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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2248 | - | 1 | /************************************************************************************************************************************** |
| 2 | * File: main.c |
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| 3 | * |
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| 4 | * Purpose: main function fot Flight Ctrl |
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| 5 | * |
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| 6 | * Functions: void CalMk3Mag(void) |
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| 7 | * void LipoDetection(unsigned char print) |
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| 8 | * int main(void) |
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| 9 | * |
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| 10 | * hardware: Flight Ctrl V1.3 |
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| 11 | * |
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| 12 | * Created: Feb 2013 |
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| 13 | * |
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| 14 | * Revisions: 1.00 experimental subversion for a balancekopter |
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| 15 | * Achtung: nicht flugfähige Experimentalversion für eine Balenwaage mit Flight-CTRL |
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| 16 | * siehe: http://forum.mikrokopter.de/topic-39231.html |
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| 17 | * |
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| 18 | * Copyright: (c)2013 www.mikrokopter.de |
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| 19 | * All rights reserved. This software is available only for non-commercial or educational applications. |
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| 20 | * Other uses are prohibited. This software may be modified only if |
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| 21 | * the resulting code be made available publicly and the original author(s) given credit. |
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| 22 | * |
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| 23 | ************************************************************************************************************************************/ |
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| 24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 25 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 26 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 27 | // + www.MikroKopter.com |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 30 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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| 31 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 32 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 33 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 34 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 35 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 36 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 37 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 38 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 39 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 40 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 41 | // + eindeutig als Ursprung verlinkt und genannt werden |
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| 42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 43 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 44 | // + Benutzung auf eigene Gefahr |
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| 45 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 46 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 47 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 48 | // + mit unserer Zustimmung zulässig |
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| 49 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 50 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 52 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 53 | // + this list of conditions and the following disclaimer. |
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| 54 | // + * 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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| 55 | // + from this software without specific prior written permission. |
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| 56 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 57 | // + for non-commercial use (directly or indirectly) |
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| 58 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 59 | // + with our written permission |
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| 60 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 61 | // + clearly linked as origin |
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| 62 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 63 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 64 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 65 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 66 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 67 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 68 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 69 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 70 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 71 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 72 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 73 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 74 | // ***************************************************************************************************************************************** |
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| 75 | #include "main.h" |
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| 76 | |||
| 77 | |||
| 78 | unsigned char PlatinenVersion = 13; |
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| 79 | unsigned char SendVersionToNavi = 1; |
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| 80 | unsigned char BattLowVoltageWarning = 94; |
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| 81 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
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| 82 | |||
| 83 | |||
| 84 | |||
| 85 | //----------------------------------------------------------------------------------------------------- |
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| 86 | // calibrate magnetic compass |
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| 87 | //----------------------------------------------------------------------------------------------------- |
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| 88 | void CalMk3Mag(void) |
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| 89 | { |
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| 90 | static unsigned char stick = 1; |
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| 91 | |||
| 92 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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| 93 | |||
| 94 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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| 95 | { |
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| 96 | stick = 1; |
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| 97 | WinkelOut.CalcState++; |
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| 98 | |||
| 99 | if(WinkelOut.CalcState > 4) |
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| 100 | { |
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| 101 | beeptime = 1000; |
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| 102 | } |
