Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) Holger Buss, Ingo Busker

// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY

// + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  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"

unsigned char EEPromArray[E2END+1] EEMEM;

unsigned char PlatinenVersion = 10;

unsigned char SendVersionToNavi = 1;

unsigned char BattLowVoltageWarning = 94;

unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;

// -- Parametersatz aus EEPROM lesen ---

// number [1..5]

void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)

{

   if((number > 5)||(number < 1)) number = 3;

   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);

   LED_Init();

}

// -- Parametersatz ins EEPROM schreiben ---

// number [1..5]

void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)

{

   if(number > 5) number = 5;

   if(number < 1) return;

   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);

   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken

   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken

   SetActiveParamSetNumber(number);

   LED_Init();

}

unsigned char GetActiveParamSetNumber(void)

{

        unsigned char set;

        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);

        if((set > 5) || (set < 1))

        {

                set = 3;

                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken

        }

        return(set);

}

void SetActiveParamSetNumber(unsigned char number)

{

        if(number > 5) number = 5;

        if(number < 1) return;

        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken

}

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)

{

   unsigned int timer;

   if(print) printf("\n\rBatt:");

   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung

    {

         timer = SetDelay(500);

         if(print) while (!CheckDelay(timer));

         if(UBat < 130)

          {

           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;

           if(print)

            {

                 Piep(3,200);

             printf(" 3 Cells  ");

                }

          }

         else

          {

           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;

           if(print)

            {

                 Piep(4,200);

             printf(" 4 Cells  ");

                }

          }

    }

    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;

//      if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;

   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);

}

//############################################################################

//Hauptprogramm

int main (void)

//############################################################################

{

        unsigned int timer,i,timer2 = 0;

    DDRB  = 0x00;

    PORTB = 0x00;

    for(timer = 0; timer < 1000; timer++); // verzögern

    if(PINB & 0x01)

     {

      if(PINB & 0x02) PlatinenVersion = 13;

       else           PlatinenVersion = 11;

     }

    else

     {

      if(PINB & 0x02) PlatinenVersion = 20;

       else           PlatinenVersion = 10;

     }

    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

    HEF4017R_ON;

    MCUSR &=~(1<<WDRF);

    WDTCSR |= (1<<WDCE)|(1<<WDE);

    WDTCSR = 0;

    beeptime = 2000;

        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;

    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; 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();

        SPI_MasterInit();

        sei();

        printf("\n\r===================================");

        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');

        printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware");

        printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH");

        printf("\n\r===================================");

    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P

     {

      Uart1Init();

     }

        GRN_ON;

        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes

    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte

       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool

        {

     unsigned char i;

         RequiredMotors = 0;

     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));

     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}

        }

        else // default

        {

     unsigned char i;

         printf("\n\rGenerating default Mixer Table");

         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;};

     // default = Quadro

     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;

     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;

     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;

     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;

         Mixer.Revision = MIXER_REVISION;

     memcpy(Mixer.Name, "Quadro\0", 11);

     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));

    }

    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Check connected BL-Ctrls

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

        printf("\n\rFound BL-Ctrl: ");

    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data

    timer = SetDelay(2000);

        for(i=0; i < MAX_MOTORS; i++)

         {

          UpdateMotor = 0;

      SendMotorData();

          while(!UpdateMotor);

      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up

        {

             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};

                }

          if(MotorPresent[i]) printf("%d ",i+1);

     }

        for(i=0; i < MAX_MOTORS; i++)

         {

          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)

           {

            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);

                ServoActive = 1; // just in case the FC would be used as camera-stabilizer

           }   

          MotorError[i] = 0;

     }

        printf("\n\r===================================");

    SendMotorData();

//printf("\n size: %u",STRUCT_PARAM_LAENGE);

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Check Settings

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)

        {

          DefaultKonstanten1();

          printf("\n\rInit. EEPROM");

          for (unsigned char i=1;i<6;i++)

      {

       if(i==2) DefaultKonstanten2(); // Kamera

       if(i==3) DefaultKonstanten3(); // Beginner

       if(i>3)  DefaultKonstanten2(); // Kamera

           if(PlatinenVersion >= 20)

            {

                 EE_Parameter.Gyro_D = 5;

                 EE_Parameter.Driftkomp = 0;

                 EE_Parameter.GyroAccFaktor = 27;

         EE_Parameter.WinkelUmschlagNick = 78;

         EE_Parameter.WinkelUmschlagRoll = 78;

                }

    // valid Stick-Settings?

