WebSVN - FlightCtrl - Diff - Rev 1254 and 1268 - /branches/V0.80g_ACC-HH_MartinR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
unsigned char EEPromArray[E2END+1] EEMEM;
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
unsigned char BattLowVoltageWarning = 94;
// -- Parametersatz aus EEPROM lesen ---
// number [1..5]
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
   if((number > 5)||(number < 1)) number = 3;
   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
   LED_Init();
}
 
// -- Parametersatz ins EEPROM schreiben ---
// number [1..5]
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
   if(number > 5) number = 5;
   if(number < 1) return;
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
   SetActiveParamSetNumber(number);
   LED_Init();
}
 
unsigned char GetActiveParamSetNumber(void)
{
        unsigned char set;
        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
        if((set > 5) || (set < 1))
        {
                set = 3;
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
        }
        return(set);
}
 
 
void SetActiveParamSetNumber(unsigned char number)
{
        if(number > 5) number = 5;
        if(number < 1) return;
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
}
 
 
void CalMk3Mag(void)
{
 static unsigned char stick = 1;
 
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
  {
   stick = 1;
   WinkelOut.CalcState++;
   if(WinkelOut.CalcState > 4)
    {
//     WinkelOut.CalcState = 0; // in Uart.c
     beeptime = 1000;
    }
   else Piep(WinkelOut.CalcState,150);
  }
  DebugOut.Analog[19] = WinkelOut.CalcState;
}
 
void LipoDetection(unsigned char print)
{
   unsigned int timer;
   if(print) printf("\n\rBatt:");
   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
    {
         timer = SetDelay(500);
         if(print) while (!CheckDelay(timer));
         if(UBat < 130)
          {
           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
           if(print)
            {
                 Piep(3,200);
             printf(" 3 Cells  ");
                }
          }
         else
          {
           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
           if(print)
            {
                 Piep(4,200);
             printf(" 4 Cells  ");
                }
          }
    }
    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i;
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // verzögern
    if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else           PlatinenVersion = 10;
     }
 
    DDRC  = 0x81; // SCL
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
        PORTD = 0x47; // LED
    HEF4017R_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2000;
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
    ROT_OFF;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        i2c_init();
        SPI_MasterInit();
 
        sei();
 
        printf("\n\r===================================");
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
     {
      Uart1Init();
     }
        GRN_ON;
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
 
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
        {
     unsigned char i;
         RequiredMotors = 0;
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
        }
        else // default
        {
     unsigned char i;
         printf("\n\rGenerating default Mixer Table");
         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;};
     // default = Quadro
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
         Mixer.Revision = MIXER_REVISION;
     memcpy(Mixer.Name, "Quadro\0", 11);
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
    }
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        printf("\n\rFound BL-Ctrl: ");
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
    timer = SetDelay(2000);
        for(i=0; i < MAX_MOTORS; i++)
         {
          UpdateMotor = 0;
      SendMotorData();
          while(!UpdateMotor);
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
        {
             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
                }
          if(MotorPresent[i]) printf("%d ",i+1);
     }
        for(i=0; i < MAX_MOTORS; i++)
         {
          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
          MotorError[i] = 0;
     }
        printf("\n\r===================================");
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check Settings
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
        {
          DefaultKonstanten1();
          printf("\n\rInit. EEPROM");
          for (unsigned char i=1;i<6;i++)
      {
       if(i==2) DefaultKonstanten2(); // Kamera
       if(i==3) DefaultKonstanten3(); // Beginner
       if(i>3)  DefaultKonstanten2(); // Kamera
           if(PlatinenVersion >= 20)
            {
                 EE_Parameter.Gyro_D = 5;
                 EE_Parameter.Driftkomp = 0;
                 EE_Parameter.GyroAccFaktor = 27;
         EE_Parameter.WinkelUmschlagNick = 78;
         EE_Parameter.WinkelUmschlagRoll = 78;
                }
    // valid Stick-Settings?
           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)
            {
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
                } else DefaultStickMapping();
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
      }
          SetActiveParamSetNumber(3); // default-Setting
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
        }
 
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
     {
       printf("\n\rACC not calibrated !");
     }
 
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
 
 
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
         {
           printf("\n\rCalibrating pressure sensor..");
           timer = SetDelay(1000);
       SucheLuftruckOffset();
           while (!CheckDelay(timer));
       printf("OK\n\r");
        }
 
        SetNeutral();
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
 
 
 
 
 
 
 
 
 
    LipoDetection(1);
 
 
 
 
 
 
 
 
 
