1,75 → 1,210 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/* |
Copyright 2008, by Michael Walter |
|
All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
License along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
unless it is stated otherwise. |
*/ |
|
/***************************************************************************** |
INCLUDES |
**************************************************************************** */ |
#include "main.h" |
#include "kafi.h" |
#include "mymath.h" |
#include "mm3.h" |
|
/***************************************************************************** |
(SYMBOLIC) CONSTANTS |
*****************************************************************************/ |
|
#define sin45 -0.707106 |
#define cos45 0.707106 |
|
/***************************************************************************** |
VARIABLES |
*****************************************************************************/ |
extern int RCQuality; |
int RemoteLinkLost; |
extern unsigned long maxDistance; |
unsigned char EEPromArray[E2END+1] EEMEM; |
|
void TestRemote(void); |
void IMU_Main(void); |
void TestBattery(void); |
void SendDebugData(void); |
void InitPorts(void); |
void GenerateDefaults(void); |
void TestIC2Link(void); |
void GetAirPressureOffset(void); |
void DeployRescue(void); |
|
extern void InitOSD(void); |
extern void InitGPS(void); |
|
extern void SendOSD(void); |
extern void MotorControl(void); |
extern void RemoteControl(void); |
extern void SendMotorData(void); |
extern void CalculateAverage(void); |
extern void GetMeasurements(void); |
extern void AttitudeEstimation(void); |
extern void PID_Regler(void); |
extern void PD_Regler(void); |
extern void SetNeutral(void); |
|
/* **************************************************************************** |
Functionname: main */ /*! |
Description: Hauptprogramm |
|
@return void |
@pre - |
@post - |
@author Michael Walter |
**************************************************************************** */ |
int main (void) |
{ |
/* Controler Init */ |
InitPorts(); |
Kafi_Init(); |
Timer_Init(); |
UART_Init(); |
InitGPS(); |
rc_sum_init(); |
ADC_Init(); |
i2c_init(); |
#ifdef USE_COMPASS |
MM3_Init(); |
#endif |
/* Enable Interrupts */ |
sei(); |
|
/* Generate Default Values */ |
GenerateDefaults (); |
/* Get Air Pressure Offset */ |
GetAirPressureOffset(); |
/* Determine Gyro / ACC Offsets */ |
SetNeutral(); |
|
DebugIn.Analog[1] = 1000; |
DebugIn.Digital[0] = 0x55; |
|
#ifdef USE_COMPASS |
/* Calibrate the MM3 Compass? */ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && |
(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && |
(MotorenEin == 0)) |
{ |
printf("\n\rCalibrating Compass"); |
MM3_Calibrate(); |
} |
#endif |
|
#ifdef USE_OSD |
/* Init the Bob-4 OnScreen Display */ |
InitOSD(); |
#endif |
|
/* Start the main Task */ |
IMU_Main(); |
return (1); |
} |
|
|
|
/* **************************************************************************** |
Functionname: IMU_Main */ /*! |
Description: |
|
@param[in] |
|
@return void |
@pre - |
@post - |
@author Michael Walter |
**************************************************************************** */ |
void IMU_Main() |
{ |
ROT_ON |
I2CTimeout = 5000; |
|
while (1) |
{ |
static i32_t OldTime = 0; |
if (UpdateMotor) |
{ |
UpdateMotor=0; |
|
#ifdef USE_OSD |
/* G e n e r a t e O S D D a t a */ |
static char CntOSD = 0; |
if (CntOSD % 6 == 1) |
{ |
SendOSD(); |
} |
CntOSD++; |
#endif |
|
/* Set the cycle Time to 120ms / 125ms */ |
if (OldTime != 0) |
{ |
while (((Count8Khz - OldTime) *10) / 8 < 120); |
DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
} |
OldTime = Count8Khz; |
|
/*GetMeasurements()*/ |
GetMeasurements(); |
/*EstimateFlightAttitude */ |
FlightAttitudeEstimation(); |
/* Set Nominal Value */ |
RemoteControl(); |
/* PID Control */ |
PD_Regler(); |
/* Send Motor Data */ |
SendMotorData(); |
/* TestRemote */ |
TestRemote(); |
/* Test IC2- / RC-Link */ |
TestIC2Link(); |
} |
/* Send Debug Data over RS232 */ |
SendDebugData(); |
/* Check the Batery for Undervoltage */ |
