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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 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.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 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
32
// +     from this software without specific prior written permission.
1051 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)
1051 killagreg 35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 36
// +     with our written permission
1051 killagreg 37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
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"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52
#include "main.h"
53
 
54
unsigned char EEPromArray[E2END+1] EEMEM;
173 holgerb 55
unsigned char PlatinenVersion = 10;
723 hbuss 56
unsigned char SendVersionToNavi = 1;
1 ingob 57
// -- Parametersatz aus EEPROM lesen ---
1051 killagreg 58
// number [1..5]
1 ingob 59
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
60
{
993 hbuss 61
   if((number > 5)||(number < 1)) number = 3;
1063 killagreg 62
   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
921 hbuss 63
   LED_Init();
1 ingob 64
}
65
 
66
// -- Parametersatz ins EEPROM schreiben ---
1051 killagreg 67
// number [1..5]
1 ingob 68
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
69
{
1051 killagreg 70
   if(number > 5) number = 5;
993 hbuss 71
   if(number < 1) return;
1063 killagreg 72
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
1171 hbuss 73
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
74
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
1063 killagreg 75
   SetActiveParamSetNumber(number);
921 hbuss 76
   LED_Init();
1 ingob 77
}
78
 
79
unsigned char GetActiveParamSetNumber(void)
80
{
1063 killagreg 81
        unsigned char set;
82
        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
83
        if((set > 5) || (set < 1))
84
        {
85
                set = 3;
86
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
87
        }
88
        return(set);
1 ingob 89
}
90
 
1063 killagreg 91
 
92
void SetActiveParamSetNumber(unsigned char number)
93
{
94
        if(number > 5) number = 5;
95
        if(number < 1) return;
96
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
97
}
98
 
99
 
819 hbuss 100
void CalMk3Mag(void)
101
{
102
 static unsigned char stick = 1;
103
 
104
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
105
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
106
  {
107
   stick = 1;
108
   WinkelOut.CalcState++;
1051 killagreg 109
   if(WinkelOut.CalcState > 4)
110
    {
819 hbuss 111
//     WinkelOut.CalcState = 0; // in Uart.c
112
     beeptime = 1000;
1051 killagreg 113
    }
819 hbuss 114
   else Piep(WinkelOut.CalcState);
115
  }
116
  DebugOut.Analog[19] = WinkelOut.CalcState;
117
}
118
 
1 ingob 119
//############################################################################
120
//Hauptprogramm
121
int main (void)
122
//############################################################################
123
{
1211 hbuss 124
        unsigned int timer,i;
1051 killagreg 125
    DDRB  = 0x00;
126
    PORTB = 0x00;
188 holgerb 127
    for(timer = 0; timer < 1000; timer++); // verzögern
1051 killagreg 128
    if(PINB & 0x01)
918 hbuss 129
     {
1051 killagreg 130
      if(PINB & 0x02) PlatinenVersion = 13;
131
       else           PlatinenVersion = 11;
918 hbuss 132
     }
1051 killagreg 133
    else
1021 hbuss 134
     {
1051 killagreg 135
      if(PINB & 0x02) PlatinenVersion = 20;
136
       else           PlatinenVersion = 10;
1021 hbuss 137
     }
138
 
173 holgerb 139
    DDRC  = 0x81; // SCL
1036 hbuss 140
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 141
    PORTC = 0xff; // Pullup SDA
142
    DDRB  = 0x1B; // LEDs und Druckoffset
143
    PORTB = 0x01; // LED_Rot
144
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1036 hbuss 145
    DDRD  |=0x80; // J7 -> Servo signal
1153 hbuss 146
        PORTD = 0x47; // LED
1171 hbuss 147
    HEF4017R_ON;
1 ingob 148
    MCUSR &=~(1<<WDRF);
149
    WDTCSR |= (1<<WDCE)|(1<<WDE);
150
    WDTCSR = 0;
151
 
152
    beeptime = 2000;
153
 
154
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
1111 hbuss 155
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 156
    ROT_OFF;
1051 killagreg 157
 
1 ingob 158
    Timer_Init();
1156 hbuss 159
        TIMER2_Init();
1 ingob 160
        UART_Init();
161
    rc_sum_init();
162
        ADC_Init();
163
        i2c_init();
597 ingob 164
        SPI_MasterInit();
1051 killagreg 165
 
1 ingob 166
        sei();
167
 
1211 hbuss 168
        printf("\n\r===================================");
1051 killagreg 169
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
1172 hbuss 170
    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
171
     {
172
      Uart1Init();
173
     }
1 ingob 174
        GRN_ON;
1063 killagreg 175
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
1051 killagreg 176
 
