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Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 |
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32 | // + from this software without specific prior written permission. |
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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 |
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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" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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1051 | killagreg | 50 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include "main.h" |
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53 | |||
54 | unsigned char EEPromArray[E2END+1] EEMEM; |
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173 | holgerb | 55 | unsigned char PlatinenVersion = 10; |
723 | hbuss | 56 | unsigned char SendVersionToNavi = 1; |
1232 | hbuss | 57 | unsigned char BattLowVoltageWarning = 94; |
1 | ingob | 58 | // -- Parametersatz aus EEPROM lesen --- |
1051 | killagreg | 59 | // number [1..5] |
1 | ingob | 60 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
61 | { |
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993 | hbuss | 62 | if((number > 5)||(number < 1)) number = 3; |
1063 | killagreg | 63 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
921 | hbuss | 64 | LED_Init(); |
1 | ingob | 65 | } |
66 | |||
67 | // -- Parametersatz ins EEPROM schreiben --- |
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1051 | killagreg | 68 | // number [1..5] |
1 | ingob | 69 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
70 | { |
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1051 | killagreg | 71 | if(number > 5) number = 5; |
993 | hbuss | 72 | if(number < 1) return; |
1063 | killagreg | 73 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
1171 | hbuss | 74 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken |
75 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken |
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1063 | killagreg | 76 | SetActiveParamSetNumber(number); |
921 | hbuss | 77 | LED_Init(); |
1 | ingob | 78 | } |
79 | |||
80 | unsigned char GetActiveParamSetNumber(void) |
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81 | { |
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1063 | killagreg | 82 | unsigned char set; |
83 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
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84 | if((set > 5) || (set < 1)) |
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85 | { |
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86 | set = 3; |
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87 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
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88 | } |
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89 | return(set); |
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1 | ingob | 90 | } |
91 | |||
1063 | killagreg | 92 | |
93 | void SetActiveParamSetNumber(unsigned char number) |
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94 | { |
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95 | if(number > 5) number = 5; |
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96 | if(number < 1) return; |
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97 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
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98 | } |
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99 | |||
100 | |||
819 | hbuss | 101 | void CalMk3Mag(void) |
102 | { |
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103 | static unsigned char stick = 1; |
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104 | |||
105 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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106 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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107 | { |
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108 | stick = 1; |
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109 | WinkelOut.CalcState++; |
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1051 | killagreg | 110 | if(WinkelOut.CalcState > 4) |
111 | { |
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819 | hbuss | 112 | // WinkelOut.CalcState = 0; // in Uart.c |
113 | beeptime = 1000; |
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1051 | killagreg | 114 | } |
1232 | hbuss | 115 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 116 | } |
117 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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118 | } |
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119 | |||
1268 | hbuss | 120 | void LipoDetection(unsigned char print) |
121 | { |
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122 | unsigned int timer; |
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123 | if(print) printf("\n\rBatt:"); |
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124 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
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125 | { |
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126 | timer = SetDelay(500); |
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127 | if(print) while (!CheckDelay(timer)); |
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128 | if(UBat < 130) |
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129 | { |
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130 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
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131 | if(print) |
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132 | { |
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133 | Piep(3,200); |
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134 | printf(" 3 Cells "); |
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135 | } |
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136 | } |
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137 | else |
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138 | { |
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139 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
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140 | if(print) |
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141 | { |
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142 | Piep(4,200); |
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143 | printf(" 4 Cells "); |
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144 | } |
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145 | } |
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146 | } |
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147 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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148 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
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149 | } |
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150 | |||
1 | ingob | 151 | //############################################################################ |
152 | //Hauptprogramm |
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153 | int main (void) |
