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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 <avr/boot.h> |
53 | - | ||
54 | unsigned char EEPromArray[E2END+1] EEMEM; |
- | |
55 | unsigned char PlatinenVersion = 10; |
- | |
56 | unsigned char SendVersionToNavi = 1; |
- | |
57 | // -- Parametersatz aus EEPROM lesen --- |
- | |
58 | // number [0..5] |
- | |
59 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
- | |
60 | { |
- | |
61 | if (number > 5) number = 5; |
- | |
62 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
- | |
63 | } |
- | |
64 | - | ||
65 | - | ||
66 | // -- Parametersatz ins EEPROM schreiben --- |
53 | |
67 | // number [0..5] |
- | |
68 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
- | |
69 | { |
54 | #include <avr/io.h> |
70 | if(number > 5) number = 5; |
- | |
71 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
- | |
72 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
- | |
- | 55 | #include <avr/interrupt.h> |
|
- | 56 | ||
- | 57 | #include "main.h" |
|
- | 58 | #include "timer0.h" |
|
73 | } |
59 | #include "timer2.h" |
- | 60 | #include "uart.h" |
|
74 | 61 | #if defined (__AVR_ATmega644P__) |
|
- | 62 | #include "uart1.h" |
|
- | 63 | #endif |
|
- | 64 | #include "led.h" |
|
- | 65 | #include "menu.h" |
|
75 | unsigned char GetActiveParamSetNumber(void) |
66 | #include "fc.h" |
- | 67 | #include "rc.h" |
|
76 | { |
68 | #include "analog.h" |
77 | unsigned char set; |
69 | #include "printf_P.h" |
78 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
70 | #ifdef USE_KILLAGREG |
- | 71 | #include "mm3.h" |
|
- | 72 | #endif |
|
79 | if(set > 5) |
73 | #ifdef USE_NAVICTRL |
80 | { |
74 | #include "spi.h" |
- | 75 | #endif |
|
81 | set = 2; |
76 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
82 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
77 | #include "mk3mag.h" |
83 | } |
78 | #endif |
- | 79 | #include "twimaster.h" |
|
84 | return(set); |
- | |
85 | } |
- | |
86 | - | ||
87 | void CalMk3Mag(void) |
- | |
88 | { |
- | |
89 | static unsigned char stick = 1; |
- | |
90 | - | ||
91 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
- | |
92 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
- | |
93 | { |
- | |
94 | stick = 1; |
- | |
95 | WinkelOut.CalcState++; |
80 | #include "eeprom.h" |
96 | if(WinkelOut.CalcState > 4) |
- | |
97 | { |
- | |
98 | // WinkelOut.CalcState = 0; // in Uart.c |
- | |
99 | beeptime = 1000; |
- | |
100 | } |
- | |
101 | else Piep(WinkelOut.CalcState); |
81 | #include "_Settings.h" |
102 | } |
82 | |
103 | DebugOut.Analog[19] = WinkelOut.CalcState; |
83 | |
104 | } |
84 | uint8_t BoardRelease = 10; |
105 | 85 | ||
106 | 86 | ||
107 | //############################################################################ |
87 | //############################################################################ |
108 | //Hauptprogramm |
88 | //Hauptprogramm |
109 | int main (void) |
89 | int main (void) |
110 | //############################################################################ |
90 | //############################################################################ |
111 | { |
91 | { |
112 | unsigned int timer; |
92 | unsigned int timer; |
113 | 93 | ||
- | 94 | // disable interrupts global |
|
- | 95 | cli(); |
|
- | 96 | ||
114 | //unsigned int timer2 = 0; |
97 | // get board release |
