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1 | /* |
1 | /* |
2 | Copyright 2008, by Michael Walter |
2 | Copyright 2008, by Michael Walter |
3 | 3 | ||
4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
9 | 9 | ||
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
12 | unless it is stated otherwise. |
12 | unless it is stated otherwise. |
13 | */ |
13 | */ |
14 | 14 | ||
15 | /***************************************************************************** |
15 | /***************************************************************************** |
16 | INCLUDES |
16 | INCLUDES |
17 | **************************************************************************** */ |
17 | **************************************************************************** */ |
18 | #include "main.h" |
18 | #include "main.h" |
19 | #include "kafi.h" |
19 | #include "kafi.h" |
20 | #include "mymath.h" |
20 | #include "mymath.h" |
21 | #include "mm3.h" |
21 | #include "mm3.h" |
- | 22 | #include "FlightControl.h" |
|
22 | 23 | ||
23 | /***************************************************************************** |
24 | /***************************************************************************** |
24 | (SYMBOLIC) CONSTANTS |
25 | (SYMBOLIC) CONSTANTS |
25 | *****************************************************************************/ |
26 | *****************************************************************************/ |
26 | 27 | ||
27 | #define sin45 -0.707106 |
28 | #define sin45 -0.707106 |
28 | #define cos45 0.707106 |
29 | #define cos45 0.707106 |
29 | 30 | ||
30 | /***************************************************************************** |
31 | /***************************************************************************** |
31 | VARIABLES |
32 | VARIABLES |
32 | *****************************************************************************/ |
33 | *****************************************************************************/ |
33 | extern int RCQuality; |
34 | extern int RCQuality; |
34 | int RemoteLinkLost; |
35 | int RemoteLinkLost; |
35 | extern unsigned long maxDistance; |
36 | extern unsigned long maxDistance; |
36 | unsigned char EEPromArray[E2END+1] EEMEM; |
37 | unsigned char EEPromArray[E2END+1] EEMEM; |
37 | 38 | ||
38 | void TestRemote(void); |
39 | void TestRemote(void); |
39 | void IMU_Main(void); |
40 | void IMU_Main(void); |
40 | void TestBattery(void); |
41 | void TestBattery(void); |
41 | void SendDebugData(void); |
42 | void SendDebugData(void); |
42 | void InitPorts(void); |
43 | void InitPorts(void); |
43 | void GenerateDefaults(void); |
44 | void GenerateDefaults(void); |
44 | void TestIC2Link(void); |
45 | void TestIC2Link(void); |
45 | void GetAirPressureOffset(void); |
46 | void GetAirPressureOffset(void); |
46 | void DeployRescue(void); |
47 | void DeployRescue(void); |
47 | 48 | ||
48 | extern void InitOSD(void); |
49 | extern void InitOSD(void); |
49 | extern void InitGPS(void); |
50 | extern void InitGPS(void); |
50 | extern void SendOSD(void); |
51 | extern void SendOSD(void); |
51 | extern void RemoteControl(void); |
52 | extern void RemoteControl(void); |
52 | extern void SendMotorData(void); |
53 | extern void SendMotorData(void); |
53 | extern void GetMeasurements(void); |
54 | extern void GetMeasurements(void); |
54 | extern void AttitudeEstimation(void); |
55 | extern void AttitudeEstimation(void); |
55 | extern void PD_Regler(void); |
56 | extern void PD_Regler(void); |
56 | extern void SetNeutral(void); |
57 | extern void SetNeutral(void); |
57 | 58 | ||
58 | /* **************************************************************************** |
