Subversion Repositories FlightCtrl

Rev

Rev 1175 | Rev 1210 | Go to most recent revision | Details | Compare with Previous | 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
{
819 hbuss 124
        unsigned int timer;
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
 
1051 killagreg 168
        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 169
    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
170
     {
171
      Uart1Init();
172
     }
1 ingob 173
        GRN_ON;
1063 killagreg 174
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
1051 killagreg 175
 
1209 hbuss 176
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_REVISION]) == EE_MIXER_REVISION)
177
        {
178
     unsigned char i;    
179
         RequiredMotors = 0;
180
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
181
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
182
        }
183
        else // default
184
        {
185
     unsigned char i;    
186
         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;};
187
     // default = Quadro
188
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
189
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
190
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
191
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
192
     memcpy(Mixer.Name, "Quadro\0", 11);  
193
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
194
     eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_REVISION],EE_MIXER_REVISION); // Länge der Datensätze merken
195
    }
196
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
197
        printf("\n\r==============================");
1051 killagreg 198
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
199
        {
1 ingob 200
          DefaultKonstanten1();
1171 hbuss 201
          printf("\n\rInit. EEPROM");
1051 killagreg 202
          for (unsigned char i=1;i<6;i++)
1 ingob 203
      {
395 hbuss 204
       if(i==2) DefaultKonstanten2(); // Kamera
205
       if(i==3) DefaultKonstanten3(); // Beginner
206
       if(i>3)  DefaultKonstanten2(); // Kamera
1111 hbuss 207
           if(PlatinenVersion >= 20)
208
            {
1167 hbuss 209
                 EE_Parameter.Gyro_D = 5;
1111 hbuss 210
                 EE_Parameter.Driftkomp = 0;
211
                 EE_Parameter.GyroAccFaktor = 27;
212
         EE_Parameter.WinkelUmschlagNick = 78;
213
         EE_Parameter.WinkelUmschlagRoll = 78;
214
                }
1171 hbuss 215
    // valid Stick-Settings?
216
           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)
217
            {
218
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
219
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
220
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
221
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
222
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
223
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
224
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
225
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
226
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
227
                } else DefaultStickMapping();
1 ingob 228
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1051 killagreg 229
      }
1063 killagreg 230
          SetActiveParamSetNumber(3); // default-Setting
173 holgerb 231
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
1 ingob 232
        }
513 hbuss 233
 
1051 killagreg 234
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 235
     {
236
       printf("\n\rACC nicht abgeglichen!");
237
     }
1051 killagreg 238
 
1 ingob 239
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
240
    printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
241
 
1051 killagreg 242
 
1 ingob 243
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 244
         {
1 ingob 245
           printf("\n\rAbgleich Luftdrucksensor..");
1051 killagreg 246
           timer = SetDelay(1000);
1 ingob 247
       SucheLuftruckOffset();
248
           while (!CheckDelay(timer));
249
       printf("OK\n\r");
250
        }
1051 killagreg 251
 
1 ingob 252
        SetNeutral();
253
 
254
        ROT_OFF;
1051 killagreg 255
 
1 ingob 256
    beeptime = 2000;
1051 killagreg 257
    ExternControl.Digital[0] = 0x55;
1 ingob 258
 
1051 killagreg 259
 
1 ingob 260
        printf("\n\rSteuerung: ");
261
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
262
        else printf("Neutral");
1051 killagreg 263
 
1 ingob 264
        printf("\n\n\r");
1051 killagreg 265
 
1 ingob 266
    LcdClear();
173 holgerb 267
    I2CTimeout = 5000;
819 hbuss 268
    WinkelOut.Orientation = 1;
1 ingob 269
        while (1)
270
        {
1155 hbuss 271
            if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 272
            {
1171 hbuss 273
                    UpdateMotor=0;
819 hbuss 274
            if(WinkelOut.CalcState) CalMk3Mag();
1051 killagreg 275
            else MotorRegler();
1 ingob 276
            SendMotorData();
277
            ROT_OFF;
1051 killagreg 278
            if(PcZugriff) PcZugriff--;
279
             else
492 hbuss 280
              {
595 hbuss 281
                           ExternControl.Config = 0;
492 hbuss 282
               ExternStickNick = 0;
283
               ExternStickRoll = 0;
284
               ExternStickGier = 0;
285
              }
1 ingob 286
            if(SenderOkay)  SenderOkay--;
173 holgerb 287
            if(!I2CTimeout)
288
                {
289
                 I2CTimeout = 5;
290
                 i2c_reset();
1051 killagreg 291
                  if((BeepMuster == 0xffff) && MotorenEin)
292
                   {
173 holgerb 293
                    beeptime = 10000;
294
                    BeepMuster = 0x0080;
1051 killagreg 295
                   }
1 ingob 296
                }
1051 killagreg 297
            else
1 ingob 298
                {
173 holgerb 299
                 I2CTimeout--;
1051 killagreg 300
                 ROT_OFF;
1 ingob 301
                }
805 hbuss 302
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
1 ingob 303
              {
304
               DatenUebertragung();
305
               BearbeiteRxDaten();
306
              }
307
              else BearbeiteRxDaten();
173 holgerb 308
         if(CheckDelay(timer))
1051 killagreg 309
            {
173 holgerb 310
            if(UBat < EE_Parameter.UnterspannungsWarnung)
1051 killagreg 311
                {
312
                  if(BeepMuster == 0xffff)
313
                   {
173 holgerb 314
                    beeptime = 6000;
315
                    BeepMuster = 0x0300;
1051 killagreg 316
                   }
173 holgerb 317
                }
1153 hbuss 318
             SPI_StartTransmitPacket();
723 hbuss 319
 
320
             SendSPI = 4;
1051 killagreg 321
                         timer = SetDelay(20);
322
            }
921 hbuss 323
           LED_Update();
604 hbuss 324
          }
723 hbuss 325
     if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 326
    }
327
 return (1);
328
}
329