115 | DDRB = 0x00; |
98 | DDRB = 0x00; |
116 | PORTB = 0x00; |
99 | PORTB = 0x00; |
117 | for(timer = 0; timer < 1000; timer++); // verzögern |
100 | for(timer = 0; timer < 1000; timer++); // make some delay |
118 | if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
101 | if(PINB & (1<<PINB0)) BoardRelease = 11; |
- | 102 | else BoardRelease = 10; |
|
119 | DDRC = 0x81; // SCL |
103 | |
120 | PORTC = 0xff; // Pullup SDA |
104 | // set LED ports as output |
121 | DDRB = 0x1B; // LEDs und Druckoffset |
105 | DDRB |= (1<<DDB1)|(1<<DDB0); |
122 | PORTB = 0x01; // LED_Rot |
- | |
123 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
106 | ROT_ON; |
124 | DDRD |=0x80; // J7 |
107 | GRN_OFF; |
125 | 108 | ||
126 | PORTD = 0xF7; // LED |
- | |
127 | - | ||
128 | 109 | // disable watchdog |
|
129 | MCUSR &=~(1<<WDRF); |
110 | MCUSR &=~(1<<WDRF); |
130 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
111 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
131 | WDTCSR = 0; |
112 | WDTCSR = 0; |
132 | 113 | ||
133 | beeptime = 2000; |
114 | BeepTime = 2000; |
- | 115 | ||
- | 116 | PPM_in[CH_THRUST] = 0; |
|
- | 117 | StickYaw = 0; |
|
134 | 118 | StickRoll = 0; |
|
135 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
119 | StickPitch = 0; |
- | 120 | ||
- | 121 | ROT_OFF; |
|
- | 122 | ||
136 | 123 | // initalize modules |
|
137 | ROT_OFF; |
124 | LED_Init(); |
- | 125 | TIMER0_Init(); |
|
- | 126 | TIMER2_Init(); |
|
- | 127 | USART0_Init(); |
|
- | 128 | ||
- | 129 | #if defined (__AVR_ATmega644P__) |
|
138 | 130 | if (BoardRelease == 11) USART1_Init(); |
|
139 | Timer_Init(); |
131 | #endif |
140 | UART_Init(); |
132 | |
- | 133 | RC_Init(); |
|
- | 134 | ADC_Init(); |
|
- | 135 | I2C_Init(); |
|
- | 136 | ||
- | 137 | #ifdef USE_KILLAGREG |
|
141 | rc_sum_init(); |
138 | MM3_Init(); |
- | 139 | #endif |
|
- | 140 | #ifdef USE_NAVICTRL |
|
- | 141 | SPI_MasterInit(); |
|
- | 142 | #endif |
|
- | 143 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
|
142 | ADC_Init(); |
144 | MK3MAG_Init(); |
- | 145 | #endif |
|
143 | i2c_init(); |
146 | |
144 | SPI_MasterInit(); |
147 | |
145 | 148 | // enable interrupts global |
|
146 | sei(); |
149 | sei(); |
147 | 150 | ||
148 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
151 | VersionInfo.Major = VERSION_MAJOR; |
149 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
152 | VersionInfo.Minor = VERSION_MINOR; |
150 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
153 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
151 | 154 | ||
152 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
155 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
153 | printf("\n\r=============================="); |
156 | printf("\n\r=============================="); |
154 | GRN_ON; |
157 | GRN_ON; |
155 | - | ||
156 | #define EE_DATENREVISION 70 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
- | |
157 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
- | |
158 | { |
- | |
159 | printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
158 | |
160 | DefaultKonstanten1(); |
159 | // Parameter set handling |
161 | for (unsigned char i=0;i<6;i++) |
- | |
162 | { |
- | |
163 | if(i==2) DefaultKonstanten2(); // Kamera |
- | |
164 | if(i==3) DefaultKonstanten3(); // Beginner |
- | |
165 | if(i>3) DefaultKonstanten2(); // Kamera |
- | |