59 | /* **************************************************************************** |
59 | Functionname: main */ /*! |
60 | Functionname: main */ /*! |
60 | Description: Hauptprogramm |
61 | Description: Hauptprogramm |
61 | 62 | ||
62 | @return void |
63 | @return void |
63 | @pre - |
64 | @pre - |
64 | @post - |
65 | @post - |
65 | @author Michael Walter |
66 | @author Michael Walter |
66 | **************************************************************************** */ |
67 | **************************************************************************** */ |
67 | int main (void) |
68 | int main (void) |
68 | { |
69 | { |
69 | /* Controler Init */ |
70 | /* Controler Init */ |
70 | InitPorts(); |
71 | InitPorts(); |
71 | Kafi_Init(); |
72 | Kafi_Init(); |
72 | Timer_Init(); |
73 | Timer_Init(); |
73 | UART_Init(); |
74 | UART_Init(); |
74 | InitGPS(); |
75 | InitGPS(); |
75 | rc_sum_init(); |
76 | rc_sum_init(); |
76 | ADC_Init(); |
77 | ADC_Init(); |
77 | i2c_init(); |
78 | i2c_init(); |
78 | #ifdef USE_COMPASS |
79 | #ifdef USE_COMPASS |
79 | MM3_Init(); |
80 | MM3_Init(); |
80 | #endif |
81 | #endif |
81 | /* Enable Interrupts */ |
82 | /* Enable Interrupts */ |
82 | sei(); |
83 | sei(); |
83 | 84 | ||
84 | /* Generate Default Values */ |
85 | /* Generate Default Values */ |
85 | GenerateDefaults (); |
86 | GenerateDefaults (); |
86 | /* Get Air Pressure Offset */ |
87 | /* Get Air Pressure Offset */ |
87 | GetAirPressureOffset(); |
88 | GetAirPressureOffset(); |
88 | /* Determine Gyro / ACC Offsets */ |
89 | /* Determine Gyro / ACC Offsets */ |
89 | SetNeutral(); |
90 | SetNeutral(); |
90 | 91 | ||
91 | DebugIn.Analog[1] = 1000; |
92 | DebugIn.Analog[1] = 1000; |
92 | DebugIn.Digital[0] = 0x55; |
93 | DebugIn.Digital[0] = 0x55; |
93 | 94 | ||
94 | #ifdef USE_COMPASS |
95 | #ifdef USE_COMPASS |
95 | /* Calibrate the MM3 Compass? */ |
96 | /* Calibrate the MM3 Compass? */ |
96 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && |
97 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && |
97 | (PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && |
98 | (PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && |
98 | (MotorenEin == 0)) |
99 | (MotorenEin == 0)) |
99 | { |
100 | { |
100 | printf("\n\rCalibrating Compass"); |
101 | printf("\n\rCalibrating Compass"); |
101 | MM3_Calibrate(); |
102 | MM3_Calibrate(); |
102 | } |
103 | } |
103 | #endif |
104 | #endif |
104 | 105 | ||
105 | #ifdef USE_OSD |
106 | #ifdef USE_OSD |
106 | /* Init the Bob-4 OnScreen Display */ |
107 | /* Init the Bob-4 OnScreen Display */ |
107 | InitOSD(); |
108 | InitOSD(); |
108 | #endif |
109 | #endif |
109 | 110 | ||
110 | /* Start the main Task */ |
111 | /* Start the main Task */ |
111 | IMU_Main(); |
112 | IMU_Main(); |
112 | return (1); |
113 | return (1); |
113 | } |
114 | } |
114 | 115 | ||
115 | 116 | ||
116 | 117 | ||
117 | /* **************************************************************************** |
118 | /* **************************************************************************** |
118 | Functionname: IMU_Main */ /*! |
119 | Functionname: IMU_Main */ /*! |
119 | Description: |
120 | Description: |
120 | 121 | ||
121 | @param[in] |
122 | @param[in] |
122 | 123 | ||
123 | @return void |
124 | @return void |
124 | @pre - |
125 | @pre - |
125 | @post - |
126 | @post - |
126 | @author Michael Walter |
127 | @author Michael Walter |
127 | **************************************************************************** */ |
128 | **************************************************************************** */ |
128 | void IMU_Main() |
129 | void IMU_Main() |
129 | { |
130 | { |
130 | ROT_ON |
131 | ROT_ON |