TestBattery(); |
/* DeployRescue */ |
//DeployRescue(); |
} |
} |
|
/* **************************************************************************** |
Functionname: DeployRescue */ /*! |
Description: Deploy a rescue parachute using a servo |
|
@return void |
@pre - |
@post - |
@author Michael Walter |
**************************************************************************** */ |
void DeployRescue() |
{ |
#if 0 |
/* Yaw or pitch are greater than 60 Deg abs */ |
if (((abs(status.iTheta10) > 600) || (abs(status.iPhi10) > 600)) && |
((abs(AverageRoll_X) > Threshhold) || |
(abs(AverageRoll_Y) > Threshhold) || |
(abs(AverageRoll_Z) > Threshhold) )) |
{ |
MotorenEin = 0; |
Delay_ms(1000); |
ReleaseServo(); |
} |
#endif |
} |
|
/* **************************************************************************** |
Functionname: ReadParameterSet */ /*! |
Description: -- Parametersatz aus EEPROM lesen --- |
number [0..5] |
108,7 → 243,6 |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
} |
|
|
/* **************************************************************************** |
Functionname: GetActiveParamSetNumber */ /*! |
Description: |
130,10 → 264,9 |
return(set); |
} |
|
|
/* **************************************************************************** |
Functionname: main */ /*! |
Description: Hauptprogramm |
Functionname: GetAirPressureOffset */ /*! |
Description: |
|
@return void |
@pre - |
140,49 → 273,36 |
@post - |
@author H. Buss / I. Busker |
**************************************************************************** */ |
int main (void) |
void GetAirPressureOffset(void) |
{ |
unsigned int timer; |
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
printf("\n\rAbgleich Luftdrucksensor.."); |
timer = SetDelay(1000); |
SucheLuftruckOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
} |
|
//unsigned int timer2 = 0; |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // verzögern |
DDRC = 0x81; // SCL |
PORTC = 0xff; // Pullup SDA |
DDRB = 0x1B; // LEDs und Druckoffset |
PORTB = 0x01; // LED_Rot |
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
DDRD |=0x80; // J7 |
PORTD = 0xF7; // LED |
/* **************************************************************************** |
Functionname: GenerateDefaults */ /*! |
Description: Generate the Default Paramter |
|
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
|
beeptime = 2000; |
|
StickGier = 0; StickRoll = 0; StickNick = 0; PPM_in[K_GAS] = 0; |
|
Kafi_Init(); |
Timer_Init(); |
UART_Init(); |
InitGPS(); |
rc_sum_init(); |
ADC_Init(); |
i2c_init(); |
/* Init the MM3 */ |
MM3_Init(); |
|
sei(); |
|
|
@return void |
@pre - |
@post - |
@author H. Buss / I. Busker |
**************************************************************************** */ |
void GenerateDefaults() |
{ |
VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
|
GRN_ON; |
|
#define EE_DATENREVISION 66 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
{ |
198,92 → 318,58 |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
} |
|
/* Init EE_Parameter */ |
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
|
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
printf("\n\rAbgleich Luftdrucksensor.."); |
timer = SetDelay(1000); |
SucheLuftruckOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
|
ROT_ON |
Delay_ms(1000); |
SetNeutral(); |
ROT_OFF |
Delay_ms(1000); |
SetNeutral(); |
ROT_ON |
|
beeptime = 2000; |
DebugIn.Analog[1] = 1000; |
DebugIn.Digital[0] = 0x55; |
/* **************************************************************************** |
Functionname: InitPorts */ /*! |
Description: Init the IO Ports |
|
/* Calibrate the MM3 Compass? */ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && |
(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && |
(MotorenEin == 0)) |
@return void |
@pre - |
@post - |
@author H. Buss / I. Busker |
**************************************************************************** */ |
void InitPorts() |
{ |
printf("\n\rCalibrating Compass"); |
MM3_Calibrate(); |
unsigned int timer = 0; |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // verzögern |
