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1152 grottenfli 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt und genannt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1163 krheinwald 27
// + Die Funktion printf_P() und das Modul rcdsl.c unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
1152 grottenfli 28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * 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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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "main.h"
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#include "rcdsl.h"
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#include "parameter.h"
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unsigned char EEPromArray[E2END+1] EEMEM;
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unsigned char PlatinenVersion = 10;
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unsigned char SendVersionToNavi = 1;
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// -- Parametersatz aus EEPROM lesen ---
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// number [1..5]
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void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
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{
63
   if((number > 5)||(number < 1)) number = 3;
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   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
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   LED_Init();
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}
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// -- Parametersatz ins EEPROM schreiben ---
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// number [1..5]
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void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
71
{
72
   if(number > 5) number = 5;
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   if(number < 1) return;
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   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
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   SetActiveParamSetNumber(number);
76
   LED_Init();
77
}
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79
unsigned char GetActiveParamSetNumber(void)
80
{
81
        unsigned char set;
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        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
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        if((set > 5) || (set < 1))
84
        {
85
                set = 3;
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                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
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        }
88
        return(set);
89
}
90
 
91
 
92
void SetActiveParamSetNumber(unsigned char number)
93
{
94
        if(number > 5) number = 5;
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        if(number < 1) return;
96
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
97
}
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99
 
100
void CalMk3Mag(void)
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{
102
 static unsigned char stick = 1;
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104
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
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 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
106
  {
107
   stick = 1;
108
   WinkelOut.CalcState++;
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   if(WinkelOut.CalcState > 4)
110
    {
111
//     WinkelOut.CalcState = 0; // in Uart.c
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     beeptime = 1000;
113
    }
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   else Piep(WinkelOut.CalcState);
115
  }
116
  DebugOut.Analog[19] = WinkelOut.CalcState;
117
}
118
 
119
//############################################################################
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//Hauptprogramm
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int main (void)
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//############################################################################
123
{
124
        unsigned int timer;
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126
        //unsigned int timer2 = 0;
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    DDRB  = 0x00;
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    PORTB = 0x00;
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    for(timer = 0; timer < 1000; timer++); // verz?gern
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    if(PINB & 0x01)
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     {
132
      if(PINB & 0x02) PlatinenVersion = 13;
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       else           PlatinenVersion = 11;
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     }
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    else
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     {
137
      if(PINB & 0x02) PlatinenVersion = 20;
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       else           PlatinenVersion = 10;
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     }
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141
    DDRC  = 0x81; // SCL
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    DDRC  |=0x40; // HEF4017 Reset
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    PORTC = 0xff; // Pullup SDA
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    DDRB  = 0x1B; // LEDs und Druckoffset
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    PORTB = 0x01; // LED_Rot
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    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
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    DDRD  |=0x80; // J7 -> Servo signal
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        PORTD = 0x77; // LED
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150
 
151
    MCUSR &=~(1<<WDRF);
152
    WDTCSR |= (1<<WDCE)|(1<<WDE);
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    WDTCSR = 0;
154
 
155
    beeptime = 2000;
156
 
157
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
158
 
159
    ROT_OFF;
160
 
161
        Timer_Init();
162
        UART_Init();
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        ADC_Init();
164
        i2c_init();
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        SPI_MasterInit();
166
 
167
        sei();
168
 
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');
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        printf("\n\r==============================");
171
 
172
        GRN_ON;
173
 
174
 
175
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
176
    // valid Stick-Settings?
177
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION ||
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        EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9)
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           {
180
            printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings...");
181
        DefaultStickMapping();
182
       }
183
    else if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings");
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185
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
186
        {
187
          DefaultKonstanten1();
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          for (unsigned char i=1;i<6;i++)
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      {
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       if(i==2) DefaultKonstanten2(); // Kamera
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       if(i==3) DefaultKonstanten3(); // Beginner
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       if(i>3)  DefaultKonstanten2(); // Kamera
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       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
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      }
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          SetActiveParamSetNumber(3); // default-Setting
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          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
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        }
198
 
199
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
200
     {
201
       printf("\n\rACC nicht abgeglichen!");
202
     }
203
 
204
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
205
    printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
206
 
207
 
208
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
209
         {
210
           printf("\n\rAbgleich Luftdrucksensor..");
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           timer = SetDelay(1000);
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       SucheLuftruckOffset();
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           while (!CheckDelay(timer));
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1163 krheinwald 215
        if (PARAM_USE_DSL_RC)
1152 grottenfli 216
            rcdsl_init();
1163 krheinwald 217
        else
1152 grottenfli 218
            rc_sum_init();
1163 krheinwald 219
 
220
        printf("\n\rUsing %s", (PARAM_USE_DSL_RC ? "DSL" : "PPM"));
221
 
222
        printf("\n\rOK\n\r");
1152 grottenfli 223
        }
224
 
225
        SetNeutral();
226
 
227
        ROT_OFF;
228
 
229
    beeptime = 2000;
230
    ExternControl.Digital[0] = 0x55;
231
 
232
 
233
        printf("\n\rSteuerung: ");
234
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
235
        else printf("Neutral");
236
 
237
        printf("\n\n\r");
238
 
239
    LcdClear();
240
    I2CTimeout = 5000;
241
    WinkelOut.Orientation = 1;
242
        while (1)
243
        {
244
 
245
                if(UpdateMotor)      // ReglerIntervall
246
            {
247
                    UpdateMotor=0;
248
//PORTD |= 0x08;
249
            if(WinkelOut.CalcState) CalMk3Mag();
250
            else MotorRegler();
251
//PORTD &= ~0x08;
252
            SendMotorData();
253
            ROT_OFF;
254
            if(PcZugriff) PcZugriff--;
255
             else
256
              {
257
                           ExternControl.Config = 0;
258
               ExternStickNick = 0;
259
               ExternStickRoll = 0;
260
               ExternStickGier = 0;
261
              }
262
            if(SenderOkay)  SenderOkay--;
263
            if(!I2CTimeout)
264
                {
265
                 I2CTimeout = 5;
266
                 i2c_reset();
267
                  if((BeepMuster == 0xffff) && MotorenEin)
268
                   {
269
                    beeptime = 10000;
270
                    BeepMuster = 0x0080;
271
                   }
272
                }
273
            else
274
                {
275
                 I2CTimeout--;
276
                 ROT_OFF;
277
                }
278
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
279
              {
280
               DatenUebertragung();
281
               BearbeiteRxDaten();
282
              }
283
              else BearbeiteRxDaten();
284
         if(CheckDelay(timer))
285
            {
286
            if(UBat < EE_Parameter.UnterspannungsWarnung)
287
                {
288
                  if(BeepMuster == 0xffff)
289
                   {
290
                    beeptime = 6000;
291
                    BeepMuster = 0x0300;
292
                   }
293
                }
294
/*           if(SendVersionToNavi)
295
              {
296
               SPI_StartTransmitPacket(SPI_CMD_VERSION);//#
297
               SendVersionToNavi = 0;
298
              }
299
              else  SPI_StartTransmitPacket(SPI_CMD_VALUE);//#
300
*/
301
             SPI_StartTransmitPacket();//#
302
 
303
             SendSPI = 4;
304
                         timer = SetDelay(20);
305
            }
306
           //if(UpdateMotor) DebugOut.Analog[26]++;
307
           LED_Update();
308
          }
309
     if(!SendSPI) { SPI_TransmitByte(); }
310
    }
311
 return (1);
312
}
313