
| 309 | timer += 20; // 20 ms interval |
330 | timer += 20; // 20 ms interval |
| 310 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
331 | #if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU)) |
| - | 332 | #warning : "### with Hottmenu ###" |
|
| 311 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
333 | if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| 312 | #endif |
334 | #endif |
| 313 | if(MissingMotor) |
335 | if(MissingMotor) |
| 314 | { |
336 | { |
| 315 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
337 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| Line 396... | Line 418... | ||
| 396 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
418 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| 397 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
419 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| 398 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
420 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| 399 | } |
421 | } |
| 400 | } |
422 | } |
| - | 423 | ||
| - | 424 | #ifdef WITH_PANOTRIGGER /// MartinW main.h means no memsave |
|
| - | 425 | #warning : "### with Panorama Trigger Function ###" |
|
| - | 426 | //// Pano Trigger |
|
| - | 427 | if(Parameter_UserParam8 >= 200) //enable/disable Pano Trigger Function |
|
| - | 428 | { |
|
| - | 429 | if(Parameter_UserParam4 <=9) { Parameter_UserParam4 = 10; } |
|
| - | 430 | degreedivold = degreediv; |
|
| - | 431 | degreediv = (ErsatzKompass / GIER_GRAD_FAKTOR) / Parameter_UserParam4;//Division |
|
| - | 432 | ||
| - | 433 | if((degreediv-degreedivold)==2||(degreediv-degreedivold)==1||(degreediv-degreedivold)== -2||(degreediv-degreedivold)== -1) |
|
| - | 434 | { |
|
| - | 435 | ||
| - | 436 | if(panodelay == 0) |
|
| - | 437 | { |
|
| - | 438 | panotrigger= 1; // muss wieder geleert werden |
|
| - | 439 | ROT_ON; |
|
| - | 440 | J16_ON; |
|
| - | 441 | panodelay = Parameter_UserParam5; |
|
| - | 442 | } |
|
| - | 443 | } |
|
| - | 444 | ||
| - | 445 | else |
|
| - | 446 | { |
|
| - | 447 | if(panodelay <= Parameter_UserParam6) //ms Intervall |
|
| - | 448 | { |
|
| - | 449 | //panoleddelay = Parameter_UserParam6; |
|
| - | 450 | J16_OFF; |
|
| - | 451 | ROT_OFF; |
|
| - | 452 | } |
|
| - | 453 | if(panodelay > 0) |
|
| - | 454 | { |
|
| - | 455 | panodelay--; |
|
| - | 456 | } |
|
| - | 457 | ||
| - | 458 | } |
|
| - | 459 | }// END if(Parameter_UserParam4 >= 1) |
|
| - | 460 | //// Pano Trigger |
|
| - | 461 | ||
| - | 462 | #else |
|
| - | 463 | #warning : "### without Panorama Trigger Function ###" |
|
| - | 464 | ||
| - | 465 | #endif |
|
| - | 466 | ||
| - | 467 | ||
| - | 468 | ||
| 401 | LED_Update(); |
469 | LED_Update(); |
| 402 | Capacity_Update(); |
470 | Capacity_Update(); |
| 403 | } //else DebugOut.Analog[26]++; |
471 | } //else DebugOut.Analog[26]++; |
| 404 | } |
472 | } |
| 405 | if(!SendSPI) { SPI_TransmitByte(); } |
473 | if(!SendSPI) { SPI_TransmitByte(); } |
| 406 | } |
474 | } |
| 407 | return (1); |
475 | return (1); |
| 408 | } |
476 | } |
| 409 | //DebugOut.Analog[16] |
- | |
| - | 477 | ||