131 | I2CTimeout = 5000; |
132 | I2CTimeout = 5000; |
132 | 133 | ||
133 | while (1) |
134 | while (1) |
134 | { |
135 | { |
135 | static i32_t OldTime = 0; |
136 | static i32_t OldTime = 0; |
136 | if (UpdateMotor) |
137 | if (UpdateMotor) |
137 | { |
138 | { |
138 | UpdateMotor=0; |
139 | UpdateMotor=0; |
139 | 140 | ||
140 | #ifdef USE_OSD |
141 | #ifdef USE_OSD |
141 | /* G e n e r a t e O S D D a t a */ |
142 | /* G e n e r a t e O S D D a t a */ |
142 | static char CntOSD = 0; |
143 | static char CntOSD = 0; |
143 | if (CntOSD % 6 == 1) |
144 | if (CntOSD % 6 == 1) |
144 | { |
145 | { |
145 | SendOSD(); |
146 | SendOSD(); |
146 | } |
147 | } |
147 | CntOSD++; |
148 | CntOSD++; |
148 | #endif |
149 | #endif |
149 | 150 | ||
150 | /* Set the cycle Time to 120ms / 125ms */ |
151 | /* Set the cycle Time to 120ms / 125ms */ |
151 | if (OldTime != 0) |
152 | if (OldTime != 0) |
152 | { |
153 | { |
153 | while (((Count8Khz - OldTime) *10) / 8 < 120); |
154 | while (((Count8Khz - OldTime) *10) / 8 < 120); |
154 | DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
155 | DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
155 | } |
156 | } |
156 | OldTime = Count8Khz; |
157 | OldTime = Count8Khz; |
157 | 158 | ||
158 | /*GetMeasurements()*/ |
159 | /*GetMeasurements()*/ |
159 | GetMeasurements(); |
160 | GetMeasurements(); |
160 | /*EstimateFlightAttitude */ |
161 | /*EstimateFlightAttitude */ |
161 | FlightAttitudeEstimation(); |
162 | FlightAttitudeEstimation(); |
162 | /* Set Nominal Value */ |
163 | /* Set Nominal Value */ |
163 | RemoteControl(); |
164 | RemoteControl(); |
164 | /* PID Control */ |
165 | /* PID Control */ |
165 | PD_Regler(); |
166 | PD_Regler(); |
166 | /* Send Motor Data */ |
167 | /* Send Motor Data */ |
167 | SendMotorData(); |
168 | SendMotorData(); |
168 | /* TestRemote */ |
169 | /* TestRemote */ |
169 | TestRemote(); |
170 | TestRemote(); |
170 | /* Test IC2- / RC-Link */ |
171 | /* Test IC2- / RC-Link */ |
171 | TestIC2Link(); |
172 | TestIC2Link(); |
172 | } |
173 | } |
173 | /* Send Debug Data over RS232 */ |
174 | /* Send Debug Data over RS232 */ |
174 | SendDebugData(); |
175 | SendDebugData(); |
175 | /* Check the Batery for Undervoltage */ |
176 | /* Check the Batery for Undervoltage */ |
176 | TestBattery(); |
177 | TestBattery(); |
177 | /* DeployRescue */ |
178 | /* DeployRescue */ |
178 | //DeployRescue(); |
179 | //DeployRescue(); |
179 | } |
180 | } |
180 | } |
181 | } |
181 | 182 | ||
182 | /* **************************************************************************** |
183 | /* **************************************************************************** |
183 | Functionname: DeployRescue */ /*! |
184 | Functionname: DeployRescue */ /*! |
184 | Description: Deploy a rescue parachute using a servo |
185 | Description: Deploy a rescue parachute using a servo |
185 | 186 | ||
186 | @return void |
187 | @return void |
187 | @pre - |
188 | @pre - |
188 | @post - |
189 | @post - |
189 | @author Michael Walter |
190 | @author Michael Walter |
190 | **************************************************************************** */ |
191 | **************************************************************************** */ |
191 | void DeployRescue() |
192 | void DeployRescue() |
192 | { |
193 | { |
193 | #if 0 |
194 | #if 0 |
194 | /* Yaw or pitch are greater than 60 Deg abs */ |
195 | /* Yaw or pitch are greater than 60 Deg abs */ |
195 | if (((abs(status.iTheta10) > 600) || (abs(status.iPhi10) > 600)) && |
196 | if (((abs(status.iTheta10) > 600) || (abs(status.iPhi10) > 600)) && |
196 | ((abs(AverageRoll_X) > Threshhold) || |
197 | ((abs(AverageRoll_X) > Threshhold) || |