 
 
        printf("\n\r===================================\n\r");
        while (1)
        {
            if(UpdateMotor && AdReady)      // ReglerIntervall
            {
                    UpdateMotor=0;
            if(WinkelOut.CalcState) CalMk3Mag();
            else MotorRegler();
            SendMotorData();
            ROT_OFF;
            if(PcZugriff) PcZugriff--;
             else
              {
                           ExternControl.Config = 0;
               ExternStickNick = 0;
               ExternStickRoll = 0;
               ExternStickGier = 0;
              }
            if(SenderOkay)  SenderOkay--;
                        else
                         {
                          TIMSK1 |= _BV(ICIE1); // enable PPM-Input
                         }
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
            if(NaviDataOkay)
                         {
                          if(--NaviDataOkay == 0)
                           {
                    GPS_Nick = 0;
                GPS_Roll = 0;
               }
              }
            if(!--I2CTimeout || MissingMotor)
                {
                  if(!I2CTimeout)
                                   {
                                    i2c_reset();
                    I2CTimeout = 5;
                                        }
                  if((BeepMuster == 0xffff) && MotorenEin)
                   {
                    beeptime = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                }
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
              {
               DatenUebertragung();
               BearbeiteRxDaten();
              }
                        else BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                if(UBat < BattLowVoltageWarning)
                                {
                                        MikroKopterFlags |= FLAG_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else MikroKopterFlags &= ~FLAG_LOWBAT;
                                SPI_StartTransmitPacket();
 
