Subversion Repositories FlightCtrl

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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.
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
32
// +     from this software without specific prior written permission.
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
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
683 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
687 killagreg 52
#include <avr/boot.h>
53
 
54
#include <avr/io.h>
55
#include <avr/interrupt.h>
56
 
1 ingob 57
#include "main.h"
685 killagreg 58
#include "timer0.h"
59
#include "timer2.h"
60
#include "uart.h"
61
#include "uart1.h"
62
#include "menu.h"
724 killagreg 63
#include "ubx.h"
685 killagreg 64
#include "fc.h"
65
#include "rc.h"
66
#include "analog.h"
67
#include "printf_P.h"
694 killagreg 68
//#include "spi.h"
69
#include "mm3.h"
685 killagreg 70
#include "twimaster.h"
71
#include "eeprom.h"
72
#include "_Settings.h"
1 ingob 73
 
74
 
687 killagreg 75
 
685 killagreg 76
uint8_t BoardRelease = 10;
77
 
1 ingob 78
 
79
//############################################################################
80
//Hauptprogramm
81
int main (void)
82
//############################################################################
83
{
84
        unsigned int timer;
296 holgerb 85
 
683 killagreg 86
        // disable interrupts global
87
        cli();
88
 
712 killagreg 89
        // get board release
683 killagreg 90
    DDRB  = 0x00;
91
    PORTB = 0x00;
732 killagreg 92
    for(timer = 0; timer < 1000; timer++); // make some delay
685 killagreg 93
    if(PINB & 0x01) BoardRelease = 11;
94
    else BoardRelease = 10;
95
 
732 killagreg 96
        // set LED ports as output
712 killagreg 97
        DDRB |= (1<<DDB1)|(1<<DDB0);
98
        ROT_ON;
99
        GRN_OFF;
683 killagreg 100
 
732 killagreg 101
    // diable watchdog
1 ingob 102
    MCUSR &=~(1<<WDRF);
103
    WDTCSR |= (1<<WDCE)|(1<<WDE);
104
    WDTCSR = 0;
105
 
683 killagreg 106
    BeepTime = 2000;
1 ingob 107
 
707 killagreg 108
        PPM_in[CH_THRUST] = 0;
701 killagreg 109
        StickYaw = 0;
683 killagreg 110
        StickRoll = 0;
701 killagreg 111
        StickPitch = 0;
1 ingob 112
 
113
    ROT_OFF;
683 killagreg 114
 
712 killagreg 115
        // initalize modules
683 killagreg 116
    TIMER0_Init();
117
    TIMER2_Init();
118
        USART0_Init();
732 killagreg 119
        if (BoardRelease != 10) USART1_Init();
712 killagreg 120
    RC_Init();
1 ingob 121
        ADC_Init();
726 killagreg 122
        I2C_Init();
123
        MM3_Init();
683 killagreg 124
        //SPI_MasterInit();
125
 
126
        // enable interrupts global
1 ingob 127
        sei();
128
 
129
    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
130
    VersionInfo.Nebenversion = VERSION_NEBENVERSION;
131
    VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;
683 killagreg 132
 
685 killagreg 133
        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 134
        printf("\n\r==============================");
135
        GRN_ON;
136
 
687 killagreg 137
        // Parameter set handling
138
        ParamSet_Init();
513 hbuss 139
 
731 killagreg 140
    if(GetParamWord(PID_ACC_PITCH) > 1023)
513 hbuss 141
     {
727 killagreg 142
       printf("\n\rACC not calibrated!");
513 hbuss 143
     }
683 killagreg 144
 
731 killagreg 145
        //wait for a short time (otherwise the RC channel check won't work below)
694 killagreg 146
        timer = SetDelay(500);
147
        while(!CheckDelay(timer));
1 ingob 148
 
694 killagreg 149
        //Compass calibration?
707 killagreg 150
        if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100)
694 killagreg 151
        {
152
                printf("\n\rCalibrating Compass");
726 killagreg 153
                MM3_Calibrate();
694 killagreg 154
        }
155
 
156
 
690 killagreg 157
        if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
683 killagreg 158
         {
727 killagreg 159
           printf("\n\rCalibrating air pressure sensor..");
683 killagreg 160
           timer = SetDelay(1000);
701 killagreg 161
       SearchAirPressureOffset();
1 ingob 162
           while (!CheckDelay(timer));
163
       printf("OK\n\r");
164
        }
683 killagreg 165
 
1 ingob 166
        SetNeutral();
167
 
168
        ROT_OFF;
169
 
683 killagreg 170
    BeepTime = 2000;
171
    ExternControl.Digital[0] = 0x55;
172
 
173
 
727 killagreg 174
        printf("\n\rControl: ");
687 killagreg 175
        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1 ingob 176
        else printf("Neutral");
683 killagreg 177
 
1 ingob 178
        printf("\n\n\r");
683 killagreg 179
 
685 killagreg 180
    LCD_Clear();
702 killagreg 181
 
173 holgerb 182
    I2CTimeout = 5000;
1 ingob 183
        while (1)
184
        {
712 killagreg 185
        if(UpdateMotor)      // control interval
683 killagreg 186
            {
694 killagreg 187
            //SPI_TransmitByte(); //#
712 killagreg 188
                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
419 hbuss 189
//PORTD |= 0x08;
712 killagreg 190
            MotorControl();
604 hbuss 191
 
419 hbuss 192
//PORTD &= ~0x08;
1 ingob 193
            SendMotorData();
194
            ROT_OFF;
706 killagreg 195
            if(PcAccess) PcAccess--;
712 killagreg 196
            else
492 hbuss 197
              {
683 killagreg 198
               DubWiseKeys[0] = 0;
492 hbuss 199
               DubWiseKeys[1] = 0;
595 hbuss 200
                           ExternControl.Config = 0;
701 killagreg 201
               ExternStickPitch= 0;
492 hbuss 202
               ExternStickRoll = 0;
701 killagreg 203
               ExternStickYaw = 0;
492 hbuss 204
              }
688 killagreg 205
              if(SenderOkay)  SenderOkay--;
206
              if(!I2CTimeout)
173 holgerb 207
                {
208
                 I2CTimeout = 5;
726 killagreg 209
                 I2C_Reset();
701 killagreg 210
                  if((BeepModulation == 0xFFFF) && MotorsOn)
683 killagreg 211
                   {
212
                    BeepTime = 10000; // 1 second
213
                    BeepModulation = 0x0080;
214
                   }
1 ingob 215
                }
683 killagreg 216
            else
1 ingob 217
                {
173 holgerb 218
                 I2CTimeout--;
683 killagreg 219
                 ROT_OFF;
1 ingob 220
                }
604 hbuss 221
            if(SIO_DEBUG && !UpdateMotor)
1 ingob 222
              {
223
               DatenUebertragung();
224
               BearbeiteRxDaten();
225
              }
226
              else BearbeiteRxDaten();
173 holgerb 227
         if(CheckDelay(timer))
683 killagreg 228
            {
690 killagreg 229
            if(UBat < ParamSet.LowVoltageWarning)
683 killagreg 230
                {
231
                  if(BeepModulation == 0xFFFF)
232
                   {
233
                    BeepTime = 6000; // 0.6 seconds
234
                    BeepModulation = 0x0300;
235
                   }
173 holgerb 236
                }
694 killagreg 237
             //SPI_StartTransmitPacket();//#
683 killagreg 238
                         timer = SetDelay(100);
239
            }
604 hbuss 240
          }
1 ingob 241
    }
242
 return (1);
243
}
244