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| 103 | else Piep(WinkelOut.CalcState,150); |
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| 104 | } |
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| 105 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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| 106 | } |
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| 107 | //----------------------------------------------------------------------------------------------------- |
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| 108 | |||
| 109 | |||
| 110 | |||
| 111 | //----------------------------------------------------------------------------------------------------- |
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| 112 | // recognize the LiPo accumulators |
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| 113 | // char print can be 0 or 1 |
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| 114 | //----------------------------------------------------------------------------------------------------- |
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| 115 | void LipoDetection(unsigned char print) |
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| 116 | { |
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| 117 | unsigned int timer; |
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| 118 | |||
| 119 | if(print) printf("\n\rBatt:"); |
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| 120 | |||
| 121 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatic recognition of lipo cells -> default = 33 |
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| 122 | { |
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| 123 | timer = SetDelay(500); // |
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| 124 | if(print) while (!CheckDelay(timer)); |
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| 125 | |||
| 126 | if(UBat < 130) |
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| 127 | { |
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| 128 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
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| 129 | if(print) |
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| 130 | { |
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| 131 | Piep(3,200); |
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| 132 | printf(" 3 Cells "); |
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| 133 | } |
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| 134 | } |
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| 135 | else |
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| 136 | { |
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| 137 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
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| 138 | if(print) |
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| 139 | { |
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| 140 | Piep(4,200); |
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| 141 | printf(" 4 Cells "); |
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| 142 | } |
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| 143 | } |
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| 144 | } |
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| 145 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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| 146 | |||
| 147 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
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| 148 | } |
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| 149 | //----------------------------------------------------------------------------------------------------- |
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| 150 | |||
| 151 | |||
| 152 | |||
| 153 | // -------------------------------------------------------------------------------------------------------------------------- |
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| 154 | // main program starting here |
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| 155 | // |
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| 156 | // INPUT: None |
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| 157 | // OUTPUT: None |
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| 158 | // RETURN: 1 |
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| 159 | // -------------------------------------------------------------------------------------------------------------------------- |
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| 160 | int main(void) |
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| 161 | { |
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| 162 | unsigned int timer,i,timer2 = 0; |
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| 163 | DDRB = 0x00; |
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| 164 | PORTB = 0x00; |
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| 165 | for(timer = 0; timer < 1000; timer++); // verzögern |
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| 166 | |||
| 167 | PlatinenVersion = 13; |
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| 168 | |||
| 169 | DDRC = 0x81; // SCL |
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| 170 | PORTC = 0xFF; // Pullup SDA |
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| 171 | DDRB = 0x1B; // LEDs und Druckoffset |
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| 172 | PORTB = 0x01; // LED_Rot |
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| 173 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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| 174 | PORTD = 0x47; // LED |
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| 175 | HEF4017R_OFF; // #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
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| 176 | |||
| 177 | MCUSR &=~(1<<WDRF); // MCUSR – MCU Status Register provides information on which reset source caused an MCU reset |
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| 178 | WDTCSR |= (1<<WDCE)|(1<<WDE); // WDTCSR – Watchdog Timer Control Register |
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| 179 | WDTCSR = 0; |
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| 180 | |||
| 181 | beeptime = 2000; |
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| 182 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
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| 183 | |||
| 184 | GIER_GRAD_FAKTOR = 1291; |
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| 185 | |||
| 186 | ROT_OFF; // rote LED aus // PORTB |= 0x01; |
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| 187 | |||
| 188 | Timer_Init(); // goto timer0.c Zeile 40 |
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| 189 | TIMER2_Init(); // goto timer0.c Zeile 170 |
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| 190 | UART_Init(); // goto uart.c Zeile 488 |
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| 191 | rc_sum_init(); // goto rc.c line 17 |
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| 192 | ADC_Init(); // goto analog.c Zeile 26 |
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| 193 | i2c_init(); // goto twimaster.c Zeile 16 |
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| 194 | |||
| 195 | |||
| 196 | //--------------------------------------------------------------------------------------------------------------------------------- |
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| 197 | // passes one time through the following code before arriving at the forever loop |
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| 198 | //--------------------------------------------------------------------------------------------------------------------------------- |
