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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
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 |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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 |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include "main.h" |
52 | #include "main.h" |
53 | 53 | ||
54 | unsigned char EEPromArray[E2END+1] EEMEM; |
54 | unsigned char EEPromArray[E2END+1] EEMEM; |
55 | unsigned char PlatinenVersion = 10; |
55 | unsigned char PlatinenVersion = 10; |
56 | unsigned char SendVersionToNavi = 1; |
56 | unsigned char SendVersionToNavi = 1; |
57 | // -- Parametersatz aus EEPROM lesen --- |
57 | // -- Parametersatz aus EEPROM lesen --- |
58 | // number [1..5] |
58 | // number [1..5] |
59 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
59 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
60 | { |
60 | { |
61 | if((number > 5)||(number < 1)) number = 3; |
61 | if((number > 5)||(number < 1)) number = 3; |
62 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
62 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
63 | LED_Init(); |
63 | LED_Init(); |
64 | } |
64 | } |
65 | 65 | ||
66 | // -- Parametersatz ins EEPROM schreiben --- |
66 | // -- Parametersatz ins EEPROM schreiben --- |
67 | // number [1..5] |
67 | // number [1..5] |
68 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
68 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
69 | { |
69 | { |
70 | if(number > 5) number = 5; |
70 | if(number > 5) number = 5; |
71 | if(number < 1) return; |
71 | if(number < 1) return; |
72 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
72 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
73 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken |
73 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken |
74 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken |
74 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken |
75 | SetActiveParamSetNumber(number); |
75 | SetActiveParamSetNumber(number); |
76 | LED_Init(); |
76 | LED_Init(); |
77 | } |
77 | } |
78 | 78 | ||
79 | unsigned char GetActiveParamSetNumber(void) |
79 | unsigned char GetActiveParamSetNumber(void) |
80 | { |
80 | { |
81 | unsigned char set; |
81 | unsigned char set; |
82 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
82 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
83 | if((set > 5) || (set < 1)) |
83 | if((set > 5) || (set < 1)) |
84 | { |
84 | { |
85 | set = 3; |
85 | set = 3; |
86 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
86 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
87 | } |
87 | } |
88 | return(set); |
88 | return(set); |
89 | } |
89 | } |
90 | 90 | ||
91 | 91 | ||
92 | void SetActiveParamSetNumber(unsigned char number) |
92 | void SetActiveParamSetNumber(unsigned char number) |
93 | { |
93 | { |
94 | if(number > 5) number = 5; |
94 | if(number > 5) number = 5; |
95 | if(number < 1) return; |
95 | if(number < 1) return; |
96 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
96 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
97 | } |
97 | } |
98 | 98 | ||
99 | 99 | ||
100 | void CalMk3Mag(void) |
100 | void CalMk3Mag(void) |
101 | { |
101 | { |
102 | static unsigned char stick = 1; |
102 | static unsigned char stick = 1; |
103 | 103 | ||
104 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
104 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
105 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
105 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
106 | { |
106 | { |
107 | stick = 1; |
107 | stick = 1; |
108 | WinkelOut.CalcState++; |
108 | WinkelOut.CalcState++; |
109 | if(WinkelOut.CalcState > 4) |
109 | if(WinkelOut.CalcState > 4) |
110 | { |
110 | { |
111 | // WinkelOut.CalcState = 0; // in Uart.c |
111 | // WinkelOut.CalcState = 0; // in Uart.c |
112 | beeptime = 1000; |
112 | beeptime = 1000; |
113 | } |
113 | } |
114 | else Piep(WinkelOut.CalcState); |
114 | else Piep(WinkelOut.CalcState); |
115 | } |
115 | } |
116 | DebugOut.Analog[19] = WinkelOut.CalcState; |
116 | DebugOut.Analog[19] = WinkelOut.CalcState; |
117 | } |
117 | } |
118 | 118 | ||
119 | //############################################################################ |
119 | //############################################################################ |
120 | //Hauptprogramm |
120 | //Hauptprogramm |
121 | int main (void) |
121 | int main (void) |
122 | //############################################################################ |
