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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 | ||