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1538 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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12 | // + Verkauf von Luftbildaufnahmen, usw. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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18 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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19 | // + eindeutig als Ursprung verlinkt und genannt werden |
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20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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22 | // + Benutzung auf eigene Gefahr |
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23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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26 | // + mit unserer Zustimmung zulässig |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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31 | // + this list of conditions and the following disclaimer. |
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32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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33 | // + from this software without specific prior written permission. |
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34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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35 | // + for non-commercial use (directly or indirectly) |
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36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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37 | // + with our written permission |
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38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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39 | // + clearly linked as origin |
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40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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49 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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50 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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51 | // + POSSIBILITY OF SUCH DAMAGE. |
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52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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53 | #include <avr/boot.h> |
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54 | |||
55 | #include <avr/io.h> |
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56 | #include <avr/interrupt.h> |
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57 | #include <util/delay.h> |
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58 | |||
59 | #include "main.h" |
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60 | #include "timer0.h" |
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61 | #include "timer2.h" |
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62 | #include "uart0.h" |
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63 | #include "uart1.h" |
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64 | #include "led.h" |
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65 | #include "menu.h" |
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66 | #include "fc.h" |
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67 | #include "rc.h" |
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68 | #include "analog.h" |
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69 | #include "printf_P.h" |
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70 | #ifdef USE_KILLAGREG |
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71 | #include "mm3.h" |
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72 | #endif |
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73 | #ifdef USE_NAVICTRL |
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74 | #include "spi.h" |
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75 | #endif |
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76 | #ifdef USE_MK3MAG |
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77 | #include "mk3mag.h" |
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78 | #endif |
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79 | #include "twimaster.h" |
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80 | #include "eeprom.h" |
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81 | |||
82 | |||
83 | uint8_t BoardRelease = 10; |
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84 | uint8_t CPUType = ATMEGA644; |
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85 | uint8_t LowVoltageWarning = 94; |
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86 | uint16_t FlightMinutes = 0, FlightMinutesTotal = 0; |
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87 | |||
88 | uint8_t GetCPUType(void) |
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89 | { // works only after reset or power on when the registers have default values |
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90 | uint8_t CPUType = ATMEGA644; |
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91 | if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
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92 | return CPUType; |
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93 | } |
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94 | |||
95 | |||
96 | uint8_t GetBoardRelease(void) |
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97 | { |
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98 | uint8_t BoardRelease = 10; |
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99 | // the board release is coded via the pull up or down the 2 status LED |
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100 | |||
101 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
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102 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
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103 | |||
104 | _delay_loop_2(1000); // make some delay |
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105 | |||
106 | switch( PINB & ((1<<PINB1)|(1<<PINB0)) ) |
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107 | { |
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108 | case 0x00: |
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109 | BoardRelease = 10; // 1.0 |
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110 | break; |
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111 | case 0x01: |
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112 | BoardRelease = 11; // 1.1 or 1.2 |
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113 | break; |
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114 | case 0x02: |
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115 | BoardRelease = 20; // 2.0 |
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116 | break; |
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117 | case 0x03: |
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118 | BoardRelease = 13; // 1.3 |
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119 | break; |
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120 | default: |
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121 | break; |
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122 | } |
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123 | // set LED ports as output |
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124 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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125 | RED_ON; |
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126 | GRN_OFF; |
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127 | return BoardRelease; |
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128 | } |
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129 | |||
130 | void LipoDetection(uint8_t print) |
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131 | { |
