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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 911 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 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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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 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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| 24 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 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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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 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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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * 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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| 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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| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 52 | #include "main.h" |
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| 53 | |||
| 54 | |||
| 55 | unsigned char PlatinenVersion = 10; |
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| 56 | unsigned char SendVersionToNavi = 1; |
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| 57 | unsigned char BattLowVoltageWarning = 94; |
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| 58 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
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| 59 | unsigned int FlugSekunden = 0; |
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| 60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
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| 61 | unsigned char FoundMotors = 0; |
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| 62 | |||
| 63 | void CalMk3Mag(void) |
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| 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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| 71 | if(WinkelOut.CalcState > 4) |
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| 72 | { |
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| 73 | // WinkelOut.CalcState = 0; // in Uart.c |
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| 74 | beeptime = 1000; |
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| 75 | } |
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| 76 | else Piep(WinkelOut.CalcState,150); |
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| 77 | } |
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| 78 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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| 79 | } |
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| 80 | |||
| 81 | |||
| 82 | void LipoDetection(unsigned char print) |
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| 83 | { |
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| 84 | #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
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| 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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| 91 | // up to 6s LiPo, less than 2s is technical impossible |
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| 92 | for(cells = 2; cells < 7; cells++) |
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| 93 | { |
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| 94 | if(UBat < cells * MAX_CELL_VOLTAGE) break; |
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| 95 | } |
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| 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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| 102 | } |
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| 103 | } |
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| 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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| 106 | } |
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| 107 | |||
| 108 | //############################################################################ |
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| 109 | //Hauptprogramm |
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| 110 | int main (void) |
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| 111 | //############################################################################ |
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| 112 | { |
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| 113 | unsigned int timer,i,timer2 = 0, timerPolling; |
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| 114 | |||
| 115 | DDRB = 0x00; |
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| 116 | PORTB = 0x00; |
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| 117 | for(timer = 0; timer < 1000; timer++); // verzögern |
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| 118 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 119 | PlatinenVersion = 21; |
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| 120 | #else |
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| 121 | if(PINB & 0x01) |
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| 122 | { |
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| 123 | if(PINB & 0x02) PlatinenVersion = 13; |
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| 124 | else PlatinenVersion = 11; |
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| 125 | } |
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| 126 | else |
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| 127 | { |
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| 128 | if(PINB & 0x02) PlatinenVersion = 20; |
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| 129 | else PlatinenVersion = 10; |
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| 130 | } |
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| 131 | #endif |
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| 132 | DDRC = 0x81; // SCL |
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| 133 | DDRC |=0x40; // HEF4017 Reset |
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| 134 | PORTC = 0xff; // Pullup SDA |
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| 135 | DDRB = 0x1B; // LEDs und Druckoffset |
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| 136 | PORTB = 0x01; // LED_Rot |
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| 137 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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| 138 | PORTD = 0x47; // LED |
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| 139 | HEF4017R_ON; |
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| 140 | MCUSR &=~(1<<WDRF); |
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| 141 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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| 142 | WDTCSR = 0; |
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| 143 | |||
| 144 | beeptime = 2500; |
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| 145 | StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
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| 146 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
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| 147 | ROT_OFF; |
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| 148 | |||
| 149 | // printf("\n\rInitialising: "); |
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| 150 | Timer_Init(); |
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| 151 | TIMER2_Init(); |
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| 152 | UART_Init(); |
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| 153 | rc_sum_init(); |
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| 154 | ADC_Init(); |
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| 155 | I2C_Init(1); |
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| 156 | SPI_MasterInit(); |
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| 157 | Capacity_Init(); |
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| 158 | LIBFC_Init(); |
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| 159 | GRN_ON; |
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| 160 | sei(); |
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| 161 | ParamSet_Init(); |
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| 162 | printf("\n\rInitialised:\n\r"); |
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| 163 | |||
| 164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 165 | // + Check connected BL-Ctrls |
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| 166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 167 | // Check connected BL-Ctrls |
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| 168 | BLFlags |= BLFLAG_READ_VERSION; |
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| 169 | motor_read = 0; // read the first I2C-Data |
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| 170 | SendMotorData(); |
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| 171 | timer = SetDelay(500); |