122 | //############################################################################ |
123 | { |
123 | { |
124 | unsigned int timer; |
124 | unsigned int timer,i; |
125 | DDRB = 0x00; |
125 | DDRB = 0x00; |
126 | PORTB = 0x00; |
126 | PORTB = 0x00; |
127 | for(timer = 0; timer < 1000; timer++); // verzögern |
127 | for(timer = 0; timer < 1000; timer++); // verzögern |
128 | if(PINB & 0x01) |
128 | if(PINB & 0x01) |
129 | { |
129 | { |
130 | if(PINB & 0x02) PlatinenVersion = 13; |
130 | if(PINB & 0x02) PlatinenVersion = 13; |
131 | else PlatinenVersion = 11; |
131 | else PlatinenVersion = 11; |
132 | } |
132 | } |
133 | else |
133 | else |
134 | { |
134 | { |
135 | if(PINB & 0x02) PlatinenVersion = 20; |
135 | if(PINB & 0x02) PlatinenVersion = 20; |
136 | else PlatinenVersion = 10; |
136 | else PlatinenVersion = 10; |
137 | } |
137 | } |
138 | 138 | ||
139 | DDRC = 0x81; // SCL |
139 | DDRC = 0x81; // SCL |
140 | DDRC |=0x40; // HEF4017 Reset |
140 | DDRC |=0x40; // HEF4017 Reset |
141 | PORTC = 0xff; // Pullup SDA |
141 | PORTC = 0xff; // Pullup SDA |
142 | DDRB = 0x1B; // LEDs und Druckoffset |
142 | DDRB = 0x1B; // LEDs und Druckoffset |
143 | PORTB = 0x01; // LED_Rot |
143 | PORTB = 0x01; // LED_Rot |
144 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
144 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
145 | DDRD |=0x80; // J7 -> Servo signal |
145 | DDRD |=0x80; // J7 -> Servo signal |
146 | PORTD = 0x47; // LED |
146 | PORTD = 0x47; // LED |
147 | HEF4017R_ON; |
147 | HEF4017R_ON; |
148 | MCUSR &=~(1<<WDRF); |
148 | MCUSR &=~(1<<WDRF); |
149 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
149 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
150 | WDTCSR = 0; |
150 | WDTCSR = 0; |
151 | 151 | ||
152 | beeptime = 2000; |
152 | beeptime = 2000; |
153 | 153 | ||
154 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
154 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
155 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
155 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
156 | ROT_OFF; |
156 | ROT_OFF; |
157 | 157 | ||
158 | Timer_Init(); |
158 | Timer_Init(); |
159 | TIMER2_Init(); |
159 | TIMER2_Init(); |
160 | UART_Init(); |
160 | UART_Init(); |
161 | rc_sum_init(); |
161 | rc_sum_init(); |
162 | ADC_Init(); |
162 | ADC_Init(); |
163 | i2c_init(); |
163 | i2c_init(); |
164 | SPI_MasterInit(); |
164 | SPI_MasterInit(); |
165 | 165 | ||
166 | sei(); |
166 | sei(); |
- | 167 | ||
167 | 168 | printf("\n\r==================================="); |
|
168 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
169 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
169 | if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
170 | if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
170 | { |
171 | { |
171 | Uart1Init(); |
172 | Uart1Init(); |
172 | } |
173 | } |
173 | GRN_ON; |
174 | GRN_ON; |
174 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
175 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
175 | 176 | ||
176 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_REVISION]) == EE_MIXER_REVISION) |
177 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) // Check Revision in the first Byte |
177 | { |
178 | { |
178 | unsigned char i; |
179 | unsigned char i; |
179 | RequiredMotors = 0; |
180 | RequiredMotors = 0; |
180 | eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
181 | eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
181 | for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
182 | for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
182 | } |
183 | } |
183 | else // default |
184 | else // default |
184 | { |
185 | { |
185 | unsigned char i; |
186 | unsigned char i; |
- | 187 | printf("\n\rGenerating default Mixer Table"); |
|
186 | for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;}; |
188 | for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;}; |
187 | // default = Quadro |
189 | // default = Quadro |
188 | Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; |
190 | Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; |
189 | Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; |
191 | Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; |
190 | Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
192 | Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
191 | Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
193 | Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
- | 194 | Mixer.Revision = MIXER_REVISION; |