                                SendSPI = 4;
                                timer = SetDelay(20);
                        }
           LED_Update();
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1254	Rev 1268
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	unsigned char BattLowVoltageWarning = 94;	57	unsigned char BattLowVoltageWarning = 94;
58	// -- Parametersatz aus EEPROM lesen ---	58	// -- Parametersatz aus EEPROM lesen ---
59	// number [1..5]	59	// number [1..5]
60	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	60	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
61	{	61	{
62	if((number > 5)\|\|(number < 1)) number = 3;	62	if((number > 5)\|\|(number < 1)) number = 3;
63	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	63	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
64	LED_Init();	64	LED_Init();
65	}	65	}
66		66
67	// -- Parametersatz ins EEPROM schreiben ---	67	// -- Parametersatz ins EEPROM schreiben ---
68	// number [1..5]	68	// number [1..5]
69	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	69	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
70	{	70	{
71	if(number > 5) number = 5;	71	if(number > 5) number = 5;
72	if(number < 1) return;	72	if(number < 1) return;
73	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	73	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
74	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken	74	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
75	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken	75	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
76	SetActiveParamSetNumber(number);	76	SetActiveParamSetNumber(number);
77	LED_Init();	77	LED_Init();
78	}	78	}
79		79
80	unsigned char GetActiveParamSetNumber(void)	80	unsigned char GetActiveParamSetNumber(void)
81	{	81	{
82	unsigned char set;	82	unsigned char set;
83	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	83	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
84	if((set > 5) \|\| (set < 1))	84	if((set > 5) \|\| (set < 1))
85	{	85	{
86	set = 3;	86	set = 3;
87	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	87	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
88	}	88	}
89	return(set);	89	return(set);
90	}	90	}
91		91
92		92
93	void SetActiveParamSetNumber(unsigned char number)	93	void SetActiveParamSetNumber(unsigned char number)
94	{	94	{
95	if(number > 5) number = 5;	95	if(number > 5) number = 5;
96	if(number < 1) return;	96	if(number < 1) return;
97	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken	97	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
98	}	98	}
99		99
100		100
101	void CalMk3Mag(void)	101	void CalMk3Mag(void)
102	{	102	{
103	static unsigned char stick = 1;	103	static unsigned char stick = 1;
104		104
105	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	105	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
106	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	106	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
107	{	107	{
108	stick = 1;	108	stick = 1;
109	WinkelOut.CalcState++;	109	WinkelOut.CalcState++;
110	if(WinkelOut.CalcState > 4)	110	if(WinkelOut.CalcState > 4)
111	{	111	{
112	// WinkelOut.CalcState = 0; // in Uart.c	112	// WinkelOut.CalcState = 0; // in Uart.c
113	beeptime = 1000;	113	beeptime = 1000;
114	}	114	}
115	else Piep(WinkelOut.CalcState,150);	115	else Piep(WinkelOut.CalcState,150);
116	}	116	}
117	DebugOut.Analog[19] = WinkelOut.CalcState;	117	DebugOut.Analog[19] = WinkelOut.CalcState;
118	}	118	}
-		119
-		120	void LipoDetection(unsigned char print)
-		121	{
-		122	unsigned int timer;
-		123	if(print) printf("\n\rBatt:");
-		124	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
-		125	{
-		126	timer = SetDelay(500);
-		127	if(print) while (!CheckDelay(timer));
-		128	if(UBat < 130)
-		129	{
-		130	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
-		131	if(print)
-		132	{
-		133	Piep(3,200);
-		134	printf(" 3 Cells ");
-		135	}
-		136	}
-		137	else
-		138	{
-		139	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
-		140	if(print)
-		141	{
-		142	Piep(4,200);
-		143	printf(" 4 Cells ");
-		144	}
-		145	}
-		146	}
-		147	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
-		148	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
-		149	}
119		150
120	//############################################################################	151	//############################################################################
121	//Hauptprogramm	152	//Hauptprogramm
122	int main (void)	153	int main (void)
123	//############################################################################	154	//############################################################################
124	{	155	{
125	unsigned int timer,i;	156	unsigned int timer,i;
126	DDRB = 0x00;	157	DDRB = 0x00;
127	PORTB = 0x00;	158	PORTB = 0x00;
128	for(timer = 0; timer < 1000; timer++); // verzögern	159	for(timer = 0; timer < 1000; timer++); // verzögern
129	if(PINB & 0x01)	160	if(PINB & 0x01)
130	{	161	{
131	if(PINB & 0x02) PlatinenVersion = 13;	162	if(PINB & 0x02) PlatinenVersion = 13;
132	else PlatinenVersion = 11;	163	else PlatinenVersion = 11;
133	}	164	}
134	else	165	else
135	{	166	{
136	if(PINB & 0x02) PlatinenVersion = 20;	167	if(PINB & 0x02) PlatinenVersion = 20;
137	else PlatinenVersion = 10;	168	else PlatinenVersion = 10;
138	}	169	}
139		170
140	DDRC = 0x81; // SCL	171	DDRC = 0x81; // SCL
141	DDRC \|=0x40; // HEF4017 Reset	172	DDRC \|=0x40; // HEF4017 Reset
142	PORTC = 0xff; // Pullup SDA	173	PORTC = 0xff; // Pullup SDA
143	DDRB = 0x1B; // LEDs und Druckoffset	174	DDRB = 0x1B; // LEDs und Druckoffset
144	PORTB = 0x01; // LED_Rot	175	PORTB = 0x01; // LED_Rot
145	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	176	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
146	PORTD = 0x47; // LED	177	PORTD = 0x47; // LED
147	HEF4017R_ON;	178	HEF4017R_ON;
148	MCUSR &=~(1<<WDRF);	179	MCUSR &=~(1<<WDRF);
149	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	180	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
150	WDTCSR = 0;	181	WDTCSR = 0;
151		182
152	beeptime = 2000;	183	beeptime = 2000;
153	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	184	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
154	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	185	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
155	ROT_OFF;	186	ROT_OFF;
156		187
157	Timer_Init();	188	Timer_Init();
158	TIMER2_Init();	189	TIMER2_Init();
159	UART_Init();	190	UART_Init();
160	rc_sum_init();	191	rc_sum_init();
161	ADC_Init();	192	ADC_Init();
162	i2c_init();	193	i2c_init();
163	SPI_MasterInit();	194	SPI_MasterInit();
164		195
165	sei();	196	sei();
166		197
167	printf("\n\r===================================");	198	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');	199	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	200	if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P
170	{	201	{
171	Uart1Init();	202	Uart1Init();
172	}	203	}
173	GRN_ON;	204	GRN_ON;
174	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes	205	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
175		206
176	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	207	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
177	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool	208	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
178	{	209	{
179	unsigned char i;	210	unsigned char i;
180	RequiredMotors = 0;	211	RequiredMotors = 0;
181	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	212	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