197 | (abs(AverageRoll_Y) > Threshhold) || |
198 | (abs(AverageRoll_Y) > Threshhold) || |
198 | (abs(AverageRoll_Z) > Threshhold) )) |
199 | (abs(AverageRoll_Z) > Threshhold) )) |
199 | { |
200 | { |
200 | MotorenEin = 0; |
201 | MotorenEin = 0; |
201 | Delay_ms(1000); |
202 | Delay_ms(1000); |
202 | ReleaseServo(); |
203 | ReleaseServo(); |
203 | } |
204 | } |
204 | #endif |
205 | #endif |
205 | } |
206 | } |
206 | 207 | ||
207 | /* **************************************************************************** |
208 | /* **************************************************************************** |
208 | Functionname: ReadParameterSet */ /*! |
209 | Functionname: ReadParameterSet */ /*! |
209 | Description: -- Parametersatz aus EEPROM lesen --- |
210 | Description: -- Parametersatz aus EEPROM lesen --- |
210 | number [0..5] |
211 | number [0..5] |
211 | 212 | ||
212 | @return void |
213 | @return void |
213 | @pre - |
214 | @pre - |
214 | @post - |
215 | @post - |
215 | @author H. Buss / I. Busker |
216 | @author H. Buss / I. Busker |
216 | **************************************************************************** */ |
217 | **************************************************************************** */ |
217 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
218 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
218 | { |
219 | { |
219 | if (number > 5) |
220 | if (number > 5) |
220 | { |
221 | { |
221 | number = 5; |
222 | number = 5; |
222 | } |
223 | } |
223 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
224 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
224 | } |
225 | } |
225 | 226 | ||
226 | /* **************************************************************************** |
227 | /* **************************************************************************** |
227 | Functionname: WriteParameterSet */ /*! |
228 | Functionname: WriteParameterSet */ /*! |
228 | Description: -- Parametersatz ins EEPROM schreiben --- |
229 | Description: -- Parametersatz ins EEPROM schreiben --- |
229 | number [0..5] |
230 | number [0..5] |
230 | 231 | ||
231 | @return void |
232 | @return void |
232 | @pre - |
233 | @pre - |
233 | @post - |
234 | @post - |
234 | @author H. Buss / I. Busker |
235 | @author H. Buss / I. Busker |
235 | **************************************************************************** */ |
236 | **************************************************************************** */ |
236 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
237 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
237 | { |
238 | { |
238 | if(number > 5) |
239 | if(number > 5) |
239 | { |
240 | { |
240 | number = 5; |
241 | number = 5; |
241 | } |
242 | } |
242 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
243 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
243 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
244 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
244 | } |
245 | } |
245 | 246 | ||
246 | /* **************************************************************************** |
247 | /* **************************************************************************** |
247 | Functionname: GetActiveParamSetNumber */ /*! |
248 | Functionname: GetActiveParamSetNumber */ /*! |
248 | Description: |
249 | Description: |
249 | 250 | ||
250 | @return void |
251 | @return void |
251 | @pre - |
252 | @pre - |
252 | @post - |
253 | @post - |
253 | @author H. Buss / I. Busker |
254 | @author H. Buss / I. Busker |
254 | **************************************************************************** */ |
255 | **************************************************************************** */ |
