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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | killagreg | 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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683 | killagreg | 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
1 | ingob | 34 | // + for non-commercial use (directly or indirectly) |
683 | killagreg | 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 36 | // + with our written permission |
683 | killagreg | 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
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1 | ingob | 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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683 | killagreg | 50 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | killagreg | 52 | #include <avr/boot.h> |
53 | |||
54 | #include <avr/io.h> |
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55 | #include <avr/interrupt.h> |
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56 | |||
1 | ingob | 57 | #include "main.h" |
685 | killagreg | 58 | #include "timer0.h" |
59 | #include "timer2.h" |
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60 | #include "uart.h" |
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61 | #include "uart1.h" |
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62 | #include "menu.h" |
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724 | killagreg | 63 | #include "ubx.h" |
685 | killagreg | 64 | #include "fc.h" |
65 | #include "rc.h" |
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66 | #include "analog.h" |
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67 | #include "printf_P.h" |
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694 | killagreg | 68 | //#include "spi.h" |
69 | #include "mm3.h" |
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685 | killagreg | 70 | #include "twimaster.h" |
71 | #include "eeprom.h" |
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72 | #include "_Settings.h" |
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1 | ingob | 73 | |
74 | |||
687 | killagreg | 75 | |
685 | killagreg | 76 | uint8_t BoardRelease = 10; |
77 | |||
1 | ingob | 78 | |
79 | //############################################################################ |
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80 | //Hauptprogramm |
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81 | int main (void) |
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82 | //############################################################################ |
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83 | { |
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84 | unsigned int timer; |
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296 | holgerb | 85 | |
683 | killagreg | 86 | // disable interrupts global |
87 | cli(); |
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88 | |||
712 | killagreg | 89 | // get board release |
683 | killagreg | 90 | DDRB = 0x00; |
91 | PORTB = 0x00; |
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92 | for(timer = 0; timer < 1000; timer++); // make delay |
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685 | killagreg | 93 | if(PINB & 0x01) BoardRelease = 11; |
94 | else BoardRelease = 10; |
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95 | |||
712 | killagreg | 96 | // Set LED Ports as output |
97 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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98 | ROT_ON; |
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99 | GRN_OFF; |
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683 | killagreg | 100 | |
1 | ingob | 101 | MCUSR &=~(1<<WDRF); |
102 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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103 | WDTCSR = 0; |
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104 | |||
683 | killagreg | 105 | BeepTime = 2000; |
1 | ingob | 106 | |
707 | killagreg | 107 | PPM_in[CH_THRUST] = 0; |
701 | killagreg | 108 | StickYaw = 0; |
683 | killagreg | 109 | StickRoll = 0; |
701 | killagreg | 110 | StickPitch = 0; |
1 | ingob | 111 | |
112 | ROT_OFF; |
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683 | killagreg | 113 | |
712 | killagreg | 114 | // initalize modules |
683 | killagreg | 115 | TIMER0_Init(); |
116 | TIMER2_Init(); |
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117 | USART0_Init(); |
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706 | killagreg | 118 | if (BoardRelease == 11) USART1_Init(); |
712 | killagreg | 119 | RC_Init(); |
1 | ingob | 120 | ADC_Init(); |
726 | killagreg | 121 | I2C_Init(); |
122 | MM3_Init(); |
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683 | killagreg | 123 | //SPI_MasterInit(); |
124 | |||
125 | // enable interrupts global |
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1 | ingob | 126 | sei(); |
127 | |||
128 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
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129 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
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130 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
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683 | killagreg | 131 | |
685 | killagreg | 132 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
