| 0,0 → 1,424 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char DisableRcOffBeeping = 0; |
| unsigned char PlatinenVersion = 10; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| unsigned int FlugSekunden = 0; |
| pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| unsigned char FoundMotors = 0; |
| unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
| |
| void PrintLine(void) |
| { |
| printf("\n\r==================================="); |
| } |
| |
| |
| 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,150); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| |
| |
| void LipoDetection(unsigned char print) |
| { |
| #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
| unsigned int timer, cells; |
| if(print) printf("\n\rBatt:"); |
| if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
| { |
| timer = SetDelay(500); |
| if(print) while (!CheckDelay(timer)); |
| // up to 6s LiPo, less than 2s is technical impossible |
| for(cells = 2; cells < 7; cells++) |
| { |
| if(UBat < cells * MAX_CELL_VOLTAGE) break; |
| } |
| |
| BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(cells, 200); |
| printf(" %d Cells ", cells); |
| } |
| } |
| else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| } |
| |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer,i,timer2 = 0, timerPolling; |
| |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| PlatinenVersion = 21; |
| #else |
| if(PINB & 0x01) |
| { |
| if(PINB & 0x02) PlatinenVersion = 13; |
| else PlatinenVersion = 11; |
| } |
| else |
| { |
| if(PINB & 0x02) PlatinenVersion = 20; |
| else PlatinenVersion = 10; |
| } |
| #endif |
| DDRC = 0x81; // SCL |
| DDRC |=0x40; // HEF4017 Reset |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // LED |
| HEF4017Reset_ON; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| |
| beeptime = 2500; |
| StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
| if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| ROT_OFF; |
| |
| Timer_Init(); |
| TIMER2_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| I2C_Init(1); |
| SPI_MasterInit(); |
| Capacity_Init(); |
| LIBFC_Init(); |
| GRN_ON; |
| sei(); |
| ParamSet_Init(); |
| |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Check connected BL-Ctrls |
| BLFlags |= BLFLAG_READ_VERSION; |
| motor_read = 0; // read the first I2C-Data |
| SendMotorData(); |
| timer = SetDelay(500); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| |
| printf("\n\rFound BL-Ctrl: "); |
| timer = SetDelay(4000); |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| { |
| while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| } |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| printf("%d",i+1); |
| FoundMotors++; |
| // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
| } |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| { |
| printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| } |
| Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| } |
| PrintLine();// ("\n\r==================================="); |
| |
| |
| if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| |
| //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rCalibrating pressure sensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| |
| SetNeutral(0); |
| |
| ROT_OFF; |
| |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| |
| |
| FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
| |
| if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| |
| LcdClear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| LipoDetection(1); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| PrintLine();// ("\n\r==================================="); |
| //SpektrumBinding(); |
| timer = SetDelay(2000); |
| timerPolling = SetDelay(250); |
| |
| Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| DebugOut.Status[0] = 0x01 | 0x02; |
| JetiBeep = 0; |
| if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
| while (1) |
| { |
| if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| |
| //GRN_ON; |
| if(UpdateMotor && AdReady) // ReglerIntervall |
| { |
| //GRN_OFF; |
| UpdateMotor=0; |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
| else |
| { |
| TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| PPM_in[0] = 0; // set RSSI to zero on data timeout |
| VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!--I2CTimeout || MissingMotor) |
| { |
| if(!I2CTimeout) |
| { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 25000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| LIBFC_Polling(); |
| |
| if(!UpdateMotor) |
| { |
| //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NewSBusData) ProcessSBus(); |
| else |
| //#endif |
| { |
| if(CalculateServoSignals) CalculateServo(); |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| static unsigned char second; |
| timer += 20; // 20 ms interval |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| #endif |
| if(MissingMotor) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| else |
| { |
| if(!beeptime) |
| { |
| if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
| } |
| } |
| if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| if(!SenderOkay) |
| { |
| if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
| } |
| } |
| } |
| if(NaviDataOkay > 200) |
| { |
| NaviDataOkay--; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| } |
| else |
| { |
| if(NC_Version.Compatible) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| NC_ErrorCode = 9; // "ERR: no NC communication" |
| if(BeepMuster == 0xffff && MotorenEin) |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA800; |
| } |
| } |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| GPS_Aid_StickMultiplikator = 0; |
| GPSInfo.Flags = 0; |
| FromNaviCtrl.AccErrorN = 0; |
| FromNaviCtrl.AccErrorR = 0; |
| FromNaviCtrl.CompassValue = -1; |
| NaviDataOkay = 0; |
| } |
| if(UBat < BattLowVoltageWarning) |
| { |
| FC_StatusFlags |= FC_STATUS_LOWBAT; |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| // +++++++++++++++++++++++++++++++++ |
| // Sekundentakt |
| if(++second == 49) |
| { |
| second = 0; |
| if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
| else |
| { |
| timer2 = 1450; // 0,5 Minuten aufrunden |
| if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
| else |
| if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++ |
| if(++timer2 == 2930) // eine Minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| } |
| } |
| LED_Update(); |
| Capacity_Update(); |
| } //else DebugOut.Analog[26]++; |
| } |
| } |
| if(!SendSPI) { SPI_TransmitByte(); } |
| } |
| return (1); |
| } |
| //DebugOut.Analog[16] |
| |