0,0 → 1,315 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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> |
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#include <avr/io.h> |
#include <avr/interrupt.h> |
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#include "main.h" |
#include "timer0.h" |
#include "timer2.h" |
#include "uart.h" |
#if defined (__AVR_ATmega644P__) |
#include "uart1.h" |
#endif |
#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" |
#include "_Settings.h" |
|
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uint8_t BoardRelease = 10; |
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//############################################################################ |
//Hauptprogramm |
int main (void) |
//############################################################################ |
{ |
unsigned int timer; |
|
// disable interrupts global |
cli(); |
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// get board release |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // make some delay |
if(PINB & (1<<PINB0)) |
{ |
if(PINB & (1<<PINB1)) BoardRelease = 13; |
else BoardRelease = 11; |
} |
else BoardRelease = 10; |
|
// set LED ports as output |
DDRB |= (1<<DDB1)|(1<<DDB0); |
RED_ON; |
GRN_OFF; |
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// disable watchdog |
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
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BeepTime = 2000; |
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PPM_in[CH_GAS] = 0; |
StickYaw = 0; |
StickRoll = 0; |
StickNick = 0; |
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RED_OFF; |
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// initalize modules |
//LED_Init(); Is done within ParamSet_Init() below |
TIMER0_Init(); |
TIMER2_Init(); |
USART0_Init(); |
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#if defined (__AVR_ATmega644P__) |
if (BoardRelease > 10) USART1_Init(); |
#endif |
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RC_Init(); |
ADC_Init(); |
I2C_Init(); |
|
|
#ifdef USE_NAVICTRL |
SPI_MasterInit(); |
#endif |
#ifdef USE_KILLAGREG |
MM3_Init(); |
#endif |
#ifdef USE_MK3MAG |
MK3MAG_Init(); |
#endif |
|
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// enable interrupts global |
sei(); |
|
VersionInfo.Major = VERSION_MAJOR; |
VersionInfo.Minor = VERSION_MINOR; |
VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
VersionInfo.Hardware = 1; // Flight Control |
|
printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
printf("\n\r=============================="); |
GRN_ON; |
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// Parameter set handling |
ParamSet_Init(); |
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if(GetParamWord(PID_ACC_NICK) > 1023) |
{ |
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"); |
} |
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#ifdef USE_NAVICTRL |
printf("\n\rSupport for NaviCtrl"); |
#endif |
|
#ifdef USE_KILLAGREG |
printf("\n\rSupport for MicroMag3 Compass"); |
#endif |
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#ifdef USE_MK3MAG |
printf("\n\rSupport for MK3MAG Compass"); |
#endif |
|
|
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#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
#if defined (__AVR_ATmega644P__) |
if(BoardRelease == 10) |
{ |
printf("\n\rSupport for GPS at 1st UART"); |
} |
else |
{ |
printf("\n\rSupport for GPS at 2nd UART"); |
} |
#else // (__AVR_ATmega644__) |
printf("\n\rSupport for GPS at 1st UART"); |
#endif |
#endif |
|
|
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SetNeutral(); |
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RED_OFF; |
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BeepTime = 2000; |
ExternControl.Digital[0] = 0x55; |
|
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printf("\n\rControl: "); |
if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
else printf("Neutral"); |
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printf("\n\n\r"); |
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LCD_Clear(); |
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I2CTimeout = 5000; |
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while (1) |
{ |
if(UpdateMotor) // control interval |
{ |
UpdateMotor = 0; // reset Flag, is enabled every 2 ms by isr of timer0 |
//PORTD |= (1<<PORTD4); |
MotorControl(); |
//PORTD &= ~(1<<PORTD4); |
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SendMotorData(); |
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RED_OFF; |
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if(PcAccess) PcAccess--; |
else |
{ |
DubWiseKeys[0] = 0; |
DubWiseKeys[1] = 0; |
ExternControl.Config = 0; |
ExternStickNick= 0; |
ExternStickRoll = 0; |
ExternStickYaw = 0; |
} |
|
if(!I2CTimeout) |
{ |
I2CTimeout = 5; |
I2C_Reset(); |
if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
{ |
BeepTime = 10000; // 1 second |
BeepModulation = 0x0080; |
} |
} |
else |
{ |
I2CTimeout--; |
RED_OFF; |
} |
|
if(SIO_DEBUG && (!UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) )) |
{ |
USART0_TransmitTxData(); |
USART0_ProcessRxData(); |
} |
else USART0_ProcessRxData(); |
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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 |
} |
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LED_Update(); |
} |
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#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); |
} |
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