166 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
167 | } |
- | |
168 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
- | |
169 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
- | |
170 | } |
160 | ParamSet_Init(); |
171 | 161 | ||
172 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
162 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
173 | { |
163 | { |
174 | printf("\n\rACC nicht abgeglichen!"); |
164 | printf("\n\rACC not calibrated!"); |
175 | } |
165 | } |
- | 166 | ||
- | 167 | //wait for a short time (otherwise the RC channel check won't work below) |
|
- | 168 | timer = SetDelay(500); |
|
- | 169 | while(!CheckDelay(timer)); |
|
- | 170 | ||
176 | 171 | ||
- | 172 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
|
177 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
173 | printf("\n\rSupport for MK3MAG Compass"); |
178 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
174 | #endif |
179 | 175 | ||
180 | 176 | ||
181 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
177 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
182 | { |
178 | { |
183 | printf("\n\rAbgleich Luftdrucksensor.."); |
179 | printf("\n\rCalibrating air pressure sensor.."); |
184 | timer = SetDelay(1000); |
180 | timer = SetDelay(1000); |
185 | SucheLuftruckOffset(); |
181 | SearchAirPressureOffset(); |
186 | while (!CheckDelay(timer)); |
182 | while (!CheckDelay(timer)); |
187 | printf("OK\n\r"); |
183 | printf("OK\n\r"); |
188 | } |
184 | } |
189 | 185 | ||
- | 186 | #ifdef USE_KILLAGREG |
|
- | 187 | printf("\n\rSupport for MicroMag3 Compass"); |
|
- | 188 | #if defined (__AVR_ATmega644P__) |
|
- | 189 | if(BoardRelease == 10) |
|
- | 190 | { |
|
- | 191 | printf("\n\rSupport for GPS at 1st UART"); |
|
- | 192 | } |
|
- | 193 | else |
|
- | 194 | { |
|
- | 195 | printf("\n\rSupport for GPS at 2nd UART"); |
|
- | 196 | } |
|
- | 197 | #else // (__AVR_ATmega644__) |
|
- | 198 | printf("\n\rSupport for GPS at 1st UART"); |
|
- | 199 | #endif |
|
- | 200 | #endif |
|
- | 201 | ||
190 | SetNeutral(); |
202 | SetNeutral(); |
191 | 203 | ||
192 | ROT_OFF; |
204 | ROT_OFF; |
193 | 205 | ||
194 | beeptime = 2000; |
206 | BeepTime = 2000; |
195 | ExternControl.Digital[0] = 0x55; |
207 | ExternControl.Digital[0] = 0x55; |
196 | 208 | ||
197 | 209 | ||
198 | printf("\n\rSteuerung: "); |
210 | printf("\n\rControl: "); |
199 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
211 | if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
200 | else printf("Neutral"); |
212 | else printf("Neutral"); |
201 | 213 | ||
202 | printf("\n\n\r"); |
214 | printf("\n\n\r"); |
203 | 215 | ||
204 | LcdClear(); |
216 | LCD_Clear(); |
- | 217 | ||
205 | I2CTimeout = 5000; |
218 | I2CTimeout = 5000; |
206 | WinkelOut.Orientation = 1; |
- | |
- | 219 | ||
207 | while (1) |
220 | while (1) |
208 | { |
221 | { |
209 | - | ||
210 | if(UpdateMotor) // ReglerIntervall |
222 | if(UpdateMotor) // control interval |
211 | { |
223 | { |
212 | UpdateMotor=0; |
224 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
213 | //PORTD |= 0x08; |
225 | //PORTD |= (1<<PORTD4); |
214 | if(WinkelOut.CalcState) CalMk3Mag(); |
- | |
215 | else MotorRegler(); |
226 | MotorControl(); |
216 | //PORTD &= ~0x08; |
227 | //PORTD &= ~(1<<PORTD4); |
- | 228 | ||
217 | SendMotorData(); |
229 | SendMotorData(); |
- | 230 | ||
218 | ROT_OFF; |
