WebSVN - FlightCtrl - Diff - Rev 1603 and 1622 - /branches/V0.80f_ACC-HH

 unsigned char BattLowVoltageWarning = 94;
 unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
 unsigned int FlugSekunden = 0;
 pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
-// -- Parametersatz aus EEPROM lesen ---
-// number [1..5]
-void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
-{
-   if((number > 5)||(number < 1)) number = 3;
-   eeprom_read_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
-   LED_Init();
-}
-// -- Parametersatz ins EEPROM schreiben ---
-// number [1..5]
-void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
-{
-   if(number > 5) number = 5;
-   if(number < 1) return;
-   eeprom_write_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
-   eeprom_write_byte((unsigned char*)(EEPROM_ADR_PARAM_LENGTH), length); // Länge der Datensätze merken
-   eeprom_write_block(buffer, (void*)(EEPROM_ADR_CHANNELS), 12); // 12 Kanäle merken
-   SetActiveParamSetNumber(number);
-   LED_Init();
-}
-unsigned char GetActiveParamSetNumber(void)
-{
-        unsigned char set;
-        set = eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET));
-        if((set > 5) || (set < 1))
-        {
-                set = 3;
-                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
-        }
-        return(set);
-}
-void SetActiveParamSetNumber(unsigned char number)
-{
-        if(number > 5) number = 5;
-        if(number < 1) return;
-        eeprom_write_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET), number);                             // diesen Parametersatz als aktuell merken
-}
 void CalMk3Mag(void)
 //Hauptprogramm
 int main (void)
 //############################################################################
+{
         unsigned int timer,i,timer2 = 0, timerPolling;
-        unsigned char RequiredMotors = 0;
     DDRB  = 0x00;
     PORTB = 0x00;
     for(timer = 0; timer < 1000; timer++); // verzögern
         SPI_MasterInit();
         Capacity_Init();
         LIBFC_Init();
         GRN_ON;
     sei();
-        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
+        ParamSet_Init();
-    if((eeprom_read_byte((unsigned char*)(EEPROM_ADR_MIXER_TABLE)) == MIXER_REVISION) && // Check Revision in the first Byte
-       (eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != 0xff))                   // Settings reset via Koptertool
-        {
-     unsigned char i;
-     eeprom_read_block(&Mixer, (unsigned char*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
-     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
-        }
-        else // default
-        {
-     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[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.Revision = MIXER_REVISION;
-     memcpy(Mixer.Name, "Quadro\0", 11);
-     eeprom_write_block(&Mixer, (void*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
-    }
     printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Check connected BL-Ctrls
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
         printf("\n\rFound BL-Ctrl: ");
     timer = SetDelay(4000);
         for(i=0; i < MAX_MOTORS; i++)
-         {
+        {
-          UpdateMotor = 0;
+                UpdateMotor = 0;
-      SendMotorData();
+                SendMotorData();
-          while(!UpdateMotor);
+                while(!UpdateMotor);
-      if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
+                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) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
+                        while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
+                }
-          if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
-     }
-        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 = 1; // just in case the FC would be used as camera-stabilizer
-           }
-          Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
-     }
-        printf("\n\r===================================");
-    SendMotorData();
-//printf("\n size: %u",STRUCT_PARAM_LAENGE);
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Check Settings
+                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != EE_DATENREVISION)
-        {
-          DefaultKonstanten1();
-          printf("\n\rInit. EEPROM");
-          for (unsigned char i=1;i<6;i++)
+        }
-      {
-       if(i==2) DefaultKonstanten2(); // Kamera
-       if(i==3) DefaultKonstanten3(); // Beginner
+        for(i=0; i < MAX_MOTORS; i++)
-       if(i>3)  DefaultKonstanten2(); // Kamera
-           if(PlatinenVersion >= 20)
-            {
-                 EE_Parameter.Gyro_D = 5;
+        {
-                 EE_Parameter.Driftkomp = 0;
+                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
                  EE_Parameter.GyroAccFaktor = 27;
-         EE_Parameter.WinkelUmschlagNick = 78;
-         EE_Parameter.WinkelUmschlagRoll = 78;
+                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
-                }
-    // valid Stick-Settings?
-           if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3)) < 12)
-            {
-         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+0));
-         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1));
-         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2));
-         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3));
-         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+4));
-         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+5));
-         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+6));
-         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+7));
-         if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8)) < 0xFF)
-                  {
-                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8));
-           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+9));
-           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+10));
-           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+11));
-                  }
-                  else
-                  {
-           EE_Parameter.Kanalbelegung[K_POTI5] = 9;
-           EE_Parameter.Kanalbelegung[K_POTI6] = 10;
-           EE_Parameter.Kanalbelegung[K_POTI7] = 11;
-           EE_Parameter.Kanalbelegung[K_POTI8] = 12;
-                  }
-         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
-                } else DefaultStickMapping();
-       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
                         ServoActive = 1; // just in case the FC would be used as camera-stabilizer
-          SetActiveParamSetNumber(3); // default-Setting
-          eeprom_write_byte((unsigned char*)(EEPROM_ADR_VALID), EE_DATENREVISION);
-        }
+                }
-    FlugMinuten = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1));
-    FlugMinutenGesamt = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES+1));
+                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
-    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
-         {
-          FlugMinuten = 0;
-          FlugMinutenGesamt = 0;
-         }
-    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
-    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACC_NICK)) > 4)
-     {
-       printf("\n\rACC not calibrated !");
-     }
         ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
-    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
+        printf("\n\r===================================");
+    SendMotorData();
         //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
-         {
+        {
-           printf("\n\rCalibrating pressure sensor..");
+                printf("\n\rCalibrating pressure sensor..");
-           timer = SetDelay(1000);
+                timer = SetDelay(1000);
-       SucheLuftruckOffset();
+                SucheLuftruckOffset();
-           while (!CheckDelay(timer));
+                while (!CheckDelay(timer));
-       printf("OK\n\r");
+                printf("OK\n\r");
+        }
+        SetNeutral(0);
+        ROT_OFF;
+    beeptime = 2000;
+    ExternControl.Digital[0] = 0x55;
+        FlugMinuten = GetParamWord(PID_FLIGHT_MINUTES);
+        FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL);
-        SetNeutral();
+        if( (FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF) )
+        {
-        ROT_OFF;
+                FlugMinuten = 0;
     LipoDetection(1);
         LIBFC_ReceiverInit();
         printf("\n\r===================================\n\r");
-//SpektrumBinding();
+        //SpektrumBinding();
     timer = SetDelay(2000);
         timerPolling = SetDelay(250);
                                 if(++timer2 == 2930)  // eine Minute
+                                 {
                                    timer2 = 0;
                    FlugMinuten++;
                        FlugMinutenGesamt++;
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2),FlugMinuten / 256);
+                       SetParamWord(PID_FLIGHT_MINUTES_TOTAL, FlugMinutenGesamt);
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1),FlugMinuten % 256);
+                                   SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES),FlugMinutenGesamt / 256);
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES+1),FlugMinutenGesamt % 256);
                                    timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
+                             }
+                        }
            LED_Update();
            Capacity_Update();

Subversion Repositories FlightCtrl

(root)/branches/V0.80f_ACC-HH_MartinR/main.c @ 2340 - Rev 1603 → 1622