           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)

            {

         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);

         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);

         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);

         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);

         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);

         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);

         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);

         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);

         if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)

                  {

                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);

           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);

           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);

           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);

                  }

                  else

                  {

           EE_Parameter.Kanalbelegung[K_POTI5] = 9;

           EE_Parameter.Kanalbelegung[K_POTI6] = 10;

           EE_Parameter.Kanalbelegung[K_POTI7] = 11;

           EE_Parameter.Kanalbelegung[K_POTI8] = 12;

                  }

         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");

                } else DefaultStickMapping();

       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);

      }

          SetActiveParamSetNumber(3); // default-Setting

          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);

        }

    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);

    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);

    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)

         {

          FlugMinuten = 0;

          FlugMinutenGesamt = 0;

         }

    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);

    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)

     {

       printf("\n\rACC not calibrated !");

     }

        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);

    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());

        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)

         {

           printf("\n\rCalibrating pressure sensor..");

           timer = SetDelay(1000);

       SucheLuftruckOffset();

           while (!CheckDelay(timer));

       printf("OK\n\r");

        }

        SetNeutral();

        ROT_OFF;

    beeptime = 2000;

    ExternControl.Digital[0] = 0x55;

        printf("\n\rControl: ");

        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");

        else printf("Normal (ACC-Mode)");

    LcdClear();

    I2CTimeout = 5000;

    WinkelOut.Orientation = 1;

    LipoDetection(1);

        printf("\n\r===================================\n\r");

//SpektrumBinding();

    timer = SetDelay(2000);

        while (1)

        {

            if(UpdateMotor && AdReady)      // ReglerIntervall

            {

                    UpdateMotor=0;

            if(WinkelOut.CalcState) CalMk3Mag();

            else MotorRegler();

            SendMotorData();

            ROT_OFF;

            if(SenderOkay)  SenderOkay--;

                        else TIMSK1 |= _BV(ICIE1); // enable PPM-Input

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                 

//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(NaviDataOkay)

                         {

                          if(--NaviDataOkay == 0)

                           {

                    GPS_Nick = 0;

                GPS_Roll = 0;

               }

              }

            if(!--I2CTimeout || MissingMotor)

                {

                  if(!I2CTimeout)

                                   {

                                    i2c_reset();

                    I2CTimeout = 5;

                                        DebugOut.Analog[28]++; // I2C-Error

                                   }

                  if((BeepMuster == 0xffff) && MotorenEin)

                   {

                    beeptime = 10000;

                    BeepMuster = 0x0080;

                   }

                }

            else

                {

                 ROT_OFF;

                }

            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))

              {

               DatenUebertragung();

               BearbeiteRxDaten();

              }

                        else BearbeiteRxDaten();

                        if(CheckDelay(timer))

                        {

                          timer += 20;

              if(PcZugriff) PcZugriff--;

              else

               {

                            ExternControl.Config = 0;

                ExternStickNick = 0;

                ExternStickRoll = 0;

                ExternStickGier = 0;

                if(BeepMuster == 0xffff && SenderOkay == 0)

                {

                 beeptime = 15000;

                 BeepMuster = 0x0c00;

                }

               }

                           if(UBat < BattLowVoltageWarning)

                                {

                                        MikroKopterFlags |= FLAG_LOWBAT;

                                        if(BeepMuster == 0xffff)

                                        {

                                                beeptime = 6000;

                                                BeepMuster = 0x0300;

                                        }

                                }

                                else MikroKopterFlags &= ~FLAG_LOWBAT;

                                SPI_StartTransmitPacket();

                                SendSPI = 4;

                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden

                                if(++timer2 == 2930)  // eine Minute

                                 {

                                   timer2 = 0;

                   FlugMinuten++;

                       FlugMinutenGesamt++;

                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);

                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);

                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);

                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);

                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht

                             }

                        }

           LED_Update();

          }

     if(!SendSPI) { SPI_TransmitByte(); }

    }

 return (1);

}