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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 25
// + mit unserer Zustimmung zulässig
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
1051 killagreg 33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 34
// +     for non-commercial use (directly or indirectly)
1051 killagreg 35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 36
// +     with our written permission
1051 killagreg 37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
1 ingob 39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52
#include "main.h"
53
 
54
unsigned char EEPromArray[E2END+1] EEMEM;
173 holgerb 55
unsigned char PlatinenVersion = 10;
723 hbuss 56
unsigned char SendVersionToNavi = 1;
1 ingob 57
// -- Parametersatz aus EEPROM lesen ---
1051 killagreg 58
// number [1..5]
1 ingob 59
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
60
{
993 hbuss 61
   if((number > 5)||(number < 1)) number = 3;
1063 killagreg 62
   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
921 hbuss 63
   LED_Init();
1 ingob 64
}
65
 
66
// -- Parametersatz ins EEPROM schreiben ---
1051 killagreg 67
// number [1..5]
1 ingob 68
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
69
{
1051 killagreg 70
   if(number > 5) number = 5;
993 hbuss 71
   if(number < 1) return;
1063 killagreg 72
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
73
   SetActiveParamSetNumber(number);
921 hbuss 74
   LED_Init();
1 ingob 75
}
76
 
77
unsigned char GetActiveParamSetNumber(void)
78
{
1063 killagreg 79
        unsigned char set;
80
        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
81
        if((set > 5) || (set < 1))
82
        {
83
                set = 3;
84
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
85
        }
86
        return(set);
1 ingob 87
}
88
 
1063 killagreg 89
 
90
void SetActiveParamSetNumber(unsigned char number)
91
{
92
        if(number > 5) number = 5;
93
        if(number < 1) return;
94
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
95
}
96
 
97
 
819 hbuss 98
void CalMk3Mag(void)
99
{
100
 static unsigned char stick = 1;
101
 
102
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
103
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
104
  {
105
   stick = 1;
106
   WinkelOut.CalcState++;
1051 killagreg 107
   if(WinkelOut.CalcState > 4)
108
    {
819 hbuss 109
//     WinkelOut.CalcState = 0; // in Uart.c
110
     beeptime = 1000;
1051 killagreg 111
    }
819 hbuss 112
   else Piep(WinkelOut.CalcState);
113
  }
114
  DebugOut.Analog[19] = WinkelOut.CalcState;
115
}
116
 
1 ingob 117
//############################################################################
118
//Hauptprogramm
119
int main (void)
120
//############################################################################
121
{
819 hbuss 122
        unsigned int timer;
296 holgerb 123
 
304 ingob 124
        //unsigned int timer2 = 0;
1051 killagreg 125
    DDRB  = 0x00;
126
    PORTB = 0x00;
188 holgerb 127
    for(timer = 0; timer < 1000; timer++); // verzögern
1051 killagreg 128
    if(PINB & 0x01)
918 hbuss 129
     {
1051 killagreg 130
      if(PINB & 0x02) PlatinenVersion = 13;
131
       else           PlatinenVersion = 11;
918 hbuss 132
     }
1051 killagreg 133
    else
1021 hbuss 134
     {
1051 killagreg 135
      if(PINB & 0x02) PlatinenVersion = 20;
136
       else           PlatinenVersion = 10;
1021 hbuss 137
     }
138
 
173 holgerb 139
    DDRC  = 0x81; // SCL
1036 hbuss 140
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 141
    PORTC = 0xff; // Pullup SDA
142
    DDRB  = 0x1B; // LEDs und Druckoffset
143
    PORTB = 0x01; // LED_Rot
144
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1036 hbuss 145
    DDRD  |=0x80; // J7 -> Servo signal
146
        PORTD = 0x77; // LED
1051 killagreg 147
 
148
 
1 ingob 149
    MCUSR &=~(1<<WDRF);
150
    WDTCSR |= (1<<WDCE)|(1<<WDE);
151
    WDTCSR = 0;
152
 
153
    beeptime = 2000;
154
 
155
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
156
 
157
    ROT_OFF;
1051 killagreg 158
 
1 ingob 159
    Timer_Init();
160
        UART_Init();
161
    rc_sum_init();
162
        ADC_Init();
163
        i2c_init();
597 ingob 164
        SPI_MasterInit();
1051 killagreg 165
 
1 ingob 166
        sei();
167
 
1051 killagreg 168
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
1 ingob 169
        printf("\n\r==============================");
918 hbuss 170
 
1 ingob 171
        GRN_ON;
172
 
1058 killagreg 173
 
1063 killagreg 174
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
993 hbuss 175
    // valid Stick-Settings?
1058 killagreg 176
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION ||
993 hbuss 177
        EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9)
1051 killagreg 178
           {
993 hbuss 179
            printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings...");
180
        DefaultStickMapping();
181
       }
182
    else if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings");
1051 killagreg 183
 