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132 | #define MIN_VOLTAGE_WARNING 93 // minimum low voltage warning to protect LiPO |
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133 | uint16_t timer; |
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134 | if(print) printf("\n\rBatt:"); |
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135 | if(ParamSet.LowVoltageWarning < 50) // below 5.0 V the value is interpreted as single cell low volatage warning |
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136 | { |
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137 | timer = SetDelay(500); // wait at least 500 ms to get stable adc readings |
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138 | if(print) while(!CheckDelay(timer)); |
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139 | if(UBat < 130) // less than 13.0 V must be a 3S Lipo |
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140 | { |
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141 | LowVoltageWarning = 3 * ParamSet.LowVoltageWarning; |
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142 | if(print) |
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143 | { |
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144 | Beep(3, 200); |
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145 | printf(" 3 Cells "); |
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146 | } |
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147 | } |
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148 | else // <= 13.0V |
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149 | { |
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150 | LowVoltageWarning = 4 * ParamSet.LowVoltageWarning; |
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151 | if(print) |
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152 | { |
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153 | Beep(4, 200); |
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154 | printf(" 4 Cells "); |
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155 | } |
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156 | } |
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157 | } |
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158 | else // classic settings |
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159 | { |
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160 | LowVoltageWarning = ParamSet.LowVoltageWarning; |
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161 | } |
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162 | //if(LowVoltageWarning < MIN_VOLTAGE_WARNING) LowVoltageWarning = MIN_VOLTAGE_WARNING; |
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163 | if(print) printf("Low Warning level: %d.%dV", LowVoltageWarning/10, LowVoltageWarning%10); |
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164 | } |
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165 | |||
166 | int16_t main (void) |
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167 | { |
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168 | uint16_t timer, flighttimer; |
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169 | uint8_t i; |
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170 | |||
171 | // disable interrupts global |
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172 | cli(); |
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173 | |||
174 | // analyze hardware environment |
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175 | CPUType = GetCPUType(); |
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176 | BoardRelease = GetBoardRelease(); |
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177 | |||
178 | // disable watchdog |
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179 | MCUSR &=~(1<<WDRF); |
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180 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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181 | WDTCSR = 0; |
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182 | |||
183 | BeepTime = 2000; |
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184 | |||
185 | PPM_in[CH_GAS] = 0; |
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186 | StickYaw = 0; |
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187 | StickRoll = 0; |
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188 | StickNick = 0; |
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189 | |||
190 | RED_OFF; |
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191 | |||
192 | // initalize modules |
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193 | LED_Init(); |
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194 | TIMER0_Init(); |
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195 | TIMER2_Init(); |
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196 | USART0_Init(); |
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197 | if(CPUType == ATMEGA644P) USART1_Init(); |
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198 | RC_Init(); |
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199 | ADC_Init(); |
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200 | I2C_Init(); |
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201 | #ifdef USE_NAVICTRL |
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202 | SPI_MasterInit(); |
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203 | #endif |
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204 | #ifdef USE_KILLAGREG |
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205 | MM3_Init(); |
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206 | #endif |
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207 | #ifdef USE_MK3MAG |
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208 | MK3MAG_Init(); |
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209 | #endif |
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210 | |||
211 | // enable interrupts global |
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212 | sei(); |
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213 | |||
214 | printf("\n\r==================================="); |
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215 | printf("\n\rFlightControl"); |
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216 | printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
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217 | printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware"); |
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218 | printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH"); |
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219 | printf("\n\r==================================="); |
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220 | |||
221 | if(CPUType == ATMEGA644P) |
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222 | printf("\r\n CPU: Atmega644p"); |
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223 | else |
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224 | printf("\r\n CPU: Atmega644"); |
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225 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
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226 | printf("\n\r==================================="); |
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227 | GRN_ON; |
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228 | |||
229 | // Parameter Set handling |
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230 | ParamSet_Init(); |
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231 | |||
232 | // Check connected BL-Ctrls |
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233 | printf("\n\rFound BL-Ctrl: "); |
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234 | motor_read = 0; |
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235 | UpdateMotor = 0; |
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236 | SendMotorData(); |
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237 | while(!UpdateMotor); |
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238 | motor_read = 0; // read the first I2C-Data |
