Rev 774 | Rev 782 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 774 | Rev 780 | ||
|---|---|---|---|
| Line 89... | Line 89... | ||
| 89 | 89 | ||
| 90 | #ifdef FOLLOW_ME |
90 | #ifdef FOLLOW_ME |
| 91 | u8 TransmitAlsoToFC = 0; |
91 | u8 TransmitAlsoToFC = 0; |
| 92 | #endif |
92 | #endif |
| - | 93 | u32 TimerCheckError; |
|
| 93 | u32 TimerCheckError; |
94 | u32 TimerSecond; |
| 94 | u8 ErrorCode = 0; |
95 | u8 ErrorCode = 0; |
| 95 | u16 BeepTime; |
96 | u16 BeepTime; |
| 96 | u8 NCFlags = 0; |
97 | u8 NCFlags = 0; |
| 97 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
98 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
| Line 114... | Line 115... | ||
| 114 | u8 OEM_String[OEM_NAME_LENGHT+1] = {0xff,' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',0x00}; |
115 | u8 OEM_String[OEM_NAME_LENGHT+1] = {0xff,' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',' ',0x00}; |
| 115 | u32 TimeSinceMotorStart = 0; |
116 | u32 TimeSinceMotorStart = 0; |
| 116 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
117 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
| 117 | u16 ToFC_Parachute_Off; |
118 | u16 ToFC_Parachute_Off; |
| 118 | u8 IO1_Function = 0; |
119 | u8 IO1_Function = 0; |
| - | 120 | s16 LuftdruckTemperaturKompensation = 0, LuftdruckTemperaturOffset = 0; |
|
| - | 121 | u8 BaroCalState = 0; |
|
| Line 119... | Line 122... | ||
| 119 | 122 | ||
| 120 | //---------------------------------------------------------------------------------------------------- |
123 | //---------------------------------------------------------------------------------------------------- |
| 121 | void SCU_Config(void) |
124 | void SCU_Config(void) |
| 122 | { |
125 | { |
| Line 575... | Line 578... | ||
| 575 | CountNewGpsDataIn5Sec = 25; |
578 | CountNewGpsDataIn5Sec = 25; |
| 576 | CountGpsProcessedIn5Sec = 0; |
579 | CountGpsProcessedIn5Sec = 0; |
| 577 | TimerCheckError = SetDelay(1000); |
580 | TimerCheckError = SetDelay(1000); |
| 578 | } |
581 | } |
| Line -... | Line 582... | ||
| - | 582 | ||
| - | 583 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 584 | // + Baro Temperature offset |
|
| - | 585 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 586 | if(!BaroCalState && LuftdruckTemperaturKompensation) |
|
| - | 587 | { |
|
| - | 588 | LuftdruckTemperaturOffset = (31 * (s32)LuftdruckTemperaturOffset + ((FC_Temperatur_raw - FC_StartTemperature*10) * LuftdruckTemperaturKompensation) / 100) / 32; |
|
| - | 589 | } |
|
| - | 590 | /* |
|
| - | 591 | DebugOut.Analog[] = FC_Temperatur_raw/10; |
|
| - | 592 | DebugOut.Analog[] = FC_Temperatur; |
|
| - | 593 | DebugOut.Analog[] = NaviData.Altimeter_5cm * 5; |
|
| - | 594 | DebugOut.Analog[] = LuftdruckTemperaturOffset; |
|
| - | 595 | */ |
|
| - | 596 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 597 | // + one second timer |
|
| - | 598 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 599 | if(CheckDelay(TimerSecond)) // one second Timer |
|
| - | 600 | { |
|
| - | 601 | TimerSecond += 1000; |
|
| - | 602 | ||
| - | 603 | if(FC.StatusFlags & FC_STATUS_FLY) |
|
| - | 604 | { |
|
| - | 605 | NaviData.FlyingTime++; // we want to count the battery-time |
|
| - | 606 | TimeSinceMotorStart++; |
|
| - | 607 | } |
|
| - | 608 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 609 | // + FC 3.0 Temperature |
|
| - | 610 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 611 | if(UART_VersionInfo.HWMajor >= 30) |
|
| - | 612 | { |
|
| - | 613 | if(FC_Temperatur == -1000 && FC_Temperatur_raw != -10000) // init |
|
| - | 614 | { |
|
| - | 615 | FC_Temperatur = FC_Temperatur_raw/10; |
|
| - | 616 | FC_StartTemperature = FC_Temperatur; |
|
| - | 617 | } |
|
