WebSVN - FlightCtrl - Diff - Rev 885 and 886 - /branches/V0.69k Code Redesign killagreg/main.c

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
 // + 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.
 // + 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,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt und genannt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + 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
 // + 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,
 // + 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
 // +     for non-commercial use (directly or indirectly)
 // +     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
 // +   * 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
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // +  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.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-#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);
-}
-// -- Parametersatz ins EEPROM schreiben ---
-// number [0..5]
-void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
-{
+#include <avr/io.h>
-   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
+#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"
-unsigned char GetActiveParamSetNumber(void)
+#include "fc.h"
+#include "rc.h"
-{
+#include "analog.h"
- unsigned char set;
+#include "printf_P.h"
- set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
+#ifdef USE_KILLAGREG
+#include "mm3.h"
+#endif
- if(set > 5)
+#ifdef USE_NAVICTRL
-  {
+#include "spi.h"
+#endif
-   set = 2;
+#if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)
-   eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set);                                 // diesen Parametersatz als aktuell merken
+#include "mk3mag.h"
-  }
+#endif
+#include "twimaster.h"
- return(set);
-}
-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++;
+#include "eeprom.h"
-   if(WinkelOut.CalcState > 4)
-    {
-//     WinkelOut.CalcState = 0; // in Uart.c
-     beeptime = 1000;
-    }
-   else Piep(WinkelOut.CalcState);
+#include "_Settings.h"
   DebugOut.Analog[19] = WinkelOut.CalcState;
 uint8_t BoardRelease = 10;
 //############################################################################
+//Hauptprogramm
+int main (void)
+//############################################################################
-//Hauptprogramm
+{
-int main (void)
+        unsigned int timer;
-//############################################################################
-{
+        // disable interrupts global
-        unsigned int timer;
+        cli();
+        // get board release
-        //unsigned int timer2 = 0;
+    DDRB  = 0x00;
-    DDRB  = 0x00;
+    PORTB = 0x00;
-    PORTB = 0x00;
-    for(timer = 0; timer < 1000; timer++); // verzögern
+    for(timer = 0; timer < 1000; timer++); // make some delay
-    if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10;
+    if(PINB & (1<<PINB0)) BoardRelease = 11;
-    DDRC  = 0x81; // SCL
+    else BoardRelease = 10;
-    PORTC = 0xff; // Pullup SDA
-    DDRB  = 0x1B; // LEDs und Druckoffset
     PORTB = 0x01; // LED_Rot
-    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
+        // set LED ports as output
-    DDRD  |=0x80; // J7
+        DDRB |= (1<<DDB1)|(1<<DDB0);
+        ROT_ON;
-        PORTD = 0xF7; // LED
+        GRN_OFF;
+        // disable watchdog
+    MCUSR &=~(1<<WDRF);
     WDTCSR |= (1<<WDCE)|(1<<WDE);
+    WDTCSR = 0;
+    BeepTime = 2000;
-    MCUSR &=~(1<<WDRF);
+        PPM_in[CH_THRUST] = 0;
-    WDTCSR |= (1<<WDCE)|(1<<WDE);
+        StickYaw = 0;
+        StickRoll = 0;
+        StickPitch = 0;
+    ROT_OFF;
-    WDTCSR = 0;
+        // initalize modules
         LED_Init();
-    beeptime = 2000;
+    TIMER0_Init();
+    TIMER2_Init();
+        USART0_Init();
+        #if defined (__AVR_ATmega644P__)
+        if (BoardRelease == 11) USART1_Init();
         #endif
+    RC_Init();
+        ADC_Init();
+        I2C_Init();
-        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
+        #ifdef USE_KILLAGREG
+        MM3_Init();
         #endif
-    ROT_OFF;
+        #ifdef USE_NAVICTRL
+        SPI_MasterInit();
-    Timer_Init();
+        #endif
-        UART_Init();
+        #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)
-    rc_sum_init();
+        MK3MAG_Init();
-        ADC_Init();
+        #endif
         i2c_init();
-        SPI_MasterInit();
-        sei();
-    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
-    VersionInfo.Nebenversion = VERSION_NEBENVERSION;
+        // enable interrupts global
-    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');
-        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...");
+        sei();
           DefaultKonstanten1();
-          for (unsigned char i=0;i<6;i++)
+    VersionInfo.Major = VERSION_MAJOR;
     VersionInfo.Minor = VERSION_MINOR;
-       if(i==2) DefaultKonstanten2(); // Kamera
+    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
-       if(i==3) DefaultKonstanten3(); // Beginner
+        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;
+        // Parameter set handling
-       if(i>3)  DefaultKonstanten2(); // Kamera
+        ParamSet_Init();
-       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
+    if(GetParamWord(PID_ACC_PITCH) > 1023)
-      }
+     {
-          eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting
+       printf("\n\rACC not calibrated!");
-          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
+     }
-        }
+        //wait for a short time (otherwise the RC channel check won't work below)
-    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