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| 172 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 173 | |||
| 174 | printf("\n\rFound BL-Ctrl: "); |
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| 175 | timer = SetDelay(4000); |
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| 176 | for(i=0; i < MAX_MOTORS; i++) |
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| 177 | { |
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| 178 | SendMotorData(); |
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| 179 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 180 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
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| 181 | { |
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| 182 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
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| 183 | { |
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| 184 | SendMotorData(); |
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| 185 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 186 | } |
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| 187 | } |
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| 188 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
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| 189 | { |
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| 190 | printf("%d",i+1); |
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| 191 | FoundMotors++; |
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| 192 | // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
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| 193 | } |
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| 194 | } |
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| 195 | for(i=0; i < MAX_MOTORS; i++) |
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| 196 | { |
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| 197 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
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| 198 | { |
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| 199 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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| 200 | ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
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| 201 | } |
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| 202 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
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| 203 | } |
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| 204 | printf("\n\r==================================="); |
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| 205 | |||
| 206 | if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
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| 207 | |||
| 208 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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| 209 | { |
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| 210 | //printf("\n\rCalibrating pressure sensor.."); |
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| 211 | //timer = SetDelay(1000); |
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| 212 | //SucheLuftruckOffset(); |
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| 213 | //while (!CheckDelay(timer)); |
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| 214 | //printf("OK\n\r"); |
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| 215 | printf("\n\rCalibrating IR sensor.."); |
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| 216 | timer = SetDelay(1000); |
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| 217 | //SucheLuftruckOffset(); |
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| 218 | while (!CheckDelay(timer)); |
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| 219 | printf("OK\n\r"); |
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| 220 | } |
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| 221 | |||
| 222 | SetNeutral(0); |
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| 223 | |||
| 224 | ROT_OFF; |
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| 225 | |||
| 226 | beeptime = 2000; |
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| 227 | ExternControl.Digital[0] = 0x55; |
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| 228 | |||
| 229 | |||
| 230 | FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
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| 231 | FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
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| 232 | |||
| 233 | if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
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| 234 | { |
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| 235 | FlugMinuten = 0; |
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| 236 | FlugMinutenGesamt = 0; |
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| 237 | } |
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| 238 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
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| 239 | |||
| 240 | printf("\n\rControl: "); |
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| 241 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
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| 242 | else printf("Normal (ACC-Mode)"); |
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| 243 | |||
| 244 | LcdClear(); |
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| 245 | I2CTimeout = 5000; |
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| 246 | WinkelOut.Orientation = 1; |
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| 247 | LipoDetection(1); |
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| 248 | |||
| 249 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
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| 250 | |||
| 251 | printf("\n\r===================================\n\r"); |
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| 252 | //SpektrumBinding(); |
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| 253 | timer = SetDelay(2000); |
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| 254 | timerPolling = SetDelay(250); |
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| 255 | |||
| 256 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
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| 257 | DebugOut.Status[0] = 0x01 | 0x02; |
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| 258 | |||
| 259 | while (1) |
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| 260 | { |
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| 261 | |||
| 262 | if (JetiUpdateModeActive) while (1); |
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| 263 | |||
| 264 | if(CheckDelay(timerPolling)) |
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| 265 | { |
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| 266 | timerPolling = SetDelay(100); |
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| 267 | LIBFC_Polling(); |
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| 268 | } |
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| 269 | if(UpdateMotor && AdReady) // ReglerIntervall |
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| 270 | { |
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| 271 | UpdateMotor=0; |
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| 272 | if(WinkelOut.CalcState) CalMk3Mag(); |
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| 273 | else MotorRegler(); |
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| 274 | SendMotorData(); |
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| 275 | ROT_OFF; |
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| 276 | if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
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| 277 | else |
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| 278 | { |
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| 279 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
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| 280 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
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| 281 | VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
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| 282 | } |
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| 283 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 284 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
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| 285 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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| 286 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 287 | if(!--I2CTimeout || MissingMotor) |
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| 288 | { |
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| 289 | if(!I2CTimeout) |
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| 290 | { |
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| 291 | I2C_Reset(); |
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| 292 | I2CTimeout = 5; |
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| 293 | DebugOut.Analog[28]++; // I2C-Error |