|
192 | memcpy(Mixer.Name, "Quadro\0", 11); |
195 | memcpy(Mixer.Name, "Quadro\0", 11); |
193 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
196 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
194 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_REVISION],EE_MIXER_REVISION); // Länge der Datensätze merken |
- | |
195 | } |
197 | } |
196 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
198 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
- | 199 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 200 | // + Check connected BL-Ctrls |
|
- | 201 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 202 | printf("\n\rFound BL-Ctrl: "); |
|
- | 203 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
|
- | 204 | for(i=0; i < MAX_MOTORS; i++) |
|
- | 205 | { |
|
- | 206 | UpdateMotor = 0; |
|
- | 207 | SendMotorData(); |
|
- | 208 | while(!UpdateMotor); |
|
- | 209 | if(MotorPresent[i]) printf("%d ",i+1); |
|
- | 210 | } |
|
- | 211 | for(i=0; i < MAX_MOTORS; i++) |
|
- | 212 | { |
|
- | 213 | if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
|
- | 214 | MotorError[i] = 0; |
|
- | 215 | } |
|
197 | printf("\n\r=============================="); |
216 | printf("\n\r==================================="); |
- | 217 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 218 | // + Check Settings |
|
- | 219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
198 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
220 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
199 | { |
221 | { |
200 | DefaultKonstanten1(); |
222 | DefaultKonstanten1(); |
201 | printf("\n\rInit. EEPROM"); |
223 | printf("\n\rInit. EEPROM"); |
202 | for (unsigned char i=1;i<6;i++) |
224 | for (unsigned char i=1;i<6;i++) |
203 | { |
225 | { |
204 | if(i==2) DefaultKonstanten2(); // Kamera |
226 | if(i==2) DefaultKonstanten2(); // Kamera |
205 | if(i==3) DefaultKonstanten3(); // Beginner |
227 | if(i==3) DefaultKonstanten3(); // Beginner |
206 | if(i>3) DefaultKonstanten2(); // Kamera |
228 | if(i>3) DefaultKonstanten2(); // Kamera |
207 | if(PlatinenVersion >= 20) |
229 | if(PlatinenVersion >= 20) |
208 | { |
230 | { |
209 | EE_Parameter.Gyro_D = 5; |
231 | EE_Parameter.Gyro_D = 5; |
210 | EE_Parameter.Driftkomp = 0; |
232 | EE_Parameter.Driftkomp = 0; |
211 | EE_Parameter.GyroAccFaktor = 27; |
233 | EE_Parameter.GyroAccFaktor = 27; |
212 | EE_Parameter.WinkelUmschlagNick = 78; |
234 | EE_Parameter.WinkelUmschlagNick = 78; |
213 | EE_Parameter.WinkelUmschlagRoll = 78; |
235 | EE_Parameter.WinkelUmschlagRoll = 78; |
214 | } |
236 | } |
215 | // valid Stick-Settings? |
237 | // valid Stick-Settings? |
216 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
238 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
217 | { |
239 | { |
218 | EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
240 | EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
219 | EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
241 | EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
220 | EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
242 | EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
221 | EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
243 | EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
222 | EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
244 | EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
223 | EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
245 | EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
224 | EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
246 | EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
225 | EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
247 | EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
226 | if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
248 | if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
227 | } else DefaultStickMapping(); |
249 | } else DefaultStickMapping(); |
228 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
250 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
229 | } |
251 | } |
230 | SetActiveParamSetNumber(3); // default-Setting |
252 | SetActiveParamSetNumber(3); // default-Setting |
231 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
253 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
232 | } |
254 | } |
233 | 255 | ||
234 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
256 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
235 | { |
257 | { |