+        timer = SetDelay(500);
         while(!CheckDelay(timer));
        printf("\n\rACC nicht abgeglichen!");
+        #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__)
-        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
+        if(BoardRelease == 10)
     printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
+                printf("\n\rSupport for GPS at 1st UART");
+        }
-        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
+        else
-         {
+        {
-           printf("\n\rAbgleich Luftdrucksensor..");
+                printf("\n\rSupport for GPS at 2nd UART");
-           timer = SetDelay(1000);
+        }
-       SucheLuftruckOffset();
+        #else // (__AVR_ATmega644__)
-           while (!CheckDelay(timer));
+                printf("\n\rSupport for GPS at 1st UART");
-       printf("OK\n\r");
+        #endif
         #endif
         SetNeutral();
         ROT_OFF;
-        ROT_OFF;
     BeepTime = 2000;
-    beeptime = 2000;
+    ExternControl.Digital[0] = 0x55;
-    ExternControl.Digital[0] = 0x55;
-        printf("\n\rSteuerung: ");
+        printf("\n\rControl: ");
-        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
+        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
-        else printf("Neutral");
+        else printf("Neutral");
-        printf("\n\n\r");
+        printf("\n\n\r");
+    LCD_Clear();
     LcdClear();
+    I2CTimeout = 5000;
-    I2CTimeout = 5000;
-    WinkelOut.Orientation = 1;
+        while (1)
-        while (1)
+        {
-        {
+        if(UpdateMotor)      // control interval
+        {
-                if(UpdateMotor)      // ReglerIntervall
+                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
-            {
+                        //PORTD |= (1<<PORTD4);
-                    UpdateMotor=0;
+            MotorControl();
-//PORTD |= 0x08;
+                        //PORTD &= ~(1<<PORTD4);
-            if(WinkelOut.CalcState) CalMk3Mag();
-            else MotorRegler();
+                        SendMotorData();
 //PORTD &= ~0x08;
+            ROT_OFF;
+            if(PcAccess) PcAccess--;
+            else
+            {
+               DubWiseKeys[0] = 0;
+               DubWiseKeys[1] = 0;
+                           ExternControl.Config = 0;
+               ExternStickPitch= 0;
+               ExternStickRoll = 0;
+               ExternStickYaw = 0;
+            }
+            if(!I2CTimeout)
+            {
+                                I2CTimeout = 5;
+                                I2C_Reset();
+                                if((BeepModulation == 0xFFFF) && MotorsOn)
+                                {
+                                        BeepTime = 10000; // 1 second
+                                        BeepModulation = 0x0080;
+                                }
+                        }
+                        else
+                        {
-            SendMotorData();
+                                I2CTimeout--;
-            ROT_OFF;
-            if(PcZugriff) PcZugriff--;
-             else
-              {
-               DubWiseKeys[0] = 0;
-               DubWiseKeys[1] = 0;
+                                ROT_OFF;
-                           ExternControl.Config = 0;
-               ExternStickNick = 0;
-               ExternStickRoll = 0;
-               ExternStickGier = 0;
-              }
-            if(SenderOkay)  SenderOkay--;
-            if(!I2CTimeout)
-                {
-                 I2CTimeout = 5;
-                 i2c_reset();
-                  if((BeepMuster == 0xffff) && MotorenEin)
-                   {
-                    beeptime = 10000;
-                    BeepMuster = 0x0080;
-                   }
+                        }
-                }
-            else
-                {
-                 I2CTimeout--;
-                 ROT_OFF;
-                }
+                        if(SIO_DEBUG && (!UpdateMotor || !MotorsOn))
-            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
+                        {
                                 USART0_TransmitTxData();
+                                USART0_ProcessRxData();
-               DatenUebertragung();
+                        }
-               BearbeiteRxDaten();
+                        else USART0_ProcessRxData();
-              }
-              else BearbeiteRxDaten();
+                        if(CheckDelay(timer))
-         if(CheckDelay(timer))
+                        {
-            {
-            if(UBat < EE_Parameter.UnterspannungsWarnung)
+                if(UBat < ParamSet.LowVoltageWarning)
-                {
-                  if(BeepMuster == 0xffff)
+                {
-                   {
+                                        if(BeepModulation == 0xFFFF)
-                    beeptime = 6000;
+                                        {
-                    BeepMuster = 0x0300;
+                                                BeepTime = 6000; // 0.6 seconds
-                   }
+                        BeepModulation = 0x0300;
-                }
+                                        }
+                }
-/*           if(SendVersionToNavi)
+                                #ifdef USE_NAVICTRL
+                                SPI_StartTransmitPacket();
+                                SendSPI = 4;
                                 #endif
-               SPI_StartTransmitPacket(SPI_CMD_VERSION);//#
+                                timer = SetDelay(20); // every 20 ms
                SendVersionToNavi = 0;

Subversion Repositories FlightCtrl

(root)/branches/V0.69k Code Redesign killagreg/main.c - Rev 885 → 886