1 | ingob | 133 | printf("\n\r=============================="); |
134 | GRN_ON; |
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135 | |||
687 | killagreg | 136 | // Parameter set handling |
137 | ParamSet_Init(); |
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513 | hbuss | 138 | |
731 | killagreg | 139 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
513 | hbuss | 140 | { |
727 | killagreg | 141 | printf("\n\rACC not calibrated!"); |
513 | hbuss | 142 | } |
683 | killagreg | 143 | |
731 | killagreg | 144 | //wait for a short time (otherwise the RC channel check won't work below) |
694 | killagreg | 145 | timer = SetDelay(500); |
146 | while(!CheckDelay(timer)); |
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1 | ingob | 147 | |
694 | killagreg | 148 | //Compass calibration? |
707 | killagreg | 149 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
694 | killagreg | 150 | { |
151 | printf("\n\rCalibrating Compass"); |
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726 | killagreg | 152 | MM3_Calibrate(); |
694 | killagreg | 153 | } |
154 | |||
155 | |||
690 | killagreg | 156 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
683 | killagreg | 157 | { |
727 | killagreg | 158 | printf("\n\rCalibrating air pressure sensor.."); |
683 | killagreg | 159 | timer = SetDelay(1000); |
701 | killagreg | 160 | SearchAirPressureOffset(); |
1 | ingob | 161 | while (!CheckDelay(timer)); |
162 | printf("OK\n\r"); |
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163 | } |
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683 | killagreg | 164 | |
1 | ingob | 165 | SetNeutral(); |
166 | |||
167 | ROT_OFF; |
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168 | |||
683 | killagreg | 169 | BeepTime = 2000; |
170 | ExternControl.Digital[0] = 0x55; |
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171 | |||
172 | |||
727 | killagreg | 173 | printf("\n\rControl: "); |
687 | killagreg | 174 | if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
1 | ingob | 175 | else printf("Neutral"); |
683 | killagreg | 176 | |
1 | ingob | 177 | printf("\n\n\r"); |
683 | killagreg | 178 | |
685 | killagreg | 179 | LCD_Clear(); |
702 | killagreg | 180 | |
173 | holgerb | 181 | I2CTimeout = 5000; |
1 | ingob | 182 | while (1) |
183 | { |
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712 | killagreg | 184 | if(UpdateMotor) // control interval |
683 | killagreg | 185 | { |
694 | killagreg | 186 | //SPI_TransmitByte(); //# |
712 | killagreg | 187 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
419 | hbuss | 188 | //PORTD |= 0x08; |
712 | killagreg | 189 | MotorControl(); |
604 | hbuss | 190 | |
419 | hbuss | 191 | //PORTD &= ~0x08; |
1 | ingob | 192 | SendMotorData(); |
193 | ROT_OFF; |
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706 | killagreg | 194 | if(PcAccess) PcAccess--; |
712 | killagreg | 195 | else |
492 | hbuss | 196 | { |
683 | killagreg | 197 | DubWiseKeys[0] = 0; |
492 | hbuss | 198 | DubWiseKeys[1] = 0; |
595 | hbuss | 199 | ExternControl.Config = 0; |
701 | killagreg | 200 | ExternStickPitch= 0; |
492 | hbuss | 201 | ExternStickRoll = 0; |
701 | killagreg | 202 | ExternStickYaw = 0; |
492 | hbuss | 203 | } |
688 | killagreg | 204 | if(SenderOkay) SenderOkay--; |
205 | if(!I2CTimeout) |
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173 | holgerb | 206 | { |
207 | I2CTimeout = 5; |
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726 | killagreg | 208 | I2C_Reset(); |
701 | killagreg | 209 | if((BeepModulation == 0xFFFF) && MotorsOn) |
683 | killagreg | 210 | { |
211 | BeepTime = 10000; // 1 second |
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212 | BeepModulation = 0x0080; |
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213 | } |
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1 | ingob | 214 | } |
683 | killagreg | 215 | else |
1 | ingob | 216 | { |
173 | holgerb | 217 | I2CTimeout--; |
683 | killagreg | 218 | ROT_OFF; |
1 | ingob | 219 | } |
604 | hbuss | 220 | if(SIO_DEBUG && !UpdateMotor) |
1 | ingob | 221 | { |
222 | DatenUebertragung(); |
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223 | BearbeiteRxDaten(); |
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224 | } |
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225 | else BearbeiteRxDaten(); |
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173 | holgerb | 226 | if(CheckDelay(timer)) |
683 | killagreg | 227 | { |
690 | killagreg | 228 | if(UBat < ParamSet.LowVoltageWarning) |
683 | killagreg | 229 | { |
230 | if(BeepModulation == 0xFFFF) |
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231 | { |
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232 | BeepTime = 6000; // 0.6 seconds |
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233 | BeepModulation = 0x0300; |
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234 | } |
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173 | holgerb | 235 | } |
694 | killagreg | 236 | //SPI_StartTransmitPacket();//# |
683 | killagreg | 237 | timer = SetDelay(100); |
238 | } |
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604 | hbuss | 239 | } |
1 | ingob | 240 | } |
241 | return (1); |
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242 | } |
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243 |