231 | ROT_OFF; |
- | 232 | ||
219 | if(PcZugriff) PcZugriff--; |
233 | if(PcAccess) PcAccess--; |
220 | else |
234 | else |
221 | { |
235 | { |
222 | DubWiseKeys[0] = 0; |
236 | DubWiseKeys[0] = 0; |
223 | DubWiseKeys[1] = 0; |
237 | DubWiseKeys[1] = 0; |
224 | ExternControl.Config = 0; |
238 | ExternControl.Config = 0; |
225 | ExternStickNick = 0; |
239 | ExternStickPitch= 0; |
226 | ExternStickRoll = 0; |
240 | ExternStickRoll = 0; |
227 | ExternStickGier = 0; |
241 | ExternStickYaw = 0; |
228 | } |
242 | } |
229 | if(SenderOkay) SenderOkay--; |
- | |
- | 243 | ||
230 | if(!I2CTimeout) |
244 | if(!I2CTimeout) |
- | 245 | { |
|
- | 246 | I2CTimeout = 5; |
|
- | 247 | I2C_Reset(); |
|
- | 248 | if((BeepModulation == 0xFFFF) && MotorsOn) |
|
- | 249 | { |
|
- | 250 | BeepTime = 10000; // 1 second |
|
- | 251 | BeepModulation = 0x0080; |
|
- | 252 | } |
|
- | 253 | } |
|
- | 254 | else |
|
- | 255 | { |
|
- | 256 | I2CTimeout--; |
|
- | 257 | ROT_OFF; |
|
- | 258 | } |
|
- | 259 | ||
- | 260 | if(SIO_DEBUG && (!UpdateMotor || !MotorsOn)) |
|
- | 261 | { |
|
- | 262 | USART0_TransmitTxData(); |
|
- | 263 | USART0_ProcessRxData(); |
|
- | 264 | } |
|
- | 265 | else USART0_ProcessRxData(); |
|
- | 266 | ||
- | 267 | if(CheckDelay(timer)) |
|
- | 268 | { |
|
- | 269 | if(UBat < ParamSet.LowVoltageWarning) |
|
231 | { |
270 | { |
232 | I2CTimeout = 5; |
- | |
233 | i2c_reset(); |
- | |
234 | if((BeepMuster == 0xffff) && MotorenEin) |
- | |
235 | { |
- | |
236 | beeptime = 10000; |
- | |
237 | BeepMuster = 0x0080; |
271 | if(BeepModulation == 0xFFFF) |
238 | } |
- | |
239 | } |
- | |
240 | else |
- | |
241 | { |
- | |
242 | I2CTimeout--; |
- | |
243 | ROT_OFF; |
- | |
244 | } |
- | |
245 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
- | |
246 | { |
- | |
247 | DatenUebertragung(); |
- | |
248 | BearbeiteRxDaten(); |
- | |
249 | } |
- | |
250 | else BearbeiteRxDaten(); |
- | |
251 | if(CheckDelay(timer)) |
- | |
252 | { |
272 | { |
253 | if(UBat < EE_Parameter.UnterspannungsWarnung) |
- | |
254 | { |
- | |
255 | if(BeepMuster == 0xffff) |
- | |
256 | { |
- | |
257 | beeptime = 6000; |
273 | BeepTime = 6000; // 0.6 seconds |
258 | BeepMuster = 0x0300; |
274 | BeepModulation = 0x0300; |
259 | } |
275 | } |
260 | } |
276 | } |
- | 277 | #ifdef USE_NAVICTRL |
|
261 | /* if(SendVersionToNavi) |
278 | SPI_StartTransmitPacket(); |
262 | { |
279 | SendSPI = 4; |
263 | SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
280 | #endif |
264 | SendVersionToNavi = 0; |
281 | timer = SetDelay(20); // every 20 ms |
265 | } |
282 | } |
266 | else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
- | |
267 | */ |
283 | } |
268 | SPI_StartTransmitPacket();//# |
- | |
269 | 284 | ||
270 | SendSPI = 4; |
285 | #ifdef USE_NAVICTRL |
271 | timer = SetDelay(20); |
286 | if(!SendSPI) |
272 | } |
287 | { // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
273 | //if(UpdateMotor) DebugOut.Analog[26]++; |
288 | // within the SPI_TransmitByte() routine the value is set to 4. |
274 | } |
289 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
- | 290 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
|
275 | if(!SendSPI) { SPI_TransmitByte(); } |
291 | SPI_TransmitByte(); |
- | 292 | } |
|
- | 293 | #endif |
|
276 | } |
294 | } |
277 | return (1); |
295 | return (1); |
278 | } |
296 | } |
279 | 297 | ||
280 | 298 |