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154 | //############################################################################ |
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155 | { |
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1211 | hbuss | 156 | unsigned int timer,i; |
1051 | killagreg | 157 | DDRB = 0x00; |
158 | PORTB = 0x00; |
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188 | holgerb | 159 | for(timer = 0; timer < 1000; timer++); // verzögern |
1051 | killagreg | 160 | if(PINB & 0x01) |
918 | hbuss | 161 | { |
1051 | killagreg | 162 | if(PINB & 0x02) PlatinenVersion = 13; |
163 | else PlatinenVersion = 11; |
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918 | hbuss | 164 | } |
1051 | killagreg | 165 | else |
1021 | hbuss | 166 | { |
1051 | killagreg | 167 | if(PINB & 0x02) PlatinenVersion = 20; |
168 | else PlatinenVersion = 10; |
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1021 | hbuss | 169 | } |
170 | |||
173 | holgerb | 171 | DDRC = 0x81; // SCL |
1036 | hbuss | 172 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 173 | PORTC = 0xff; // Pullup SDA |
174 | DDRB = 0x1B; // LEDs und Druckoffset |
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175 | PORTB = 0x01; // LED_Rot |
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176 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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1153 | hbuss | 177 | PORTD = 0x47; // LED |
1171 | hbuss | 178 | HEF4017R_ON; |
1 | ingob | 179 | MCUSR &=~(1<<WDRF); |
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 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
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1111 | hbuss | 185 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
1 | ingob | 186 | ROT_OFF; |
1051 | killagreg | 187 | |
1 | ingob | 188 | Timer_Init(); |
1156 | hbuss | 189 | TIMER2_Init(); |
1 | ingob | 190 | UART_Init(); |
191 | rc_sum_init(); |
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192 | ADC_Init(); |
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193 | i2c_init(); |
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597 | ingob | 194 | SPI_MasterInit(); |
1051 | killagreg | 195 | |
1 | ingob | 196 | sei(); |
197 | |||
1211 | hbuss | 198 | printf("\n\r==================================="); |
1051 | killagreg | 199 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
1172 | hbuss | 200 | if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
1254 | killagreg | 201 | { |
1172 | hbuss | 202 | Uart1Init(); |
203 | } |
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1 | ingob | 204 | GRN_ON; |
1063 | killagreg | 205 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
1051 | killagreg | 206 | |
1212 | hbuss | 207 | if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte |
208 | (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool |
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1209 | hbuss | 209 | { |
1254 | killagreg | 210 | unsigned char i; |
1209 | hbuss | 211 | RequiredMotors = 0; |
212 | eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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213 | for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
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1254 | killagreg | 214 | } |
1209 | hbuss | 215 | else // default |
216 | { |
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1254 | killagreg | 217 | unsigned char i; |
1211 | hbuss | 218 | printf("\n\rGenerating default Mixer Table"); |
1209 | hbuss | 219 | 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;}; |
220 | // default = Quadro |
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221 | Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; |
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222 | Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; |
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223 | Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
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224 | Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
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1211 | hbuss | 225 | Mixer.Revision = MIXER_REVISION; |
1254 | killagreg | 226 | memcpy(Mixer.Name, "Quadro\0", 11); |
1209 | hbuss | 227 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
228 | } |
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229 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
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1211 | hbuss | 230 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
231 | // + Check connected BL-Ctrls |
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232 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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233 | printf("\n\rFound BL-Ctrl: "); |
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234 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
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1232 | hbuss | 235 | timer = SetDelay(2000); |
1211 | hbuss | 236 | for(i=0; i < MAX_MOTORS; i++) |
237 | { |
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238 | UpdateMotor = 0; |
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239 | SendMotorData(); |
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240 | while(!UpdateMotor); |
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1232 | hbuss | 241 | if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up |
242 | { |
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243 | while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
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244 | } |
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1211 | hbuss | 245 | if(MotorPresent[i]) printf("%d ",i+1); |
246 | } |
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247 | for(i=0; i < MAX_MOTORS; i++) |
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248 | { |
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249 | if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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250 | MotorError[i] = 0; |
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251 | } |
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252 | printf("\n\r==================================="); |
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253 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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254 | // + Check Settings |
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255 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 256 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
257 | { |
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1 | ingob | 258 | DefaultKonstanten1(); |
1171 | hbuss | 259 | printf("\n\rInit. EEPROM"); |
1051 | killagreg | 260 | for (unsigned char i=1;i<6;i++) |
1 | ingob | 261 | { |
395 | hbuss | 262 | if(i==2) DefaultKonstanten2(); // Kamera |
263 | if(i==3) DefaultKonstanten3(); // Beginner |
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264 | if(i>3) DefaultKonstanten2(); // Kamera |
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1254 | killagreg | 265 | if(PlatinenVersion >= 20) |
266 | { |
