WebSVN - FlightCtrl - Diff - Rev 1210 and 1211 - /branches/V0.76g_ACC-HH

 //############################################################################
 //Hauptprogramm
 int main (void)
 //############################################################################
+{
-        unsigned int timer;
+        unsigned int timer,i;
     DDRB  = 0x00;
     PORTB = 0x00;
     for(timer = 0; timer < 1000; timer++); // verzögern
     if(PINB & 0x01)
+     {
         i2c_init();
         SPI_MasterInit();
+        sei();
         sei();
         printf("\n\r===================================");
         printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
     if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
+     {
       Uart1Init();
+     }
         GRN_ON;
         ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
-    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_REVISION]) == EE_MIXER_REVISION)
+    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) // Check Revision in the first Byte
+        {
      unsigned char i;
          RequiredMotors = 0;
      eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
      for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
+        }
+        else // default
         else // default
      unsigned char i;
-     unsigned char i;
+         printf("\n\rGenerating default Mixer Table");
          for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
      // default = Quadro
      Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
+     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
-     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
+     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
-     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
+     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
-     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
-     memcpy(Mixer.Name, "Quadro\0", 11);
+         Mixer.Revision = MIXER_REVISION;
-     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
+     memcpy(Mixer.Name, "Quadro\0", 11);
+     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
+    }
+    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Check connected BL-Ctrls
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        printf("\n\rFound BL-Ctrl: ");
+    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
+        for(i=0; i < MAX_MOTORS; i++)
+         {
+          UpdateMotor = 0;
+      SendMotorData();
+          while(!UpdateMotor);
+          if(MotorPresent[i]) printf("%d ",i+1);
+     }
+        for(i=0; i < MAX_MOTORS; i++)
+         {
-     eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_REVISION],EE_MIXER_REVISION); // Länge der Datensätze merken
+          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
+          MotorError[i] = 0;
+     }
+        printf("\n\r===================================");
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
+// + Check Settings
-        printf("\n\r==============================");
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
+        {
           eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
+        }
     if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
      {
-       printf("\n\rACC nicht abgeglichen!");
+       printf("\n\rACC not calibrated !");
+     }
         ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
-    printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
+    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
         if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
+         {
-           printf("\n\rAbgleich Luftdrucksensor..");
+           printf("\n\rCalibrating pressure sensor..");
            timer = SetDelay(1000);
     beeptime = 2000;
     ExternControl.Digital[0] = 0x55;
-        printf("\n\rSteuerung: ");
+        printf("\n\rControl: ");
         if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
-        else printf("Neutral");
+        else printf("Normal (ACC-Mode)");
-        printf("\n\n\r");
+        printf("\n\r===================================\n\r");

Subversion Repositories FlightCtrl

(root)/branches/V0.76g_ACC-HH_MartinR/main.c @ 1883 - Rev 1210 → 1211