255 | unsigned char GetActiveParamSetNumber(void) |
256 | unsigned char GetActiveParamSetNumber(void) |
256 | { |
257 | { |
257 | unsigned char set; |
258 | unsigned char set; |
258 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
259 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
259 | if(set > 5) |
260 | if(set > 5) |
260 | { |
261 | { |
261 | set = 2; |
262 | set = 2; |
262 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
263 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
263 | } |
264 | } |
264 | return(set); |
265 | return(set); |
265 | } |
266 | } |
266 | 267 | ||
267 | /* **************************************************************************** |
268 | /* **************************************************************************** |
268 | Functionname: GetAirPressureOffset */ /*! |
269 | Functionname: GetAirPressureOffset */ /*! |
269 | Description: |
270 | Description: |
270 | 271 | ||
271 | @return void |
272 | @return void |
272 | @pre - |
273 | @pre - |
273 | @post - |
274 | @post - |
274 | @author H. Buss / I. Busker |
275 | @author H. Buss / I. Busker |
275 | **************************************************************************** */ |
276 | **************************************************************************** */ |
276 | void GetAirPressureOffset(void) |
277 | void GetAirPressureOffset(void) |
277 | { |
278 | { |
278 | unsigned int timer; |
279 | unsigned int timer; |
279 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
280 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
280 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
281 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
281 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
282 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
282 | { |
283 | { |
283 | printf("\n\rAbgleich Luftdrucksensor.."); |
284 | printf("\n\rAbgleich Luftdrucksensor.."); |
284 | timer = SetDelay(1000); |
285 | timer = SetDelay(1000); |
285 | SucheLuftruckOffset(); |
286 | SucheLuftruckOffset(); |
286 | while (!CheckDelay(timer)); |
287 | while (!CheckDelay(timer)); |
287 | printf("OK\n\r"); |
288 | printf("OK\n\r"); |
288 | } |
289 | } |
289 | } |
290 | } |
290 | 291 | ||
291 | /* **************************************************************************** |
292 | /* **************************************************************************** |
292 | Functionname: GenerateDefaults */ /*! |
293 | Functionname: GenerateDefaults */ /*! |
293 | Description: Generate the Default Paramter |
294 | Description: Generate the Default Paramter |
294 | 295 | ||
295 | @return void |
296 | @return void |
296 | @pre - |
297 | @pre - |
297 | @post - |
298 | @post - |
298 | @author H. Buss / I. Busker |
299 | @author H. Buss / I. Busker |
299 | **************************************************************************** */ |
300 | **************************************************************************** */ |
300 | void GenerateDefaults() |
301 | void GenerateDefaults() |
301 | { |
302 | { |
302 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
303 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
303 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
304 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
304 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
305 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
305 | 306 | ||
306 | #define EE_DATENREVISION 66 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
307 | #define EE_DATENREVISION 66 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
307 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
