0,0 → 1,375 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/boot.h> |
|
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <util/delay.h> |
|
#include "main.h" |
#include "timer0.h" |
#include "timer2.h" |
#include "uart0.h" |
#include "uart1.h" |
#include "led.h" |
#include "menu.h" |
#include "fc.h" |
#include "rc.h" |
#include "analog.h" |
#include "printf_P.h" |
#ifdef USE_KILLAGREG |
#include "mm3.h" |
#endif |
#ifdef USE_NAVICTRL |
#include "spi.h" |
#endif |
#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
#include "twimaster.h" |
#include "eeprom.h" |
|
|
uint8_t BoardRelease = 10; |
uint8_t CPUType = ATMEGA644; |
uint8_t uiCpuLoad,uiCtrCpuOverload=0; |
|
uint8_t GetCPUType(void) |
{ // works only after reset or power on when the registers have default values |
uint8_t CPUType = ATMEGA644; |
if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
return CPUType; |
} |
|
|
uint8_t GetBoardRelease(void) |
{ |
uint8_t BoardRelease = 10; |
// the board release is coded via the pull up or down the 2 status LED |
|
PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
|
_delay_loop_2(1000); // make some delay |
|
switch( PINB & ((1<<PINB1)|(1<<PINB0)) ) |
{ |
case 0x00: |
BoardRelease = 10; // 1.0 |
break; |
case 0x01: |
BoardRelease = 11; // 1.1 or 1.2 |
break; |
case 0x02: |
BoardRelease = 20; // 2.0 |
break; |
case 0x03: |
BoardRelease = 13; // 1.3 |
break; |
default: |
break; |
} |
// set LED ports as output |
DDRB |= (1<<DDB1)|(1<<DDB0); |
RED_ON; |
GRN_OFF; |
return BoardRelease; |
} |
|
|
int16_t main (void) |
{ |
uint16_t timer; |
uint8_t i; |
|
// disable interrupts global |
cli(); |
|
// analyze hardware environment |
CPUType = GetCPUType(); |
BoardRelease = GetBoardRelease(); |
|
// disable watchdog |
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
|
BeepTime = 2000; |
|
PPM_in[CH_GAS] = 0; |
StickYaw = 0; |
StickRoll = 0; |
StickNick = 0; |
|
RED_OFF; |
|
// initalize modules |
LED_Init(); |
TIMER0_Init(); |
TIMER2_Init(); |
USART0_Init(); |
if(CPUType == ATMEGA644P) USART1_Init(); |
RC_Init(); |
ADC_Init(); |
I2C_Init(); |
#ifdef USE_NAVICTRL |
SPI_MasterInit(); |
#endif |
#ifdef USE_KILLAGREG |
MM3_Init(); |
#endif |
#ifdef USE_MK3MAG |
MK3MAG_Init(); |
#endif |
|
// enable interrupts global |
sei(); |
|
printf("\n\r==================================="); |
printf("\n\rFlightControl"); |
printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
if(CPUType == ATMEGA644P) |
printf("\r\n CPU: Atmega644p"); |
else |
printf("\r\n CPU: Atmega644"); |
printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
printf("\n\r==================================="); |
GRN_ON; |
|
// Parameter Set handling |
ParamSet_Init(); |
|
// Check connected BL-Ctrls |
printf("\n\rFound BL-Ctrl: "); |
motor_read = 0; |
UpdateMotor = 0; |
SendMotorData(); |
while(!UpdateMotor); |
motor_read = 0; // read the first I2C-Data |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
UpdateMotor = 0; |
SendMotorData(); |
while(!UpdateMotor); |
if(Motor[i].Present) printf("%d ",i+1); |
} |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
if(!Motor[i].Present && Mixer.Motor[i][MIX_GAS] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
Motor[i].Error = 0; |
} |
printf("\n\r==================================="); |