236 | printf("\n\rACC nicht abgeglichen!"); |
258 | printf("\n\rACC not calibrated !"); |
237 | } |
259 | } |
238 | 260 | ||
239 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
261 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
240 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
262 | printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
241 | 263 | ||
242 | 264 | ||
243 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
265 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
244 | { |
266 | { |
245 | printf("\n\rAbgleich Luftdrucksensor.."); |
267 | printf("\n\rCalibrating pressure sensor.."); |
246 | timer = SetDelay(1000); |
268 | timer = SetDelay(1000); |
247 | SucheLuftruckOffset(); |
269 | SucheLuftruckOffset(); |
248 | while (!CheckDelay(timer)); |
270 | while (!CheckDelay(timer)); |
249 | printf("OK\n\r"); |
271 | printf("OK\n\r"); |
250 | } |
272 | } |
251 | 273 | ||
252 | SetNeutral(); |
274 | SetNeutral(); |
253 | 275 | ||
254 | ROT_OFF; |
276 | ROT_OFF; |
255 | 277 | ||
256 | beeptime = 2000; |
278 | beeptime = 2000; |
257 | ExternControl.Digital[0] = 0x55; |
279 | ExternControl.Digital[0] = 0x55; |
258 | 280 | ||
259 | 281 | ||
260 | printf("\n\rSteuerung: "); |
282 | printf("\n\rControl: "); |
261 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
283 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
262 | else printf("Neutral"); |
284 | else printf("Normal (ACC-Mode)"); |
263 | 285 | ||
264 | printf("\n\n\r"); |
286 | printf("\n\r===================================\n\r"); |
265 | 287 | ||
266 | LcdClear(); |
288 | LcdClear(); |
267 | I2CTimeout = 5000; |
289 | I2CTimeout = 5000; |
268 | WinkelOut.Orientation = 1; |
290 | WinkelOut.Orientation = 1; |
269 | while (1) |
291 | while (1) |
270 | { |
292 | { |
271 | if(UpdateMotor && AdReady) // ReglerIntervall |
293 | if(UpdateMotor && AdReady) // ReglerIntervall |
272 | { |
294 | { |
273 | UpdateMotor=0; |
295 | UpdateMotor=0; |
274 | if(WinkelOut.CalcState) CalMk3Mag(); |
296 | if(WinkelOut.CalcState) CalMk3Mag(); |
275 | else MotorRegler(); |
297 | else MotorRegler(); |
276 | SendMotorData(); |
298 | SendMotorData(); |
277 | ROT_OFF; |
299 | ROT_OFF; |
278 | if(PcZugriff) PcZugriff--; |
300 | if(PcZugriff) PcZugriff--; |
279 | else |
301 | else |
280 | { |
302 | { |
281 | ExternControl.Config = 0; |
303 | ExternControl.Config = 0; |
282 | ExternStickNick = 0; |
304 | ExternStickNick = 0; |
283 | ExternStickRoll = 0; |
305 | ExternStickRoll = 0; |
284 | ExternStickGier = 0; |
306 | ExternStickGier = 0; |
285 | } |
307 | } |
286 | if(SenderOkay) SenderOkay--; |
308 | if(SenderOkay) SenderOkay--; |
287 | if(!--I2CTimeout || MissingMotor) |
309 | if(!--I2CTimeout || MissingMotor) |
288 | { |
310 | { |
289 | if(!I2CTimeout) |
311 | if(!I2CTimeout) |
290 | { |
312 | { |
291 | i2c_reset(); |
313 | i2c_reset(); |
292 | I2CTimeout = 5; |
314 | I2CTimeout = 5; |
293 | } |
315 | } |
294 | if((BeepMuster == 0xffff) && MotorenEin) |
316 | if((BeepMuster == 0xffff) && MotorenEin) |
295 | { |
317 | { |
296 | beeptime = 10000; |
318 | beeptime = 10000; |
297 | BeepMuster = 0x0080; |
319 | BeepMuster = 0x0080; |
298 | } |
320 | } |
299 | } |
321 | } |
300 | else |
322 | else |
301 | { |
323 | { |
302 | ROT_OFF; |
324 | ROT_OFF; |
303 | } |
325 | } |
304 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
326 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
305 | { |
327 | { |
306 | DatenUebertragung(); |
328 | DatenUebertragung(); |
307 | BearbeiteRxDaten(); |
329 | BearbeiteRxDaten(); |
308 | } |
330 | } |
309 | else BearbeiteRxDaten(); |
331 | else BearbeiteRxDaten(); |
310 | if(CheckDelay(timer)) |
332 | if(CheckDelay(timer)) |
311 | { |
333 | { |
312 | if(UBat < EE_Parameter.UnterspannungsWarnung) |
334 | if(UBat < EE_Parameter.UnterspannungsWarnung) |
313 | { |
335 | { |
314 | if(BeepMuster == 0xffff) |
336 | if(BeepMuster == 0xffff) |
315 | { |
337 | { |
316 | beeptime = 6000; |
338 | beeptime = 6000; |
317 | BeepMuster = 0x0300; |
339 | BeepMuster = 0x0300; |
318 | } |
340 | } |
319 | } |
341 | } |
320 | SPI_StartTransmitPacket(); |
342 | SPI_StartTransmitPacket(); |
321 | 343 | ||
322 | SendSPI = 4; |
344 | SendSPI = 4; |
323 | timer = SetDelay(20); |
345 | timer = SetDelay(20); |
324 | } |
346 | } |
325 | LED_Update(); |
347 | LED_Update(); |
326 | } |
348 | } |
327 | if(!SendSPI) { SPI_TransmitByte(); } |
349 | if(!SendSPI) { SPI_TransmitByte(); } |
328 | } |
350 | } |
329 | return (1); |
351 | return (1); |
330 | } |
352 | } |
331 | 353 | ||
332 | 354 |