| - | 618 | else |
|
| - | 619 | if(FC_Temperatur > FC_Temperatur_raw/10) FC_Temperatur--; |
|
| - | 620 | else |
|
| - | 621 | if(FC_Temperatur < FC_Temperatur_raw/10) FC_Temperatur++; |
|
| - | 622 | } |
|
| - | 623 | } |
|
| - | 624 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 625 | ||
| 579 | 626 | ||
| 580 | // ---------------- Error Check Timing ---------------------------- |
627 | // ---------------- Error Check Timing ---------------------------- |
| 581 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
628 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| 582 | { |
629 | { |
| 583 | if(CheckDelay(TimerCheckError)) |
630 | if(CheckDelay(TimerCheckError)) |
| Line 603... | Line 650... | ||
| 603 | oldFcFlags = FC.StatusFlags; |
650 | oldFcFlags = FC.StatusFlags; |
| 604 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
651 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| Line 605... | Line 652... | ||
| 605 | 652 | ||
| Line 606... | Line -... | ||
| 606 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
- | |
| 607 | - | ||
| 608 | if(FC.StatusFlags & FC_STATUS_FLY) |
- | |
| 609 | { |
- | |
| 610 | NaviData.FlyingTime++; // we want to count the battery-time |
- | |
| 611 | TimeSinceMotorStart++; |
- | |
| 612 | } |
653 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
| 613 | 654 | ||
| 614 | if(EE_Parameter.Revision == 0) RequestConfigFromFC = 1; |
655 | if(EE_Parameter.Revision == 0) RequestConfigFromFC = 1; |
| 615 | if(SerialLinkOkay) SerialLinkOkay--; |
656 | if(SerialLinkOkay) SerialLinkOkay--; |
| 616 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
657 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
| Line 691... | Line 732... | ||
| 691 | Logging_Init(); |
732 | Logging_Init(); |
| Line 692... | Line 733... | ||
| 692 | 733 | ||
| 693 | //UART_VersionInfo.HWMajor = 30; |
734 | //UART_VersionInfo.HWMajor = 30; |
| 694 | LED_GRN_ON; |
735 | LED_GRN_ON; |
| - | 736 | TimerCheckError = SetDelay(3000); |
|
| 695 | TimerCheckError = SetDelay(3000); |
737 | TimerSecond = SetDelay(3500); |
| 696 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
738 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| Line 697... | Line 739... | ||
| 697 | UART1_PutString("\r\n Version information:"); |
739 | UART1_PutString("\r\n Version information:"); |
| 698 | 740 | ||
| Line 748... | Line 790... | ||
| 748 | // Intilizes the Canbus |
790 | // Intilizes the Canbus |
| 749 | if(UART_VersionInfo.HWMajor >= 30) |
791 | if(UART_VersionInfo.HWMajor >= 30) |
| 750 | { |
792 | { |
| 751 | EXT2_Init(); // External Output EXT2 |
793 | EXT2_Init(); // External Output EXT2 |
| 752 | CanbusInit(); |
794 | CanbusInit(); |
| - | 795 | ReadBaroCalibrationfromEEprom(); |
|
| 753 | } |
796 | } |
| 754 | if(FromCamCtrl.CamStatus) |
797 | if(FromCamCtrl.CamStatus) |
| 755 | { |
798 | { |
| 756 | u8 msg[30]; |
799 | u8 msg[30]; |
| 757 | sprintf(msg, " CamCtrl found V%i.%02i \r\n",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
800 | sprintf(msg, " CamCtrl found V%i.%02i \r\n",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
| 758 | UART1_PutString(msg); |
801 | UART1_PutString(msg); |
| 759 | } |
802 | } |
| 760 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No CamCtrl connected \r\n"); |
803 | else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No CamCtrl connected \r\n"); |
| - | 804 | ||
| 761 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
805 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 762 | for (;;) // the endless main loop |
806 | for (;;) // the endless main loop |
| 763 | { |
807 | { |
| 764 | PollingTimeout = 5; |
808 | PollingTimeout = 5; |
| 765 | Polling(); |
809 | Polling(); |