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239 | timer = SetDelay(2000); // set timeout to 2 seconds |
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240 | for(i = 0; i < MAX_MOTORS; i++) |
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241 | { |
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242 | UpdateMotor = 0; |
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243 | SendMotorData(); |
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244 | while(!UpdateMotor); // wait 2 ms to finish data transfer |
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245 | if(Mixer.Motor[i][MIX_GAS] > 0) // wait max 2 sec for the BL-Ctrls to wake up |
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246 | { |
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247 | while(!CheckDelay(timer) && !(Motor[i].Present) ) // while not timeout and motor is not present |
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248 | { |
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249 | UpdateMotor = 0; |
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250 | SendMotorData(); |
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251 | while(!UpdateMotor); // wait 2 ms |
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252 | } |
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253 | } |
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254 | if(Motor[i].Present) printf("%d ",i+1); |
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255 | } |
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256 | for(i = 0; i < MAX_MOTORS; i++) |
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257 | { |
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258 | if(!Motor[i].Present && Mixer.Motor[i][MIX_GAS] > 0) |
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259 | { |
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260 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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261 | Servo_On(); // just in case the FC would be used as camera-stabilizer |
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262 | } |
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263 | Motor[i].Error = 0; |
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264 | } |
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265 | printf("\n\r==================================="); |
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266 | SendMotorData(); |
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267 | |||
268 | //wait for a short time (otherwise the RC channel check won't work below) |
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269 | timer = SetDelay(500); |
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270 | while(!CheckDelay(timer)); |
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271 | |||
272 | if(ParamSet.Config0 & CFG0_AIRPRESS_SENSOR) |
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273 | { |
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274 | printf("\n\rCalibrating air pressure sensor.."); |
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275 | timer = SetDelay(1000); |
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276 | SearchAirPressureOffset(); |
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277 | while (!CheckDelay(timer)); |
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278 | printf("OK\n\r"); |
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279 | } |
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280 | |||
281 | #ifdef USE_NAVICTRL |
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282 | printf("\n\rSupport for NaviCtrl"); |
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283 | #ifdef USE_RC_DSL |
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284 | printf("\r\nSupport for DSL RC at 2nd UART"); |
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285 | #endif |
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286 | #ifdef USE_RC_SPECTRUM |
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287 | printf("\r\nSupport for SPEKTRUM RC at 2nd UART"); |
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288 | #endif |
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289 | #endif |
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290 | |||
291 | #ifdef USE_KILLAGREG |
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292 | printf("\n\rSupport for MicroMag3 Compass"); |
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293 | #endif |
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294 | |||
295 | #ifdef USE_MK3MAG |
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296 | printf("\n\rSupport for MK3MAG Compass"); |
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297 | #endif |
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298 | |||
299 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
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300 | if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
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301 | else printf("\n\rSupport for GPS at 1st UART"); |
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302 | #endif |
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303 | |||
304 | // init variables |
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305 | SetNeutral(NO_ACC_CALIB); |
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306 | |||
307 | RED_OFF; |
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308 | |||
309 | BeepTime = 2000; |
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310 | ExternControl.Digital[0] = 0x55; |
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311 | |||
312 | |||
313 | FlightMinutes = GetParamWord(PID_FLIGHT_MINUTES); |
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314 | FlightMinutesTotal = GetParamWord(PID_FLIGHT_MINUTES_TOTAL); |
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315 | flighttimer = 0; |
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316 | if( (FlightMinutesTotal == 0xFFFF) || (FlightMinutes == 0xFFFF) ) |
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317 | { |
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318 | FlightMinutes = 0; |
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319 | FlightMinutesTotal = 0; |
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320 | } |
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321 | printf("\n\rFlight-time %u min Total:%u min", FlightMinutes, FlightMinutesTotal); |
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322 | |||
323 | |||
324 | printf("\n\rControl: "); |
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325 | if (ParamSet.Config0 & CFG0_HEADING_HOLD) printf("HeadingHold"); |
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326 | else printf("Neutral (ACC-Mode)"); |
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327 | |||
328 | LCD_Clear(); |
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329 | I2CTimeout = 5000; |
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330 | LipoDetection(1); |
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331 | printf("\n\r===================================\n\r"); |
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332 | |||
333 | timer = SetDelay(2000); |
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334 | |||
335 | // begin of main loop |
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336 | while (1) |
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337 | { |
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338 | if(UpdateMotor && ADReady) // control interval |
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339 | { |
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340 | UpdateMotor = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
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341 | |||
342 | //J4HIGH; |
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343 | MotorControl(); |
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344 | //J4LOW; |
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345 | |||
346 | SendMotorData(); // the flight control code |
