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Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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1 | ingob | 4 | // + www.MikroKopter.com |
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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1338 | ingob | 24 | // + Die Portierung oder Nutzung 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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1338 | ingob | 39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 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 |
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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 | |||
1438 | ingob | 54 | |
173 | holgerb | 55 | unsigned char PlatinenVersion = 10; |
723 | hbuss | 56 | unsigned char SendVersionToNavi = 1; |
1232 | hbuss | 57 | unsigned char BattLowVoltageWarning = 94; |
1298 | hbuss | 58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
1512 | holgerb | 59 | unsigned int FlugSekunden = 0; |
1444 | ingob | 60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
61 | |||
1 | ingob | 62 | |
819 | hbuss | 63 | void CalMk3Mag(void) |
64 | { |
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65 | static unsigned char stick = 1; |
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66 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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67 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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68 | { |
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69 | stick = 1; |
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70 | WinkelOut.CalcState++; |
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1051 | killagreg | 71 | if(WinkelOut.CalcState > 4) |
72 | { |
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819 | hbuss | 73 | // WinkelOut.CalcState = 0; // in Uart.c |
74 | beeptime = 1000; |
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1051 | killagreg | 75 | } |
1232 | hbuss | 76 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 77 | } |
78 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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79 | } |
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80 | |||
1438 | ingob | 81 | |
1268 | hbuss | 82 | void LipoDetection(unsigned char print) |
83 | { |
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1654 | killagreg | 84 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
85 | unsigned int timer, cells; |
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86 | if(print) printf("\n\rBatt:"); |
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87 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
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88 | { |
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89 | timer = SetDelay(500); |
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90 | if(print) while (!CheckDelay(timer)); |
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1657 | killagreg | 91 | // up to 6s LiPo, less than 2s is technical impossible |
92 | for(cells = 2; cells < 7; cells++) |
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1654 | killagreg | 93 | { |
94 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
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1420 | killagreg | 95 | } |
1654 | killagreg | 96 | |
97 | BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
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98 | if(print) |
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99 | { |
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100 | Piep(cells, 200); |
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101 | printf(" %d Cells ", cells); |
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1420 | killagreg | 102 | } |
1654 | killagreg | 103 | } |
104 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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105 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
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1268 | hbuss | 106 | } |
107 | |||
1 | ingob | 108 | //############################################################################ |
109 | //Hauptprogramm |
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110 | int main (void) |
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111 | //############################################################################ |
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112 | { |
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1424 | ingob | 113 | unsigned int timer,i,timer2 = 0, timerPolling; |
1479 | killagreg | 114 | |
1051 | killagreg | 115 | DDRB = 0x00; |
116 | PORTB = 0x00; |
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188 | holgerb | 117 | for(timer = 0; timer < 1000; timer++); // verzögern |
1051 | killagreg | 118 | if(PINB & 0x01) |
918 | hbuss | 119 | { |
1051 | killagreg | 120 | if(PINB & 0x02) PlatinenVersion = 13; |
121 | else PlatinenVersion = 11; |
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918 | hbuss | 122 | } |
1051 | killagreg | 123 | else |
1021 | hbuss | 124 | { |
1051 | killagreg | 125 | if(PINB & 0x02) PlatinenVersion = 20; |
126 | else PlatinenVersion = 10; |
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1021 | hbuss | 127 | } |
128 | |||
173 | holgerb | 129 | DDRC = 0x81; // SCL |
1036 | hbuss | 130 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 131 | PORTC = 0xff; // Pullup SDA |
132 | DDRB = 0x1B; // LEDs und Druckoffset |
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133 | PORTB = 0x01; // LED_Rot |
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134 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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1153 | hbuss | 135 | PORTD = 0x47; // LED |
1171 | hbuss | 136 | HEF4017R_ON; |
1 | ingob | 137 | MCUSR &=~(1<<WDRF); |
138 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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139 | WDTCSR = 0; |
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140 | |||
1652 | holgerb | 141 | beeptime = 2500; |
1 | ingob | 142 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
1111 | hbuss | 143 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
1 | ingob | 144 | ROT_OFF; |
1479 | killagreg | 145 | |