DDRC = 0x81; // SCL |
PORTC = 0xff; // Pullup SDA |
DDRB = 0x1B; // LEDs und Druckoffset |
PORTB = 0x01; // LED_Rot |
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
DDRD |=0x80; // J7 |
PORTD = 0xF7; // LED |
|
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
} |
|
/* **************************************************************************** |
Functionname: TestIC2Link */ /*! |
Description: Test IC2- / RC-Link |
|
/* Init the OSD */ |
// InitOSD(); |
|
I2CTimeout = 5000; |
while (1) |
@return void |
@pre - |
@post - |
@author H. Buss / I. Busker |
**************************************************************************** */ |
void TestIC2Link() |
{ |
static i32_t OldTime = 0; |
if (UpdateMotor) // ReglerIntervall |
{ |
UpdateMotor=0; |
|
/* G e n e r a t e O S D D a t a */ |
static char CntOSD = 0; |
if (CntOSD % 6 == 1) |
{ |
//SendOSD(); |
} |
CntOSD++; |
|
/* Set the cycle Time to 110ms */ |
if (OldTime != 0) |
{ |
#ifdef USE_Extended_MM3_Measurement_Model |
while (((Count8Khz - OldTime) *10) / 8 < 160); |
#else |
while (((Count8Khz - OldTime) *10) / 8 < 110); |
#endif |
DebugOut.Analog[7] = ((Count8Khz - OldTime) *10) / 8; |
} |
OldTime = Count8Khz; |
|
/* Average the Measurements */ |
CalculateAverage(); |
/* Do the Kalman Filterimg */ |
AttitudeEstimation(); |
/* MotorControl */ |
MotorControl(); |
/* Call the PID Control */ |
PID_Regler(); |
|
SendMotorData(); |
|
if(PcZugriff) |
{ |
PcZugriff--; |
} |
|
if(SenderOkay) |
{ |
SenderOkay--; |
} |
|
if(!I2CTimeout) |
{ |
I2CTimeout = 5; |
299,14 → 385,45 |
I2CTimeout--; |
} |
} |
|
|
/* **************************************************************************** |
Functionname: SendDebugData */ /*! |
Description: Send Debug Data over RS232 |
|
@return void |
@pre - |
@post - |
@author H. Buss / I. Busker |
**************************************************************************** */ |
void SendDebugData() |
{ |
if(SIO_DEBUG) |
{ |
DatenUebertragung(); |
BearbeiteRxDaten(); |
} |
else BearbeiteRxDaten(); |
else |
{ |
BearbeiteRxDaten(); |
} |
} |
|
|
/* **************************************************************************** |
Functionname: TestBattery */ /*! |
Description: Check the Battery Voltage |
|
@return void |
@pre - |
@post - |
@author H. Buss / I. Busker |
**************************************************************************** */ |
void TestBattery() |
{ |
unsigned int timer = 0; |
if(CheckDelay(timer)) |
{ |
{ /* Voltage is Below Threshhod ? */ |
if(UBat < EE_Parameter.UnterspannungsWarnung) |
{ |
if(BeepMuster == 0xffff) |
317,7 → 434,76 |
} |
timer = SetDelay(100); |
} |
DebugOut.Analog[15] = UBat; |
} |
return (1); |
|
/* **************************************************************************** |
Functionname: TestRemote */ /*! |
Description: |
|
@param[in] |
|
@return void |
@pre - |
@post - |
@author Michael Walter |
**************************************************************************** */ |
void TestRemote() |
{ |
/*--- (SYMBOLIC) CONSTANTS ---*/ |
|
/*--- VARIABLES ---*/ |
static unsigned int TimeSinceRC_BelowThreshhold = 0; |
static unsigned int TimeSinceRC_AboveThreshhold = 0; |
|
if (MotorenEin == 1) |
{ |
if (RemoteLinkLost == 0) |
{ |
if (RCQuality < 60) |
{ |
if (TimeSinceRC_BelowThreshhold < 10000) |
{ |
TimeSinceRC_BelowThreshhold++; |
} |
|
} |
else |
{ |
TimeSinceRC_BelowThreshhold = 0; |
} |
if ((TimeSinceRC_BelowThreshhold > 500) || /* aprox. 5 seconds */ |
(SenderOkay < 100)) |
{ |
RemoteLinkLost = 1; |
TimeSinceRC_AboveThreshhold = 0; |
} |
} |
else |
{ |
if (RCQuality > 80) |
{ |
if (TimeSinceRC_AboveThreshhold < 10000) |
{ |
TimeSinceRC_AboveThreshhold++; |
} |
} |
else |
{ |
TimeSinceRC_AboveThreshhold = 0; |
} |
if (TimeSinceRC_AboveThreshhold > 100) /* aprox. 1 seconds */ |
{ |
RemoteLinkLost = 0; |
TimeSinceRC_BelowThreshhold = 0; |
} |
} |
} |
else |
{ |
RemoteLinkLost = 0; |
TimeSinceRC_BelowThreshhold = 0; |
TimeSinceRC_AboveThreshhold = 0; |
} |
/*DebugOut.Analog[14] = TimeSinceRC_BelowThreshhold;*/ |
/*DebugOut.Analog[15] = TimeSinceRC_AboveThreshhold;*/ |
} |