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| 294 | VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
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| 295 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
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| 296 | } |
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| 297 | if((BeepMuster == 0xffff) && MotorenEin) |
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| 298 | { |
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| 299 | beeptime = 10000; |
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| 300 | BeepMuster = 0x0080; |
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| 301 | } |
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| 302 | } |
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| 303 | else |
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| 304 | { |
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| 305 | ROT_OFF; |
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| 306 | if(!beeptime) |
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| 307 | { |
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| 308 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
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| 309 | } |
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| 310 | } |
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| 311 | if(!UpdateMotor) |
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| 312 | { |
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| 313 | if(CalculateServoSignals) CalculateServo(); |
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| 314 | DatenUebertragung(); |
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| 315 | BearbeiteRxDaten(); |
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| 316 | if(CheckDelay(timer)) |
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| 317 | { |
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| 318 | static unsigned char second; |
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| 319 | timer += 20; // 20 ms interval |
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| 320 | if(MissingMotor) |
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| 321 | { |
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| 322 | VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
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| 323 | DebugOut.Status[1] |= 0x02; // BL-Error-Status |
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| 324 | } |
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| 325 | else |
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| 326 | { |
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| 327 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
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| 328 | if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
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| 329 | } |
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| 330 | |||
| 331 | if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
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| 332 | |||
| 333 | if(PcZugriff) PcZugriff--; |
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| 334 | else |
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| 335 | { |
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| 336 | ExternControl.Config = 0; |
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| 337 | ExternStickNick = 0; |
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| 338 | ExternStickRoll = 0; |
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| 339 | ExternStickGier = 0; |
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| 340 | if(BeepMuster == 0xffff && SenderOkay == 0) |
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| 341 | { |
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| 342 | beeptime = 15000; |
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| 343 | BeepMuster = 0x0c00; |
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| 344 | } |
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| 345 | } |
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| 346 | if(NaviDataOkay > 200) |
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| 347 | { |
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| 348 | NaviDataOkay--; |
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| 349 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
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| 350 | } |
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| 351 | else |
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| 352 | { |
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| 353 | if(NC_Version.Compatible) |
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| 354 | { |
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| 355 | VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
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| 356 | if(BeepMuster == 0xffff && MotorenEin) |
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| 357 | { |
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| 358 | beeptime = 15000; |
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| 359 | BeepMuster = 0xA800; |
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| 360 | } |
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| 361 | } |
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| 362 | GPS_Nick = 0; |
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| 363 | GPS_Roll = 0; |
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| 364 | //if(!beeptime) |
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| 365 | FromNaviCtrl.CompassValue = -1; |
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| 366 | NaviDataOkay = 0; |
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| 367 | } |
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| 368 | if(UBat < BattLowVoltageWarning) |
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| 369 | { |
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| 370 | FC_StatusFlags |= FC_STATUS_LOWBAT; |
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| 371 | if(BeepMuster == 0xffff) |
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| 372 | { |
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| 373 | beeptime = 6000; |
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| 374 | BeepMuster = 0x0300; |
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| 375 | } |
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| 376 | } |
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| 377 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
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| 378 | |||
| 379 | SPI_StartTransmitPacket(); |
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| 380 | SendSPI = 4; |
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| 381 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
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| 382 | else |
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| 383 | if(++second == 49) |
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| 384 | { |
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| 385 | second = 0; |
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| 386 | FlugSekunden++; |
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| 387 | } |
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| 388 | if(++timer2 == 2930) // eine Minute |
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| 389 | { |
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| 390 | timer2 = 0; |
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| 391 | FlugMinuten++; |
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| 392 | FlugMinutenGesamt++; |
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| 393 | SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
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| 394 | SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
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| 395 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
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| 396 | SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
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| 397 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
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| 398 | } |
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| 399 | } |
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| 400 | LED_Update(); |
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| 401 | Capacity_Update(); |
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| 402 | } |
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| 403 | } |
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| 404 | if(!SendSPI) { SPI_TransmitByte(); } |
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| 405 | } |
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| 406 | return (1); |
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| 407 | } |
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| 408 | |||
| 409 |