1 | ingob | 146 | Timer_Init(); |
1156 | hbuss | 147 | TIMER2_Init(); |
1 | ingob | 148 | UART_Init(); |
149 | rc_sum_init(); |
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150 | ADC_Init(); |
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151 | i2c_init(); |
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597 | ingob | 152 | SPI_MasterInit(); |
1486 | killagreg | 153 | Capacity_Init(); |
1435 | killagreg | 154 | LIBFC_Init(); |
1431 | ingob | 155 | GRN_ON; |
156 | sei(); |
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1622 | killagreg | 157 | ParamSet_Init(); |
1344 | hbuss | 158 | |
1435 | killagreg | 159 | |
1211 | hbuss | 160 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
161 | // + Check connected BL-Ctrls |
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162 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1648 | killagreg | 163 | // Check connected BL-Ctrls |
164 | BLFlags |= BLFLAG_READ_VERSION; |
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1654 | killagreg | 165 | motorread = 0; // read the first I2C-Data |
1648 | killagreg | 166 | SendMotorData(); |
1654 | killagreg | 167 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
168 | |||
1648 | killagreg | 169 | printf("\n\rFound BL-Ctrl: "); |
1591 | holgerb | 170 | timer = SetDelay(4000); |
1211 | hbuss | 171 | for(i=0; i < MAX_MOTORS; i++) |
1622 | killagreg | 172 | { |
173 | SendMotorData(); |
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1654 | killagreg | 174 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
1622 | killagreg | 175 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
176 | { |
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1648 | killagreg | 177 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
178 | { |
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179 | SendMotorData(); |
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1654 | killagreg | 180 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
1648 | killagreg | 181 | } |
1232 | hbuss | 182 | } |
1648 | killagreg | 183 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
184 | { |
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185 | printf("%d",i+1); |
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1652 | holgerb | 186 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
1648 | killagreg | 187 | } |
1622 | killagreg | 188 | } |
1211 | hbuss | 189 | for(i=0; i < MAX_MOTORS; i++) |
1051 | killagreg | 190 | { |
1622 | killagreg | 191 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
192 | { |
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193 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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194 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
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1111 | hbuss | 195 | } |
1622 | killagreg | 196 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
1 | ingob | 197 | } |
1622 | killagreg | 198 | printf("\n\r==================================="); |
1648 | killagreg | 199 | |
1529 | killagreg | 200 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1622 | killagreg | 201 | { |
202 | printf("\n\rCalibrating pressure sensor.."); |
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203 | timer = SetDelay(1000); |
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204 | SucheLuftruckOffset(); |
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205 | while (!CheckDelay(timer)); |
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206 | printf("OK\n\r"); |
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1 | ingob | 207 | } |
1051 | killagreg | 208 | |
1622 | killagreg | 209 | SetNeutral(0); |
1 | ingob | 210 | |
211 | ROT_OFF; |
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1051 | killagreg | 212 | |
1 | ingob | 213 | beeptime = 2000; |
1051 | killagreg | 214 | ExternControl.Digital[0] = 0x55; |
1 | ingob | 215 | |
1051 | killagreg | 216 | |
1652 | holgerb | 217 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
218 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
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219 | // FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL); |
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1622 | killagreg | 220 | |
221 | if( (FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF) ) |
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222 | { |
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223 | FlugMinuten = 0; |
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224 | FlugMinutenGesamt = 0; |
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225 | } |
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226 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
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227 | |||
1211 | hbuss | 228 | printf("\n\rControl: "); |
1 | ingob | 229 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
1211 | hbuss | 230 | else printf("Normal (ACC-Mode)"); |
1051 | killagreg | 231 | |
1 | ingob | 232 | LcdClear(); |
173 | holgerb | 233 | I2CTimeout = 5000; |
819 | hbuss | 234 | WinkelOut.Orientation = 1; |
1268 | hbuss | 235 | LipoDetection(1); |
1435 | killagreg | 236 | |
1626 | killagreg | 237 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1444 | ingob | 238 | |
1232 | hbuss | 239 | printf("\n\r===================================\n\r"); |
1622 | killagreg | 240 | //SpektrumBinding(); |
1350 | hbuss | 241 | timer = SetDelay(2000); |
1424 | ingob | 242 | timerPolling = SetDelay(250); |
1648 | killagreg | 243 | |
1636 | ingob | 244 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
1648 | killagreg | 245 | |
1 | ingob | 246 | while (1) |
247 | { |
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1424 | ingob | 248 | if(CheckDelay(timerPolling)) |
1419 | ingob | 249 | { |
1424 | ingob | 250 | timerPolling = SetDelay(100); |
1435 | killagreg | 251 | LIBFC_Polling(); |
1419 | ingob | 252 | } |
253 | if(UpdateMotor && AdReady) // ReglerIntervall |
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1051 | killagreg | 254 | { |
1171 | hbuss | 255 | UpdateMotor=0; |
819 | hbuss | 256 | if(WinkelOut.CalcState) CalMk3Mag(); |
1644 | holgerb | 257 | else MotorRegler(); |
258 | SendMotorData(); |
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1 | ingob | 259 | ROT_OFF; |
