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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char DisableRcOffBeeping
= 0;
unsigned char PlatinenVersion
= 10;
unsigned char BattLowVoltageWarning
= 94;
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
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);
}
DebugOut.
Analog[19] = WinkelOut.
CalcState;
}
void LipoDetection
(unsigned char print
)
{
#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
unsigned int timer
, cells
;
if(print
) printf("\n\rBatt:");
if(EE_Parameter.
UnterspannungsWarnung < 50) // automatische Zellenerkennung
{
timer
= SetDelay
(500);
if(print
) while (!CheckDelay
(timer
));
// up to 6s LiPo, less than 2s is technical impossible
for(cells
= 2; cells
< 7; cells
++)
{
if(UBat
< cells
* MAX_CELL_VOLTAGE
) break;
}
BattLowVoltageWarning
= cells
* EE_Parameter.
UnterspannungsWarnung;
if(print
)
{
Piep
(cells
, 200);
printf(" %d Cells ", cells
);
}
}
else BattLowVoltageWarning
= EE_Parameter.
UnterspannungsWarnung;
if(print
) printf(" Low warning level: %d.%d",BattLowVoltageWarning
/10,BattLowVoltageWarning
%10);
}
//############################################################################
//Hauptprogramm
int main
(void)
//############################################################################
{
unsigned int timer
,i
,timer2
= 0, timerPolling
;
DDRB
= 0x00;
PORTB
= 0x00;
for(timer
= 0; timer
< 1000; timer
++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
PlatinenVersion
= 21;
#else
if(PINB
& 0x01)
{
if(PINB
& 0x02) PlatinenVersion
= 13;
else PlatinenVersion
= 11;
}
else
{
if(PINB
& 0x02) PlatinenVersion
= 20;
else PlatinenVersion
= 10;
}
#endif
DDRC
= 0x81; // SCL
DDRC
|=0x40; // HEF4017 Reset
PORTC
= 0xff; // Pullup SDA
DDRB
= 0x1B; // LEDs und Druckoffset
PORTB
= 0x01; // LED_Rot
DDRD
= 0x3E; // Speaker & TXD & J3 J4 J5
PORTD
= 0x47; // LED
HEF4017R_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
;
Timer_Init
();
TIMER2_Init
();
UART_Init
();
rc_sum_init
();
ADC_Init
();
I2C_Init
(1);
SPI_MasterInit
();
Capacity_Init
();
LIBFC_Init
();
GRN_ON
;
sei
();
ParamSet_Init
();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Check connected BL-Ctrls
BLFlags
|= BLFLAG_READ_VERSION
;
motor_read
= 0; // read the first I2C-Data
SendMotorData
();
timer
= SetDelay
(500);
while(!(BLFlags
& BLFLAG_TX_COMPLETE
) && !CheckDelay
(timer
)); //wait for complete transfer
printf("\n\rFound BL-Ctrl: ");
timer
= SetDelay
(4000);
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
)
{
printf("%d",i
+1);
FoundMotors
++;
// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
}
}
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
}
printf("\n\r===================================");
if(RequiredMotors
< FoundMotors
) VersionInfo.
HardwareError[1] |= FC_ERROR1_MIXER
;
//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
printf("\n\rCalibrating pressure sensor..");
timer
= SetDelay
(1000);
SucheLuftruckOffset
();
while (!CheckDelay
(timer
));
printf("OK\n\r");
}
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
);
printf("\n\rControl: ");
if (EE_Parameter.
GlobalConfig & CFG_HEADING_HOLD
) printf("HeadingHold");
else printf("Normal (ACC-Mode)");
LcdClear
();
I2CTimeout
= 5000;
WinkelOut.
Orientation = 1;
LipoDetection
(1);
LIBFC_ReceiverInit
(EE_Parameter.
Receiver);
printf("\n\r===================================\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
DebugOut.
Status[0] = 0x01 | 0x02;
JetiBeep
= 0;
if(EE_Parameter.
ExtraConfig & CFG_NO_RCOFF_BEEPING
) DisableRcOffBeeping
= 1;
while (1)
{
if(ReceiverUpdateModeActive
) while (1) PORTC
&= ~
(1<<7); // Beeper off
//GRN_ON;
if(UpdateMotor
&& AdReady
) // ReglerIntervall
{
//GRN_OFF;
UpdateMotor
=0;
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
;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//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(CalculateServoSignals
) CalculateServo
();
DatenUebertragung
();
BearbeiteRxDaten
();
if(CheckDelay
(timer
))
{
static unsigned char second
;
timer
+= 20; // 20 ms interval
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(EE_Parameter.
Receiver == RECEIVER_HOTT
) HoTT_Menu
();
#endif
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(SenderOkay
&& DisableRcOffBeeping
) { 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
;
}
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.
AccErrorN = 0;
FromNaviCtrl.
AccErrorR = 0;
FromNaviCtrl.
CompassValue = -1;
NaviDataOkay
= 0;
}
if(UBat
< BattLowVoltageWarning
)
{
FC_StatusFlags
|= FC_STATUS_LOWBAT
;
if(BeepMuster
== 0xffff)
{
beeptime
= 6000;
BeepMuster
= 0x0300;
}
}
else if(!beeptime
) FC_StatusFlags
&= ~FC_STATUS_LOWBAT
;
SPI_StartTransmitPacket
();
SendSPI
= 4;
// +++++++++++++++++++++++++++++++++
// Sekundentakt
if(++second
== 49)
{
second
= 0;
if(FC_StatusFlags
& FC_STATUS_FLY
) FlugSekunden
++;
else
{
timer2
= 1450; // 0,5 Minuten aufrunden
if(StartLuftdruck
< Luftdruck
) StartLuftdruck
++;
else
if(StartLuftdruck
> Luftdruck
) StartLuftdruck
--;
}
}
// +++++++++++++++++++++++++++++++++
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[26]++;
}
if(!SendSPI
) { SPI_TransmitByte
(); }
}
return (1);
}
//DebugOut.Analog[16]