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| 199 | |||
| 200 | sei(); |
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| 201 | |||
| 202 | printf("\n\r==================================="); |
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| 203 | 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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| 204 | printf("\n\rexperimental version"); |
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| 205 | printf("\n\r==================================="); |
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| 206 | |||
| 207 | |||
| 208 | GRN_ON; // switch green LED on // PORTB &=~0x02; |
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| 209 | |||
| 210 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read first 9 Bytes = chanal setup of radio control |
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| 211 | |||
| 212 | |||
| 213 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 214 | // setup of mixer |
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| 215 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 216 | |||
| 217 | // check MIXER-Revision at first EEPROM Byte = 1000 // #define EEPROM_ADR_MIXER_TABLE 1000 |
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| 218 | |||
| 219 | // if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) |
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| 220 | if((eeprom_read_byte(&EEPromArray[1000]) == 1) && (eeprom_read_byte(&EEPromArray[1]) != 0xFF)) // aufgelöst |
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| 221 | { |
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| 222 | unsigned char i; // Settings via Koptertool zurücksetzen |
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| 223 | RequiredMotors = 0; |
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| 224 | eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 225 | for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
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| 226 | } |
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| 227 | else // default |
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| 228 | { |
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| 229 | unsigned char i; |
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| 230 | printf("\n\rerzeugt default Mixer Table"); |
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| 231 | 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;}; |
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| 232 | |||
| 233 | // default = Quadro |
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| 234 | // number 64 is equivalent to 100% |
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| 235 | // GasMischanteil pd_ergebnis_nick pd_ergebnis_roll GierMischanteil |
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| 236 | Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; // vorne |
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| 237 | Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; // hinten |
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| 238 | Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; // rechts |
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| 239 | Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; // links |
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| 240 | Mixer.Revision = MIXER_REVISION; // #define MIXER_REVISION 1 |
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| 241 | memcpy(Mixer.Name, "Quadro\0", 11); |
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| 242 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); // sizeof(Mixer) = 77 |
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| 243 | } |
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| 244 | |||
| 245 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
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| 246 | |||
| 247 | |||
| 248 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 249 | // how many BL-Ctrls are connected ? |
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| 250 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 251 | printf("\n\r...BL-Ctrl...."); |
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| 252 | |||
| 253 | motorread = 0; |
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| 254 | UpdateMotor = 0; |
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| 255 | SendMotorData(); |
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| 256 | while(!UpdateMotor); |
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| 257 | motorread = 0; // read the first I2C-Datasets |
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| 258 | timer = SetDelay(2000); // sets |
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| 259 | |||
| 260 | for(i=0; i < MAX_MOTORS; i++) // #define MAX_MOTORS 4 |
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| 261 | { |
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| 262 | UpdateMotor = 0; |
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| 263 | SendMotorData(); // goto fc.c line 460 |
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| 264 | while(!UpdateMotor); |
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| 265 | |||
| 266 | if(Mixer.Motor[i][0] > 0) // wait maximum 2 sec to wake up the BL-Ctrls |
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| 267 | { |
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| 268 | while(!CheckDelay(timer) && !MotorPresent[i]) |
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| 269 | { |
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| 270 | UpdateMotor = 0; |
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| 271 | SendMotorData(); |
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| 272 | while(!UpdateMotor); |
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| 273 | } |
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| 274 | } |
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| 275 | if(MotorPresent[i]) printf("%d ",i+1); |
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| 276 | } |
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| 277 | |||
| 278 | for(i=0; i < MAX_MOTORS; i++) |
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| 279 | { |
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| 280 | if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) // #define MAX_MOTORS 4 |
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| 281 | { |
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| 282 | printf("\n\r\n\r!! missing BL-CTRL: %d !!",i+1); |
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| 283 | ServoActive = 1; // just in case the FlightCtrl would be used as camera-stabilizer |
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| 284 | } |
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| 285 | MotorError[i] = 0; |
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| 286 | } |
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| 287 | printf("\n\r==================================="); |
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| 288 | SendMotorData(); |
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| 289 | |||
| 290 | |||
| 291 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 292 | // check, that the revision in EEPROM fits to actual software |
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| 293 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 294 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) // #define EEPROM_ADR_VALID 1 |
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| 295 | { // #define EE_DATENREVISION 80 |
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| 296 | |||