184
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
185
        {
1 ingob 186
          DefaultKonstanten1();
1051 killagreg 187
          for (unsigned char i=1;i<6;i++)
1 ingob 188
      {
395 hbuss 189
       if(i==2) DefaultKonstanten2(); // Kamera
190
       if(i==3) DefaultKonstanten3(); // Beginner
191
       if(i>3)  DefaultKonstanten2(); // Kamera
1 ingob 192
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1051 killagreg 193
      }
1063 killagreg 194
          SetActiveParamSetNumber(3); // default-Setting
173 holgerb 195
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
1 ingob 196
        }
513 hbuss 197
 
1051 killagreg 198
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 199
     {
200
       printf("\n\rACC nicht abgeglichen!");
201
     }
1051 killagreg 202
 
1 ingob 203
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
204
    printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
205
 
1051 killagreg 206
 
1 ingob 207
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 208
         {
1 ingob 209
           printf("\n\rAbgleich Luftdrucksensor..");
1051 killagreg 210
           timer = SetDelay(1000);
1 ingob 211
       SucheLuftruckOffset();
212
           while (!CheckDelay(timer));
213
       printf("OK\n\r");
214
        }
1051 killagreg 215
 
1 ingob 216
        SetNeutral();
217
 
218
        ROT_OFF;
1051 killagreg 219
 
1 ingob 220
    beeptime = 2000;
1051 killagreg 221
    ExternControl.Digital[0] = 0x55;
1 ingob 222
 
1051 killagreg 223
 
1 ingob 224
        printf("\n\rSteuerung: ");
225
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
226
        else printf("Neutral");
1051 killagreg 227
 
1 ingob 228
        printf("\n\n\r");
1051 killagreg 229
 
1 ingob 230
    LcdClear();
173 holgerb 231
    I2CTimeout = 5000;
819 hbuss 232
    WinkelOut.Orientation = 1;
1 ingob 233
        while (1)
234
        {
1051 killagreg 235
 
720 ingob 236
                if(UpdateMotor)      // ReglerIntervall
1051 killagreg 237
            {
238
                    UpdateMotor=0;
419 hbuss 239
//PORTD |= 0x08;
819 hbuss 240
            if(WinkelOut.CalcState) CalMk3Mag();
1051 killagreg 241
            else MotorRegler();
419 hbuss 242
//PORTD &= ~0x08;
1 ingob 243
            SendMotorData();
244
            ROT_OFF;
1051 killagreg 245
            if(PcZugriff) PcZugriff--;
246
             else
492 hbuss 247
              {
595 hbuss 248
                           ExternControl.Config = 0;
492 hbuss 249
               ExternStickNick = 0;
250
               ExternStickRoll = 0;
251
               ExternStickGier = 0;
252
              }
1 ingob 253
            if(SenderOkay)  SenderOkay--;
173 holgerb 254
            if(!I2CTimeout)
255
                {
256
                 I2CTimeout = 5;
257
                 i2c_reset();
1051 killagreg 258
                  if((BeepMuster == 0xffff) && MotorenEin)
259
                   {
173 holgerb 260
                    beeptime = 10000;
261
                    BeepMuster = 0x0080;
1051 killagreg 262
                   }
1 ingob 263
                }
1051 killagreg 264
            else
1 ingob 265
                {
173 holgerb 266
                 I2CTimeout--;
1051 killagreg 267
                 ROT_OFF;
1 ingob 268
                }
805 hbuss 269
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
1 ingob 270
              {
271
               DatenUebertragung();
272
               BearbeiteRxDaten();
273
              }
274
              else BearbeiteRxDaten();
173 holgerb 275
         if(CheckDelay(timer))
1051 killagreg 276
            {
173 holgerb 277
            if(UBat < EE_Parameter.UnterspannungsWarnung)
1051 killagreg 278
                {
279
                  if(BeepMuster == 0xffff)
280
                   {
173 holgerb 281
                    beeptime = 6000;
282
                    BeepMuster = 0x0300;
1051 killagreg 283
                   }
173 holgerb 284
                }
1051 killagreg 285
/*           if(SendVersionToNavi)
723 hbuss 286
              {
287
               SPI_StartTransmitPacket(SPI_CMD_VERSION);//#
288
               SendVersionToNavi = 0;
289
              }
290
              else  SPI_StartTransmitPacket(SPI_CMD_VALUE);//#
291
*/
823 ingob 292
             SPI_StartTransmitPacket();//#
723 hbuss 293
 
294
             SendSPI = 4;
1051 killagreg 295
                         timer = SetDelay(20);
296
            }
623 hbuss 297
           //if(UpdateMotor) DebugOut.Analog[26]++;
921 hbuss 298
           LED_Update();
604 hbuss 299
          }
723 hbuss 300
     if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 301
    }
302
 return (1);
303
}
304