| 3,14 → 3,14 |
|---|
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21,21 → 21,21 |
|---|
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47,63 → 47,43 |
|---|
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include <avr/boot.h> |
| |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| unsigned char PlatinenVersion = 10; |
| unsigned char SendVersionToNavi = 1; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| |
| #include "main.h" |
| #include "timer0.h" |
| #include "timer2.h" |
| #include "uart.h" |
| #if defined (__AVR_ATmega644P__) |
| #include "uart1.h" |
| #endif |
| #include "led.h" |
| #include "menu.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "analog.h" |
| #include "printf_P.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| #ifdef USE_NAVICTRL |
| #include "spi.h" |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #include "mk3mag.h" |
| #endif |
| #include "twimaster.h" |
| #include "eeprom.h" |
| #include "_Settings.h" |
| |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if(number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| unsigned char set; |
| set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| if(set > 5) |
| { |
| set = 2; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
| } |
| return(set); |
| } |
| uint8_t BoardRelease = 10; |
| |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| // WinkelOut.CalcState = 0; // in Uart.c |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| |
| |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| 111,169 → 91,207 |
|---|
| { |
| unsigned int timer; |
| |
| //unsigned int timer2 = 0; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
| DDRC = 0x81; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| |
| PORTD = 0xF7; // LED |
| |
| |
| // disable interrupts global |
| cli(); |
| |
| // get board release |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // make some delay |
| if(PINB & (1<<PINB0)) BoardRelease = 11; |
| else BoardRelease = 10; |
| |
| // set LED ports as output |
| DDRB |= (1<<DDB1)|(1<<DDB0); |
| ROT_ON; |
| GRN_OFF; |
| |
| // disable watchdog |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| |
| beeptime = 2000; |
| BeepTime = 2000; |
| |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| PPM_in[CH_THRUST] = 0; |
| StickYaw = 0; |
| StickRoll = 0; |
| StickPitch = 0; |
| |
| ROT_OFF; |
| |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| |
| // initalize modules |
| LED_Init(); |
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| |
| #if defined (__AVR_ATmega644P__) |
| if (BoardRelease == 11) USART1_Init(); |
| #endif |
| |
| RC_Init(); |
| ADC_Init(); |
| i2c_init(); |
| I2C_Init(); |
| |
| #ifdef USE_KILLAGREG |
| MM3_Init(); |
| #endif |
| #ifdef USE_NAVICTRL |
| SPI_MasterInit(); |
| |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| MK3MAG_Init(); |
| #endif |
| |
| |
| // enable interrupts global |
| sei(); |
| |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
| VersionInfo.Major = VERSION_MAJOR; |
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| GRN_ON; |
| |
| #define EE_DATENREVISION 70 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Beginner |
| if(i>3) DefaultKonstanten2(); // Kamera |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| // Parameter set handling |
| ParamSet_Init(); |
| |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| if(GetParamWord(PID_ACC_PITCH) > 1023) |
| { |
| printf("\n\rACC nicht abgeglichen!"); |
| printf("\n\rACC not calibrated!"); |
| } |
| |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| |
| |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| //wait for a short time (otherwise the RC channel check won't work below) |
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| |
| |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| printf("\n\rSupport for MK3MAG Compass"); |
| #endif |
| |
| |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| printf("\n\rCalibrating air pressure sensor.."); |
| timer = SetDelay(1000); |
| SearchAirPressureOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| |
| |
| #ifdef USE_KILLAGREG |
| printf("\n\rSupport for MicroMag3 Compass"); |
| #if defined (__AVR_ATmega644P__) |
| if(BoardRelease == 10) |
| { |
| printf("\n\rSupport for GPS at 1st UART"); |
| } |
| else |
| { |
| printf("\n\rSupport for GPS at 2nd UART"); |
| } |
| #else // (__AVR_ATmega644__) |
| printf("\n\rSupport for GPS at 1st UART"); |
| #endif |
| #endif |
| |
| SetNeutral(); |
| |
| ROT_OFF; |
| |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| |
| |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| BeepTime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| |
| |
| printf("\n\rControl: "); |
| if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| |
| |
| printf("\n\n\r"); |
| |
| LcdClear(); |
| |
| LCD_Clear(); |
| |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| |
| while (1) |
| { |
| |
| if(UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| //PORTD |= 0x08; |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| //PORTD &= ~0x08; |
| SendMotorData(); |
| if(UpdateMotor) // control interval |
| { |
| UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| //PORTD |= (1<<PORTD4); |
| MotorControl(); |
| //PORTD &= ~(1<<PORTD4); |
| |
| SendMotorData(); |
| |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| |
| if(PcAccess) PcAccess--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickPitch= 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| ExternStickYaw = 0; |
| } |
| |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| I2C_Reset(); |
| if((BeepModulation == 0xFFFF) && MotorsOn) |
| { |
| BeepTime = 10000; // 1 second |
| BeepModulation = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| |
| if(SIO_DEBUG && (!UpdateMotor || !MotorsOn)) |
| { |
| USART0_TransmitTxData(); |
| USART0_ProcessRxData(); |
| } |
| else USART0_ProcessRxData(); |
| |
| if(CheckDelay(timer)) |
| { |
| if(UBat < ParamSet.LowVoltageWarning) |
| { |
| I2CTimeout = 5; |
| i2c_reset(); |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 6000; // 0.6 seconds |
| BeepModulation = 0x0300; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| /* if(SendVersionToNavi) |
| { |
| SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
| SendVersionToNavi = 0; |
| } |
| else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
| */ |
| SPI_StartTransmitPacket();//# |
| #ifdef USE_NAVICTRL |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| #endif |
| timer = SetDelay(20); // every 20 ms |
| } |
| } |
| |
| SendSPI = 4; |
| timer = SetDelay(20); |
| } |
| //if(UpdateMotor) DebugOut.Analog[26]++; |
| } |
| if(!SendSPI) { SPI_TransmitByte(); } |
| #ifdef USE_NAVICTRL |
| if(!SendSPI) |
| { // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
| // within the SPI_TransmitByte() routine the value is set to 4. |
| // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
| // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
| SPI_TransmitByte(); |
| } |
| #endif |
| } |
| return (1); |
| return (1); |
| } |
| |