260 | if(SenderOkay) SenderOkay--; |
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1603 | killagreg | 261 | else |
262 | { |
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263 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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264 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
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265 | } |
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1420 | killagreg | 266 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1481 | holgerb | 267 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
268 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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1309 | hbuss | 269 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1420 | killagreg | 270 | |
1210 | hbuss | 271 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 272 | { |
1254 | killagreg | 273 | if(!I2CTimeout) |
1210 | hbuss | 274 | { |
275 | i2c_reset(); |
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276 | I2CTimeout = 5; |
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1322 | hbuss | 277 | DebugOut.Analog[28]++; // I2C-Error |
1423 | hbuss | 278 | FCFlags |= FCFLAG_I2CERR; |
1322 | hbuss | 279 | } |
1051 | killagreg | 280 | if((BeepMuster == 0xffff) && MotorenEin) |
281 | { |
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173 | holgerb | 282 | beeptime = 10000; |
283 | BeepMuster = 0x0080; |
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1051 | killagreg | 284 | } |
1 | ingob | 285 | } |
1051 | killagreg | 286 | else |
1 | ingob | 287 | { |
1051 | killagreg | 288 | ROT_OFF; |
1423 | hbuss | 289 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
1 | ingob | 290 | } |
1639 | holgerb | 291 | if(!UpdateMotor) |
292 | { |
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1 | ingob | 293 | DatenUebertragung(); |
294 | BearbeiteRxDaten(); |
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1254 | killagreg | 295 | if(CheckDelay(timer)) |
296 | { |
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1512 | holgerb | 297 | static unsigned char second; |
1420 | killagreg | 298 | timer += 20; // 20 ms interval |
299 | if(PcZugriff) PcZugriff--; |
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300 | else |
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301 | { |
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302 | ExternControl.Config = 0; |
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303 | ExternStickNick = 0; |
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304 | ExternStickRoll = 0; |
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305 | ExternStickGier = 0; |
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306 | if(BeepMuster == 0xffff && SenderOkay == 0) |
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307 | { |
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308 | beeptime = 15000; |
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309 | BeepMuster = 0x0c00; |
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310 | } |
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311 | } |
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312 | if(NaviDataOkay) |
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313 | { |
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314 | NaviDataOkay--; |
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315 | FCFlags &= ~FCFLAG_SPI_RX_ERR; |
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316 | } |
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317 | else |
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318 | { |
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319 | GPS_Nick = 0; |
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320 | GPS_Roll = 0; |
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1423 | hbuss | 321 | if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR; |
1420 | killagreg | 322 | } |
1309 | hbuss | 323 | if(UBat < BattLowVoltageWarning) |
1254 | killagreg | 324 | { |
1420 | killagreg | 325 | FCFlags |= FCFLAG_LOWBAT; |
1254 | killagreg | 326 | if(BeepMuster == 0xffff) |
327 | { |
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328 | beeptime = 6000; |
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329 | BeepMuster = 0x0300; |
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330 | } |
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331 | } |
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1423 | hbuss | 332 | else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
1420 | killagreg | 333 | |
1254 | killagreg | 334 | SPI_StartTransmitPacket(); |
335 | SendSPI = 4; |
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1320 | hbuss | 336 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
1529 | killagreg | 337 | else |
1512 | holgerb | 338 | if(++second == 49) |
339 | { |
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340 | second = 0; |
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341 | FlugSekunden++; |
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342 | } |
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1320 | hbuss | 343 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 344 | { |
345 | timer2 = 0; |
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346 | FlugMinuten++; |
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347 | FlugMinutenGesamt++; |
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1652 | holgerb | 348 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
349 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
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350 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
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351 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
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1344 | hbuss | 352 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 353 | } |
1254 | killagreg | 354 | } |
921 | hbuss | 355 | LED_Update(); |
1486 | killagreg | 356 | Capacity_Update(); |
1639 | holgerb | 357 | } |
604 | hbuss | 358 | } |
723 | hbuss | 359 | if(!SendSPI) { SPI_TransmitByte(); } |
1 | ingob | 360 | } |
361 | return (1); |
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362 | } |
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363 | |||
1219 | hbuss | 364 |