1212 hbuss 177
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
178
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
1209 hbuss 179
        {
180
     unsigned char i;    
181
         RequiredMotors = 0;
182
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
183
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
184
        }
185
        else // default
186
        {
187
     unsigned char i;    
1211 hbuss 188
         printf("\n\rGenerating default Mixer Table");
1209 hbuss 189
         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;};
190
     // default = Quadro
191
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
192
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
193
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
194
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
1211 hbuss 195
         Mixer.Revision = MIXER_REVISION;
1209 hbuss 196
     memcpy(Mixer.Name, "Quadro\0", 11);  
197
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
198
    }
199
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
1211 hbuss 200
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
201
// + Check connected BL-Ctrls
202
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
203
        printf("\n\rFound BL-Ctrl: ");
204
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
205
        for(i=0; i < MAX_MOTORS; i++)
206
         {
207
          UpdateMotor = 0;
208
      SendMotorData();
209
          while(!UpdateMotor);
210
          if(MotorPresent[i]) printf("%d ",i+1);
211
     }
212
        for(i=0; i < MAX_MOTORS; i++)
213
         {
214
          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
215
          MotorError[i] = 0;
216
     }
217
        printf("\n\r===================================");
218
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
219
// + Check Settings
220
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 221
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
222
        {
1 ingob 223
          DefaultKonstanten1();
1171 hbuss 224
          printf("\n\rInit. EEPROM");
1051 killagreg 225
          for (unsigned char i=1;i<6;i++)
1 ingob 226
      {
395 hbuss 227
       if(i==2) DefaultKonstanten2(); // Kamera
228
       if(i==3) DefaultKonstanten3(); // Beginner
229
       if(i>3)  DefaultKonstanten2(); // Kamera
1111 hbuss 230
           if(PlatinenVersion >= 20)
231
            {
1167 hbuss 232
                 EE_Parameter.Gyro_D = 5;
1111 hbuss 233
                 EE_Parameter.Driftkomp = 0;
234
                 EE_Parameter.GyroAccFaktor = 27;
235
         EE_Parameter.WinkelUmschlagNick = 78;
236
         EE_Parameter.WinkelUmschlagRoll = 78;
237
                }
1171 hbuss 238
    // valid Stick-Settings?
239
           if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
240
            {
241
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
242
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
243
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
244
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
245
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
246
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
247
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
248
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
249
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
250
                } else DefaultStickMapping();
1 ingob 251
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1051 killagreg 252
      }
1063 killagreg 253
          SetActiveParamSetNumber(3); // default-Setting
173 holgerb 254
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
1 ingob 255
        }
513 hbuss 256
 
1051 killagreg 257
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 258
     {
1211 hbuss 259
       printf("\n\rACC not calibrated !");
513 hbuss 260
     }
1051 killagreg 261
 
1 ingob 262
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1211 hbuss 263
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
1 ingob 264
 
1051 killagreg 265
 
1 ingob 266
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 267
         {
1211 hbuss 268
           printf("\n\rCalibrating pressure sensor..");
1051 killagreg 269
           timer = SetDelay(1000);
1 ingob 270
       SucheLuftruckOffset();
271
           while (!CheckDelay(timer));
272
       printf("OK\n\r");
273
        }
1051 killagreg 274
 
1 ingob 275
        SetNeutral();
276
 
277
        ROT_OFF;
1051 killagreg 278
 
1 ingob 279
    beeptime = 2000;
1051 killagreg 280
    ExternControl.Digital[0] = 0x55;
1 ingob 281
 
1051 killagreg 282
 
1211 hbuss 283
        printf("\n\rControl: ");
1 ingob 284
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1211 hbuss 285
        else printf("Normal (ACC-Mode)");
1051 killagreg 286
 
1211 hbuss 287
        printf("\n\r===================================\n\r");
1051 killagreg 288
 
1 ingob 289
    LcdClear();
173 holgerb 290
    I2CTimeout = 5000;
819 hbuss 291
    WinkelOut.Orientation = 1;
1 ingob 292
        while (1)
293
        {
1155 hbuss 294
            if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 295
            {
1171 hbuss 296
                    UpdateMotor=0;
819 hbuss 297
            if(WinkelOut.CalcState) CalMk3Mag();
1051 killagreg 298
            else MotorRegler();
1 ingob 299
            SendMotorData();
300
            ROT_OFF;
1051 killagreg 301
            if(PcZugriff) PcZugriff--;
302
             else
492 hbuss 303
              {
595 hbuss 304
                           ExternControl.Config = 0;
492 hbuss 305
               ExternStickNick = 0;
306
               ExternStickRoll = 0;
307
               ExternStickGier = 0;
308
              }
1 ingob 309
            if(SenderOkay)  SenderOkay--;
1215 hbuss 310
 
311
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
312
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
313
 
314
            if(NaviDataOkay)
315
                         {
316
                          if(--NaviDataOkay == 0)
317
                           {
318
                    GPS_Nick = 0;
319
                GPS_Roll = 0;
320
               }
321
              }
1210 hbuss 322
            if(!--I2CTimeout || MissingMotor)
173 holgerb 323
                {
1210 hbuss 324
                  if(!I2CTimeout)
325
                                   {
326
                                    i2c_reset();
327
                    I2CTimeout = 5;
328
                                        }
1051 killagreg 329
                  if((BeepMuster == 0xffff) && MotorenEin)
330
                   {
173 holgerb 331
                    beeptime = 10000;
332
                    BeepMuster = 0x0080;
1051 killagreg 333
                   }
1 ingob 334
                }
1051 killagreg 335
            else
1 ingob 336
                {
1051 killagreg 337
                 ROT_OFF;
1 ingob 338
                }
805 hbuss 339
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
1 ingob 340
              {
341
               DatenUebertragung();
342
               BearbeiteRxDaten();
343
              }
344
              else BearbeiteRxDaten();
173 holgerb 345
         if(CheckDelay(timer))
1051 killagreg 346
            {
173 holgerb 347
            if(UBat < EE_Parameter.UnterspannungsWarnung)
1051 killagreg 348
                {
349
                  if(BeepMuster == 0xffff)
350
                   {
173 holgerb 351
                    beeptime = 6000;
352
                    BeepMuster = 0x0300;
1051 killagreg 353
                   }
173 holgerb 354
                }
1153 hbuss 355
             SPI_StartTransmitPacket();
723 hbuss 356
 
357
             SendSPI = 4;
1051 killagreg 358
                         timer = SetDelay(20);
359
            }
921 hbuss 360
           LED_Update();
604 hbuss 361
          }
723 hbuss 362
     if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 363
    }
364
 return (1);
365
}
366