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347 | RED_OFF; |
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348 | |||
349 | if(RC_Quality) RC_Quality--; |
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350 | else PPM_INPUT_ON; // if RC-Quality is lost, enable PPM input (could be disabled by a receiver on uart1) |
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351 | |||
352 | #ifdef USE_NAVICTRL |
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353 | if(NCDataOkay) |
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354 | { |
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355 | if(--NCDataOkay == 0) // no data from NC |
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356 | { // set gps control sticks neutral |
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357 | GPSStickNick = 0; |
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358 | GPSStickRoll = 0; |
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359 | NCSerialDataOkay = 0; |
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360 | NCGpsZ = 0; |
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361 | } |
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362 | } |
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363 | #endif |
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364 | |||
365 | if(!--I2CTimeout || MissingMotor) // try to reset the i2c if motor is missing ot timeout |
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366 | { |
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367 | RED_ON; |
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368 | if(!I2CTimeout) |
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369 | { |
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370 | I2C_Reset(); |
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371 | I2CTimeout = 5; |
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372 | DebugOut.Analog[28]++; // I2C-Error |
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373 | } |
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374 | if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
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375 | { |
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376 | BeepTime = 10000; // 1 second |
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377 | BeepModulation = 0x0080; |
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378 | } |
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379 | } |
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380 | else |
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381 | { |
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382 | RED_OFF; |
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383 | } |
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384 | |||
385 | // allow Serial Data Transmit if motors must not updated or motors are not running |
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386 | if( !UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) ) |
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387 | { |
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388 | USART0_TransmitTxData(); |
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389 | } |
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390 | USART0_ProcessRxData(); |
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391 | |||
392 | if(CheckDelay(timer)) |
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393 | { |
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394 | timer += 20; // every 20 ms |
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395 | if(PcAccess) PcAccess--; |
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396 | else |
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397 | { |
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398 | ExternControl.Config = 0; |
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399 | ExternStickNick= 0; |
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400 | ExternStickRoll = 0; |
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401 | ExternStickYaw = 0; |
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402 | if((BeepModulation == 0xFFFF) && (RC_Quality == 0)) |
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403 | { |
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404 | BeepTime = 15000; // 1.5 seconds |
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405 | BeepModulation = 0x0C00; |
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406 | } |
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407 | } |
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408 | if(UBat < LowVoltageWarning) |
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409 | { |
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410 | MKFlags |= MKFLAG_LOWBAT; |
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411 | BeepModulation = 0x0300; |
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412 | if(!BeepTime ) |
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413 | { |
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414 | BeepTime = 6000; // 0.6 seconds |
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415 | } |
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416 | } |
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417 | else |
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418 | { |
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419 | MKFlags &= ~MKFLAG_LOWBAT; |
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420 | } |
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421 | #ifdef USE_NAVICTRL |
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422 | SPI_StartTransmitPacket(); |
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423 | SendSPI = 4; |
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424 | #endif |
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425 | |||
426 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) flighttimer = 1450; // 0.5 minutes round up |
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427 | if(++flighttimer == 2930) // one minute |
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428 | { |
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429 | flighttimer = 0; |
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430 | FlightMinutesTotal++; |
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431 | FlightMinutes++; |
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432 | SetParamWord(PID_FLIGHT_MINUTES_TOTAL, FlightMinutesTotal); |
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433 | SetParamWord(PID_FLIGHT_MINUTES, FlightMinutes); |
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434 | timer = SetDelay(20); // in case "timer += 20;" will not work |
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435 | } |
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436 | }// EOF CheckDelay(timer) |
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437 | |||
438 | LED_Update(); |
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439 | } |
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440 | |||
441 | #ifdef USE_NAVICTRL |
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442 | if(!SendSPI) |
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443 | { // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
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444 | // within the SPI_TransmitByte() routine the value is set to 4. |
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445 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
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446 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
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447 | SPI_TransmitByte(); |
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448 | } |
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449 | #endif |
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450 | } |
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451 | return (1); |
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452 | } |
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453 |