308 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
308 | { |
309 | { |
309 | printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
310 | printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
310 | DefaultKonstanten1(); |
311 | DefaultKonstanten1(); |
311 | for (unsigned char i=0;i<6;i++) |
312 | for (unsigned char i=0;i<6;i++) |
312 | { |
313 | { |
313 | if(i==2) DefaultKonstanten2(); // Kamera |
314 | if(i==2) DefaultKonstanten2(); // Kamera |
314 | if(i==3) DefaultKonstanten3(); // Beginner |
315 | if(i==3) DefaultKonstanten3(); // Beginner |
315 | if(i>3) DefaultKonstanten2(); // Kamera |
316 | if(i>3) DefaultKonstanten2(); // Kamera |
316 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
317 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
317 | } |
318 | } |
318 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
319 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
319 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
320 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
320 | } |
321 | } |
321 | } |
322 | } |
322 | 323 | ||
323 | 324 | ||
324 | /* **************************************************************************** |
325 | /* **************************************************************************** |
325 | Functionname: InitPorts */ /*! |
326 | Functionname: InitPorts */ /*! |
326 | Description: Init the IO Ports |
327 | Description: Init the IO Ports |
327 | 328 | ||
328 | @return void |
329 | @return void |
329 | @pre - |
330 | @pre - |
330 | @post - |
331 | @post - |
331 | @author H. Buss / I. Busker |
332 | @author H. Buss / I. Busker |
332 | **************************************************************************** */ |
333 | **************************************************************************** */ |
333 | void InitPorts() |
334 | void InitPorts() |
334 | { |
335 | { |
335 | unsigned int timer = 0; |
336 | unsigned int timer = 0; |
336 | DDRB = 0x00; |
337 | DDRB = 0x00; |
337 | PORTB = 0x00; |
338 | PORTB = 0x00; |
338 | for(timer = 0; timer < 1000; timer++); // verzögern |
339 | for(timer = 0; timer < 1000; timer++); // verzögern |
339 | DDRC = 0x81; // SCL |
340 | DDRC = 0x81; // SCL |
340 | PORTC = 0xff; // Pullup SDA |
341 | PORTC = 0xff; // Pullup SDA |
341 | DDRB = 0x1B; // LEDs und Druckoffset |
342 | DDRB = 0x1B; // LEDs und Druckoffset |
342 | PORTB = 0x01; // LED_Rot |
343 | PORTB = 0x01; // LED_Rot |
343 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
344 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
344 | DDRD |=0x80; // J7 |
345 | DDRD |=0x80; // J7 |
345 | PORTD = 0xF7; // LED |
346 | PORTD = 0xF7; // LED |
346 | 347 | ||
347 | MCUSR &=~(1<<WDRF); |
348 | MCUSR &=~(1<<WDRF); |
348 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
349 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
349 | WDTCSR = 0; |
350 | WDTCSR = 0; |
350 | } |
351 | } |
351 | 352 | ||
352 | /* **************************************************************************** |
353 | /* **************************************************************************** |
353 | Functionname: TestIC2Link */ /*! |
354 | Functionname: TestIC2Link */ /*! |
354 | Description: Test IC2- / RC-Link |
355 | Description: Test IC2- / RC-Link |
355 | 356 | ||
356 | @return void |
357 | @return void |
357 | @pre - |
358 | @pre - |
358 | @post - |
359 | @post - |
359 | @author H. Buss / I. Busker |
360 | @author H. Buss / I. Busker |
360 | **************************************************************************** */ |
361 | **************************************************************************** */ |
361 | void TestIC2Link() |