| 297 | DefaultKonstanten1(); // Funktion aus eeprom.c |
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| 298 | printf("\n\rInit. EEPROM"); |
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| 299 | |||
| 300 | for (unsigned char i=1;i<6;i++) // es gibt 5 verschiedene Settings |
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| 301 | { |
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| 302 | if(i==2) DefaultKonstanten2(); // Kamera |
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| 303 | if(i==3) DefaultKonstanten3(); // Anfänger |
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| 304 | if(i>3) DefaultKonstanten2(); // Kamera |
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| 305 | |||
| 306 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 307 | // valid Setting ? |
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| 308 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 309 | 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) |
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| 310 | { |
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| 311 | EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); // Nick // #define EEPROM_ADR_CHANNELS 80 |
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| 312 | EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); // Roll |
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| 313 | EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); // Gas |
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| 314 | EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); // Gier |
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| 315 | EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); // Poti 1 |
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| 316 | EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); // Poti 2 |
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| 317 | EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); // Poti 3 |
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| 318 | EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); // Poti 4 |
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| 319 | if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
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| 320 | } else DefaultStickMapping(); |
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| 321 | |||
| 322 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
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| 323 | // WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 101)); |
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| 324 | } |
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| 325 | SetActiveParamSetNumber(3); // default Setting ist Beginner |
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| 326 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); // #define EE_DATENREVISION 80 |
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| 327 | // eeprom_write_byte(&EEPromArray[1], 80); // aufgelöst |
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| 328 | |||
| 329 | } // EOF : check existing revision at EEPROM |
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| 330 | |||
| 331 | FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]); |
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| 332 | FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]); |
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| 333 | |||
| 334 | if(FlugMinutenGesamt == 0xFFFF || FlugMinuten == 0xFFFF) // Flugminuten sind am überlaufen - zurücksetzen |
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| 335 | { |
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| 336 | FlugMinuten = 0; |
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| 337 | FlugMinutenGesamt = 0; |
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| 338 | } |
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| 339 | |||
| 340 | printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt); |
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| 341 | |||
| 342 | |||
| 343 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
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| 344 | { |
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| 345 | printf("\n\rACC noch nicht calibriert !"); |
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| 346 | } |
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| 347 | |||
| 348 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
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| 349 | |||
| 350 | printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
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| 351 | |||
| 352 | |||
| 353 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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| 354 | { |
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| 355 | printf("\n\rKalibrieren des Drucksensors."); |
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| 356 | timer = SetDelay(1000); // |
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| 357 | SucheLuftruckOffset(); |
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| 358 | while (!CheckDelay(timer)); // pause 1 sec |
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| 359 | printf("OK\n\r"); |
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| 360 | } |
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| 361 | |||
| 362 | SetNeutral(); // Nullwerte ermitteln und Startwerte festlegen - goto fc.c line 162 |
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| 363 | |||
| 364 | ROT_OFF; // redLED off // PORTB |= 0x01; |
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| 365 | |||
| 366 | beeptime = 2000; |
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| 367 | ExternControl.Digital[0] = 0x55; // externe Steuerung per serieller Schnittstelle - siehe uart.h |
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| 368 | |||
| 369 | printf("\n\rControl: "); |
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| 370 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
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| 371 | else printf("normaler (ACC-Mode)"); |
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| 372 | |||
| 373 | LcdClear(); |
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| 374 | I2CTimeout = 5000; // watchdog set up to 10 sec |
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| 375 | WinkelOut.Orientation = 1; |
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| 376 | |||
| 377 | LipoDetection(1); // Lipos should be detected now |
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| 378 | |||
| 379 | printf("\n\r===================================\n\r"); |
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| 380 | |||
| 381 | timer = SetDelay(2000); |
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| 382 | // -------------------------------- end of main() prelude --------------------------------------------------------------------- |
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| 383 | |||
| 384 | |||
| 385 | |||
| 386 | //---------------------------------------------------------------------------------------------------------------------- |
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| 387 | // forever loop of main program |
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| 388 | //---------------------------------------------------------------------------------------------------------------------- |
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| 389 | while(1) |
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| 390 | { |
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| 391 | if(UpdateMotor && AdReady) // motor is updated every 2 ms and ADC is already passed |