|
|
if(GetParamWord(PID_ACC_NICK) > 2048) |
{ |
printf("\n\rACC not calibrated!"); |
} |
|
//wait for a short time (otherwise the RC channel check won't work below) |
timer = SetDelay(500); |
while(!CheckDelay(timer)); |
|
if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
{ |
printf("\n\rCalibrating air pressure sensor.."); |
timer = SetDelay(1000); |
SearchAirPressureOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
|
#ifdef USE_NAVICTRL |
printf("\n\rSupport for NaviCtrl"); |
#ifdef USE_RC_DSL |
printf("\r\nSupport for DSL RC at 2nd UART"); |
#endif |
#ifdef USE_RC_SPECTRUM |
printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
#endif |
#endif |
|
#ifdef USE_KILLAGREG |
printf("\n\rSupport for MicroMag3 Compass"); |
#endif |
|
#ifdef USE_MK3MAG |
printf("\n\rSupport for MK3MAG Compass"); |
#endif |
|
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
else printf("\n\rSupport for GPS at 1st UART"); |
#endif |
|
|
SetNeutral(NO_ACC_CALIB); |
|
RED_OFF; |
|
BeepTime = 2000; |
ExternControl.Digital[0] = 0x55; |
|
|
printf("\n\rControl: "); |
if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
else printf("Neutral (ACC-Mode)"); |
|
printf("\n\n\r"); |
|
LCD_Clear(); |
|
I2CTimeout = 5000; |
while (1) |
{ |
uint8_t usTimeStampSOC,usTimeStampEOC; |
|
if(UpdateMotor && ADReady) // control interval |
{ |
usTimeStampSOC = Count100uSeconds; //Start of Code |
|
UpdateMotor = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
|
//J4HIGH; |
MotorControl(); |
//J4LOW; |
|
SendMotorData(); // the flight control code |
RED_OFF; |
|
|
|
if(PcAccess) PcAccess--; |
else |
{ |
ExternControl.Config = 0; |
ExternStickNick= 0; |
ExternStickRoll = 0; |
ExternStickYaw = 0; |
} |
if(RC_Quality) RC_Quality--; |
|
#ifdef USE_NAVICTRL |
if(NCDataOkay) |
{ |
if(--NCDataOkay == 0) // no data from NC |
{ // set gps control sticks neutral |
GPSStickNick = 0; |
GPSStickRoll = 0; |
NCSerialDataOkay = 0; |
} |
} |
#endif |
|
if(!--I2CTimeout || MissingMotor) // try to reset the i2c if motor is missing ot timeout |
{ |
RED_ON; |
if(!I2CTimeout) |
{ |
I2C_Reset(); |
I2CTimeout = 5; |
} |
if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
{ |
BeepTime = 10000; // 1 second |
BeepModulation = 0x0080; |
} |
} |
else |
{ |
RED_OFF; |
} |
|
// allow Serial Data Transmit if motors must not updated or motors are not running |
if( !UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) ) |
{ |
USART0_TransmitTxData(); |
} |
USART0_ProcessRxData(); |
|
if(CheckDelay(timer)) |
{ |
if(UBat < ParamSet.LowVoltageWarning) |
{ |
BeepModulation = 0x0300; |
if(!BeepTime ) |
{ |
BeepTime = 6000; // 0.6 seconds |
} |
} |
#ifdef USE_NAVICTRL |
SPI_StartTransmitPacket(); |
SendSPI = 4; |
#endif |
timer = SetDelay(20); // every 20 ms |
} |
|
LED_Update(); |
|
usTimeStampEOC = Count100uSeconds; //End of Code |
uiCpuLoad = (usTimeStampEOC - usTimeStampSOC) * 5; // uiCpuLoad in [%] wenn 2ms = 100% |
if (UpdateMotor) uiCtrCpuOverload++; |
} |
|
#ifdef USE_NAVICTRL |
if(!SendSPI) |
{ // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
// within the SPI_TransmitByte() routine the value is set to 4. |
// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
SPI_TransmitByte(); |
} |
#endif |
} |
return (1); |
} |
|