362 | void TestIC2Link() |
362 | { |
363 | { |
363 | if(PcZugriff) |
364 | if(PcZugriff) |
364 | { |
365 | { |
365 | PcZugriff--; |
366 | PcZugriff--; |
366 | } |
367 | } |
367 | 368 | ||
368 | if(SenderOkay) |
369 | if(SenderOkay) |
369 | { |
370 | { |
370 | SenderOkay--; |
371 | SenderOkay--; |
371 | } |
372 | } |
372 | 373 | ||
373 | if(!I2CTimeout) |
374 | if(!I2CTimeout) |
374 | { |
375 | { |
375 | I2CTimeout = 5; |
376 | I2CTimeout = 5; |
376 | i2c_reset(); |
377 | i2c_reset(); |
377 | if((BeepMuster == 0xffff) && MotorenEin) |
378 | if((BeepMuster == 0xffff) && MotorenEin) |
378 | { |
379 | { |
379 | beeptime = 10000; |
380 | beeptime = 10000; |
380 | BeepMuster = 0x0080; |
381 | BeepMuster = 0x0080; |
381 | } |
382 | } |
382 | } |
383 | } |
383 | else |
384 | else |
384 | { |
385 | { |
385 | I2CTimeout--; |
386 | I2CTimeout--; |
386 | } |
387 | } |
387 | } |
388 | } |
388 | 389 | ||
389 | 390 | ||
390 | /* **************************************************************************** |
391 | /* **************************************************************************** |
391 | Functionname: SendDebugData */ /*! |
392 | Functionname: SendDebugData */ /*! |
392 | Description: Send Debug Data over RS232 |
393 | Description: Send Debug Data over RS232 |
393 | 394 | ||
394 | @return void |
395 | @return void |
395 | @pre - |
396 | @pre - |
396 | @post - |
397 | @post - |
397 | @author H. Buss / I. Busker |
398 | @author H. Buss / I. Busker |
398 | **************************************************************************** */ |
399 | **************************************************************************** */ |
399 | void SendDebugData() |
400 | void SendDebugData() |
400 | { |
401 | { |
401 | if(SIO_DEBUG) |
402 | if(SIO_DEBUG) |
402 | { |
403 | { |
403 | DatenUebertragung(); |
404 | DatenUebertragung(); |
404 | BearbeiteRxDaten(); |
405 | BearbeiteRxDaten(); |
405 | } |
406 | } |
406 | else |
407 | else |
407 | { |
408 | { |
408 | BearbeiteRxDaten(); |
409 | BearbeiteRxDaten(); |
409 | } |
410 | } |
410 | } |
411 | } |
411 | 412 | ||
412 | 413 | ||
413 | /* **************************************************************************** |
414 | /* **************************************************************************** |
414 | Functionname: TestBattery */ /*! |
415 | Functionname: TestBattery */ /*! |
415 | Description: Check the Battery Voltage |
416 | Description: Check the Battery Voltage |
416 | 417 | ||
417 | @return void |
418 | @return void |
418 | @pre - |
419 | @pre - |
419 | @post - |
420 | @post - |
420 | @author H. Buss / I. Busker |
421 | @author H. Buss / I. Busker |
421 | **************************************************************************** */ |
422 | **************************************************************************** */ |
422 | void TestBattery() |
423 | void TestBattery() |
423 | { |
424 | { |
424 | unsigned int timer = 0; |
425 | unsigned int timer = 0; |
425 | if(CheckDelay(timer)) |
426 | if(CheckDelay(timer)) |
426 | { /* Voltage is Below Threshhod ? */ |
427 | { /* Voltage is Below Threshhod ? */ |
427 | if(UBat < EE_Parameter.UnterspannungsWarnung) |
428 | if(UBat < EE_Parameter.UnterspannungsWarnung) |
428 | { |
429 | { |
429 | if(BeepMuster == 0xffff) |
430 | if(BeepMuster == 0xffff) |
430 | { |
431 | { |
431 | beeptime = 6000; |
432 | beeptime = 6000; |
432 | BeepMuster = 0x0300; |
433 | BeepMuster = 0x0300; |
433 | } |
434 | } |
434 | } |
435 | } |
435 | timer = SetDelay(100); |
436 | timer = SetDelay(100); |
436 | } |
437 | } |
437 | DebugOut.Analog[15] = UBat; |
438 | DebugOut.Analog[15] = UBat; |
438 | } |
439 | } |
439 | 440 | ||