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| 392 | { |
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| 393 | UpdateMotor=0; // reset and wait fpr the next 2ms timed trigger from timer0 IR |
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| 394 | |||
| 395 | if(WinkelOut.CalcState) CalMk3Mag(); // In diesem Spezial-Fall soll der Kompass kalibriert werden |
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| 396 | else MotorRegler(); // Im Normalfall Sollwerte für die Motoren berechnen = goto fc.c line 541 |
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| 397 | |||
| 398 | SendMotorData(); // Sollwerte an die Motorren senden -> fc.c Zeile 465 |
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| 399 | |||
| 400 | ROT_OFF; // switch red LED off // PORTB |= 0x01; |
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| 401 | |||
| 402 | if(SenderOkay) SenderOkay--; // ICIE1: Timer/Counter1, Input Capture Interrupt Enable |
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| 403 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input // TIMSK1 – Timer/Counter1 Interrupt Mask Register -> – – ICIE1 – – OCIE1B OCIE1A TOIE1 |
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| 404 | |||
| 405 | if(!--I2CTimeout || MissingMotor) // counting down I2CTimeout or motor is missing |
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| 406 | { |
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| 407 | if(!I2CTimeout) |
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| 408 | { |
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| 409 | i2c_reset(); |
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| 410 | I2CTimeout = 5; |
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| 411 | DebugOut.Analog[28]++; // I2C-Error |
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| 412 | } |
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| 413 | |||
| 414 | if((BeepMuster == 0xffff) && MotorenEin) |
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| 415 | { |
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| 416 | beeptime = 10000; |
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| 417 | BeepMuster = 0x0080; |
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| 418 | } |
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| 419 | } |
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| 420 | else |
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| 421 | { |
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| 422 | ROT_OFF; // switch red LED off // PORTB |= 0x01; |
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| 423 | } |
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| 424 | |||
| 425 | if( 1 && (!UpdateMotor || !MotorenEin)) |
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| 426 | { |
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| 427 | DatenUebertragung(); |
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| 428 | BearbeiteRxDaten(); |
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| 429 | } |
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| 430 | else BearbeiteRxDaten(); |
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| 431 | |||
| 432 | // DatenUebertragung(); // where ist that contained? |
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| 433 | // BearbeiteRxDaten(); // where ist that contained? |
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| 434 | |||
| 435 | if(CheckDelay(timer)) // goto timer0.c line 65 |
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| 436 | { |
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| 437 | timer += 20; |
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| 438 | |||
| 439 | if(PcZugriff) PcZugriff--; // flight-CTRL controlled by external PC |
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| 440 | else |
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| 441 | { |
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| 442 | ExternControl.Config = 0; |
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| 443 | ExternStickNick = 0; |
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| 444 | ExternStickRoll = 0; |
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| 445 | ExternStickGier = 0; |
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| 446 | if(BeepMuster == 0xffff && SenderOkay == 0) |
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| 447 | { |
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| 448 | beeptime = 15000; |
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| 449 | BeepMuster = 0x0c00; |
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| 450 | } |
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| 451 | } |
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| 452 | |||
| 453 | if(UBat < BattLowVoltageWarning) // low battery |
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| 454 | { |
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| 455 | MikroKopterFlags |= FLAG_LOWBAT; |
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| 456 | if(BeepMuster == 0xffff) |
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| 457 | { |
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| 458 | beeptime = 6000; |
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| 459 | BeepMuster = 0x0300; |
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| 460 | } |
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| 461 | } |
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| 462 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
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| 463 | |||
| 464 | //SPI_StartTransmitPacket(); // where ist that contained? |
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| 465 | SendSPI = 4; |
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| 466 | if(!MotorenEin) timer2 = 1450; // round it up to 30 sec |
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| 467 | if(++timer2 == 2930) // one minute |
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| 468 | { |
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| 469 | timer2 = 0; |
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| 470 | FlugMinuten++; |
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| 471 | FlugMinutenGesamt++; |
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| 472 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); |
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| 473 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); |
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| 474 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); |
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| 475 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); |
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| 476 | |||
| 477 | timer = SetDelay(20); // delay 20 ms |
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| 478 | } |
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| 479 | } |
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| 480 | |||
| 481 | LED_Update(); // junmps erery 2ms to led.c line 32 |
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| 482 | |||
| 483 | } // *** EOF : if(UpdateMotor && AdReady) |
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| 484 | |||
| 485 | // *** EOF: if(!SendSPI) { SPI_TransmitByte(); } |
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| 486 | |||
| 487 | } // End of endlessloop |
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| 488 | |||
| 489 | return (1); |
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| 490 | } |
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| 491 | // *** EOF: main(void) ************************************************************************************************************ |