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1167 | hbuss | 267 | EE_Parameter.Gyro_D = 5; |
1111 | hbuss | 268 | EE_Parameter.Driftkomp = 0; |
269 | EE_Parameter.GyroAccFaktor = 27; |
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270 | EE_Parameter.WinkelUmschlagNick = 78; |
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271 | EE_Parameter.WinkelUmschlagRoll = 78; |
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272 | } |
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1171 | hbuss | 273 | // valid Stick-Settings? |
274 | 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) |
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275 | { |
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276 | EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
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277 | EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
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278 | EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
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279 | EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
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280 | EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
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281 | EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
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282 | EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
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283 | EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
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284 | if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
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285 | } else DefaultStickMapping(); |
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1 | ingob | 286 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
1051 | killagreg | 287 | } |
1063 | killagreg | 288 | SetActiveParamSetNumber(3); // default-Setting |
173 | holgerb | 289 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
1 | ingob | 290 | } |
513 | hbuss | 291 | |
1051 | killagreg | 292 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
513 | hbuss | 293 | { |
1211 | hbuss | 294 | printf("\n\rACC not calibrated !"); |
513 | hbuss | 295 | } |
1051 | killagreg | 296 | |
1 | ingob | 297 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
1211 | hbuss | 298 | printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
1 | ingob | 299 | |
1051 | killagreg | 300 | |
1 | ingob | 301 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1051 | killagreg | 302 | { |
1211 | hbuss | 303 | printf("\n\rCalibrating pressure sensor.."); |
1051 | killagreg | 304 | timer = SetDelay(1000); |
1 | ingob | 305 | SucheLuftruckOffset(); |
306 | while (!CheckDelay(timer)); |
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307 | printf("OK\n\r"); |
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308 | } |
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1051 | killagreg | 309 | |
1 | ingob | 310 | SetNeutral(); |
311 | |||
312 | ROT_OFF; |
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1051 | killagreg | 313 | |
1 | ingob | 314 | beeptime = 2000; |
1051 | killagreg | 315 | ExternControl.Digital[0] = 0x55; |
1 | ingob | 316 | |
1051 | killagreg | 317 | |
1211 | hbuss | 318 | printf("\n\rControl: "); |
1 | ingob | 319 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
1211 | hbuss | 320 | else printf("Normal (ACC-Mode)"); |
1051 | killagreg | 321 | |
1 | ingob | 322 | LcdClear(); |
173 | holgerb | 323 | I2CTimeout = 5000; |
819 | hbuss | 324 | WinkelOut.Orientation = 1; |
1268 | hbuss | 325 | LipoDetection(1); |
1232 | hbuss | 326 | printf("\n\r===================================\n\r"); |
1 | ingob | 327 | while (1) |
328 | { |
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1155 | hbuss | 329 | if(UpdateMotor && AdReady) // ReglerIntervall |
1051 | killagreg | 330 | { |
1171 | hbuss | 331 | UpdateMotor=0; |
819 | hbuss | 332 | if(WinkelOut.CalcState) CalMk3Mag(); |
1051 | killagreg | 333 | else MotorRegler(); |
1 | ingob | 334 | SendMotorData(); |
335 | ROT_OFF; |
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1051 | killagreg | 336 | if(PcZugriff) PcZugriff--; |
337 | else |
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492 | hbuss | 338 | { |
595 | hbuss | 339 | ExternControl.Config = 0; |
492 | hbuss | 340 | ExternStickNick = 0; |
341 | ExternStickRoll = 0; |
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342 | ExternStickGier = 0; |
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343 | } |
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1 | ingob | 344 | if(SenderOkay) SenderOkay--; |
1254 | killagreg | 345 | else |
1232 | hbuss | 346 | { |
347 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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1254 | killagreg | 348 | } |
1232 | hbuss | 349 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
350 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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1254 | killagreg | 351 | if(NaviDataOkay) |
1215 | hbuss | 352 | { |
353 | if(--NaviDataOkay == 0) |
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354 | { |
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355 | GPS_Nick = 0; |
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356 | GPS_Roll = 0; |
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357 | } |
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358 | } |
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1210 | hbuss | 359 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 360 | { |
1254 | killagreg | 361 | if(!I2CTimeout) |
1210 | hbuss | 362 | { |
363 | i2c_reset(); |
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364 | I2CTimeout = 5; |
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365 | } |
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1051 | killagreg | 366 | if((BeepMuster == 0xffff) && MotorenEin) |
367 | { |
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173 | holgerb | 368 | beeptime = 10000; |
369 | BeepMuster = 0x0080; |
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1051 | killagreg | 370 | } |
1 | ingob | 371 | } |
1051 | killagreg | 372 | else |
1 | ingob | 373 | { |
1051 | killagreg | 374 | ROT_OFF; |
1 | ingob | 375 | } |
805 | hbuss | 376 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
1 | ingob | 377 | { |
378 | DatenUebertragung(); |
||
379 | BearbeiteRxDaten(); |
||
380 | } |
||
1254 | killagreg | 381 | else BearbeiteRxDaten(); |
382 | if(CheckDelay(timer)) |
||
383 | { |
||
384 | if(UBat < BattLowVoltageWarning) |
||
385 | { |
||
386 | MikroKopterFlags |= FLAG_LOWBAT; |
||
387 | if(BeepMuster == 0xffff) |
||
388 | { |
||
389 | beeptime = 6000; |
||
390 | BeepMuster = 0x0300; |
||
391 | } |
||
392 | } |
||
393 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
||
394 | SPI_StartTransmitPacket(); |
||
723 | hbuss | 395 | |
1254 | killagreg | 396 | SendSPI = 4; |
397 | timer = SetDelay(20); |
||
398 | } |
||
921 | hbuss | 399 | LED_Update(); |
604 | hbuss | 400 | } |
723 | hbuss | 401 | if(!SendSPI) { SPI_TransmitByte(); } |
1 | ingob | 402 | } |
403 | return (1); |
||
404 | } |
||
405 | |||
1219 | hbuss | 406 |