440 | /* **************************************************************************** |
441 | /* **************************************************************************** |
441 | Functionname: TestRemote */ /*! |
442 | Functionname: TestRemote */ /*! |
442 | Description: |
443 | Description: |
443 | 444 | ||
444 | @param[in] |
445 | @param[in] |
445 | 446 | ||
446 | @return void |
447 | @return void |
447 | @pre - |
448 | @pre - |
448 | @post - |
449 | @post - |
449 | @author Michael Walter |
450 | @author Michael Walter |
450 | **************************************************************************** */ |
451 | **************************************************************************** */ |
451 | void TestRemote() |
452 | void TestRemote() |
452 | { |
453 | { |
453 | /*--- (SYMBOLIC) CONSTANTS ---*/ |
454 | /*--- (SYMBOLIC) CONSTANTS ---*/ |
454 | 455 | ||
455 | /*--- VARIABLES ---*/ |
456 | /*--- VARIABLES ---*/ |
456 | static unsigned int TimeSinceRC_BelowThreshhold = 0; |
457 | static unsigned int TimeSinceRC_BelowThreshhold = 0; |
457 | static unsigned int TimeSinceRC_AboveThreshhold = 0; |
458 | static unsigned int TimeSinceRC_AboveThreshhold = 0; |
458 | 459 | ||
459 | if (MotorenEin == 1) |
460 | if (MotorenEin == 1) |
460 | { |
461 | { |
461 | if (RemoteLinkLost == 0) |
462 | if (RemoteLinkLost == 0) |
462 | { |
463 | { |
463 | if (RCQuality < 60) |
464 | if (RCQuality < 60) |
464 | { |
465 | { |
465 | if (TimeSinceRC_BelowThreshhold < 10000) |
466 | if (TimeSinceRC_BelowThreshhold < 10000) |
466 | { |
467 | { |
467 | TimeSinceRC_BelowThreshhold++; |
468 | TimeSinceRC_BelowThreshhold++; |
468 | } |
469 | } |
469 | } |
470 | } |
470 | else |
471 | else |
471 | { |
472 | { |
472 | TimeSinceRC_BelowThreshhold = 0; |
473 | TimeSinceRC_BelowThreshhold = 0; |
473 | } |
474 | } |
474 | if ((TimeSinceRC_BelowThreshhold > 500) || /* aprox. 5 seconds */ |
475 | if ((TimeSinceRC_BelowThreshhold > 500) || /* aprox. 5 seconds */ |
475 | (SenderOkay < 100)) |
476 | (SenderOkay < 100)) |
476 | { |
477 | { |
477 | RemoteLinkLost = 1; |
478 | RemoteLinkLost = 1; |
478 | TimeSinceRC_AboveThreshhold = 0; |
479 | TimeSinceRC_AboveThreshhold = 0; |
479 | } |
480 | } |
480 | } |
481 | } |
481 | else |
482 | else |
482 | { |
483 | { |
483 | if (RCQuality > 80) |
484 | if (RCQuality > 80) |
484 | { |
485 | { |
485 | if (TimeSinceRC_AboveThreshhold < 10000) |
486 | if (TimeSinceRC_AboveThreshhold < 10000) |
486 | { |
487 | { |
487 | TimeSinceRC_AboveThreshhold++; |
488 | TimeSinceRC_AboveThreshhold++; |
488 | } |
489 | } |
489 | } |
490 | } |
490 | else |
491 | else |
491 | { |
492 | { |
492 | TimeSinceRC_AboveThreshhold = 0; |
493 | TimeSinceRC_AboveThreshhold = 0; |
493 | } |
494 | } |
494 | if (TimeSinceRC_AboveThreshhold > 100) /* aprox. 1 seconds */ |
495 | if (TimeSinceRC_AboveThreshhold > 100) /* aprox. 1 seconds */ |
495 | { |
496 | { |
496 | RemoteLinkLost = 0; |
497 | RemoteLinkLost = 0; |
497 | TimeSinceRC_BelowThreshhold = 0; |
498 | TimeSinceRC_BelowThreshhold = 0; |
498 | } |
499 | } |
499 | } |
500 | } |
500 | } |
501 | } |
501 | else |
502 | else |
502 | { |
503 | { |
503 | RemoteLinkLost = 0; |
504 | RemoteLinkLost = 0; |
504 | TimeSinceRC_BelowThreshhold = 0; |
505 | TimeSinceRC_BelowThreshhold = 0; |
505 | TimeSinceRC_AboveThreshhold = 0; |
506 | TimeSinceRC_AboveThreshhold = 0; |
506 | } |
507 | } |
507 | /*DebugOut.Analog[14] = TimeSinceRC_BelowThreshhold;*/ |
508 | /*DebugOut.Analog[14] = TimeSinceRC_BelowThreshhold;*/ |
508 | /*DebugOut.Analog[15] = TimeSinceRC_AboveThreshhold;*/ |
509 | /*DebugOut.Analog[15] = TimeSinceRC_AboveThreshhold;*/ |
509 | } |
510 | } |
510 | 511 |