182	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	213	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
183	}	214	}
184	else // default	215	else // default
185	{	216	{
186	unsigned char i;	217	unsigned char i;
187	printf("\n\rGenerating default Mixer Table");	218	printf("\n\rGenerating default Mixer Table");
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;};	219	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;};
189	// default = Quadro	220	// default = Quadro
190	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	221	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
191	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	222	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
192	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	223	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
193	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	224	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;	225	Mixer.Revision = MIXER_REVISION;
195	memcpy(Mixer.Name, "Quadro\0", 11);	226	memcpy(Mixer.Name, "Quadro\0", 11);
196	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	227	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
197	}	228	}
198	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	229	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
199	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	230	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
200	// + Check connected BL-Ctrls	231	// + Check connected BL-Ctrls
201	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	232	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
202	printf("\n\rFound BL-Ctrl: ");	233	printf("\n\rFound BL-Ctrl: ");
203	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	234	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
204	timer = SetDelay(2000);	235	timer = SetDelay(2000);
205	for(i=0; i < MAX_MOTORS; i++)	236	for(i=0; i < MAX_MOTORS; i++)
206	{	237	{
207	UpdateMotor = 0;	238	UpdateMotor = 0;
208	SendMotorData();	239	SendMotorData();
209	while(!UpdateMotor);	240	while(!UpdateMotor);
210	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up	241	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
211	{	242	{
212	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	243	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
213	}	244	}
214	if(MotorPresent[i]) printf("%d ",i+1);	245	if(MotorPresent[i]) printf("%d ",i+1);
215	}	246	}
216	for(i=0; i < MAX_MOTORS; i++)	247	for(i=0; i < MAX_MOTORS; i++)
217	{	248	{
218	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	249	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
219	MotorError[i] = 0;	250	MotorError[i] = 0;
220	}	251	}
221	printf("\n\r===================================");	252	printf("\n\r===================================");
222	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	253	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
223	// + Check Settings	254	// + Check Settings
224	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	255	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
225	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	256	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
226	{	257	{
227	DefaultKonstanten1();	258	DefaultKonstanten1();
228	printf("\n\rInit. EEPROM");	259	printf("\n\rInit. EEPROM");
229	for (unsigned char i=1;i<6;i++)	260	for (unsigned char i=1;i<6;i++)
230	{	261	{
231	if(i==2) DefaultKonstanten2(); // Kamera	262	if(i==2) DefaultKonstanten2(); // Kamera
232	if(i==3) DefaultKonstanten3(); // Beginner	263	if(i==3) DefaultKonstanten3(); // Beginner
233	if(i>3) DefaultKonstanten2(); // Kamera	264	if(i>3) DefaultKonstanten2(); // Kamera
234	if(PlatinenVersion >= 20)	265	if(PlatinenVersion >= 20)
235	{	266	{
236	EE_Parameter.Gyro_D = 5;	267	EE_Parameter.Gyro_D = 5;
237	EE_Parameter.Driftkomp = 0;	268	EE_Parameter.Driftkomp = 0;
238	EE_Parameter.GyroAccFaktor = 27;	269	EE_Parameter.GyroAccFaktor = 27;
239	EE_Parameter.WinkelUmschlagNick = 78;	270	EE_Parameter.WinkelUmschlagNick = 78;
240	EE_Parameter.WinkelUmschlagRoll = 78;	271	EE_Parameter.WinkelUmschlagRoll = 78;
241	}	272	}
242	// valid Stick-Settings?	273	// valid Stick-Settings?
243	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)	274	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)
244	{	275	{
245	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	276	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
246	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	277	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
247	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	278	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
248	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	279	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
249	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	280	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
250	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	281	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
251	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	282	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
252	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	283	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
253	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	284	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
254	} else DefaultStickMapping();	285	} else DefaultStickMapping();
255	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	286	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
256	}	287	}
257	SetActiveParamSetNumber(3); // default-Setting	288	SetActiveParamSetNumber(3); // default-Setting
258	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	289	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
259	}	290	}
260		291
261	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	292	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
262	{	293	{
263	printf("\n\rACC not calibrated !");	294	printf("\n\rACC not calibrated !");
264	}	295	}
265		296
266	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	297	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
267	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	298	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
268		299
269		300
270	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	301	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
271	{	302	{
272	printf("\n\rCalibrating pressure sensor..");	303	printf("\n\rCalibrating pressure sensor..");
273	timer = SetDelay(1000);	304	timer = SetDelay(1000);
274	SucheLuftruckOffset();	305	SucheLuftruckOffset();
275	while (!CheckDelay(timer));	306	while (!CheckDelay(timer));
276	printf("OK\n\r");	307	printf("OK\n\r");
277	}	308	}
278		309
279	SetNeutral();	310	SetNeutral();
280		311
281	ROT_OFF;	312	ROT_OFF;
282		313
283	beeptime = 2000;	314	beeptime = 2000;
284	ExternControl.Digital[0] = 0x55;	315	ExternControl.Digital[0] = 0x55;
285		316
286		317
287	printf("\n\rControl: ");	318	printf("\n\rControl: ");
288	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	319	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
289	else printf("Normal (ACC-Mode)");	320	else printf("Normal (ACC-Mode)");
290		321
291	LcdClear();	322	LcdClear();
292	I2CTimeout = 5000;	323	I2CTimeout = 5000;
293	WinkelOut.Orientation = 1;	324	WinkelOut.Orientation = 1;
294		-
295	printf("\n\rBatt:");	-
296	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	-
297	{	-
298	timer = SetDelay(500);	-
299	while (!CheckDelay(timer));	-
300	if(UBat < 130)	-
301	{	-
302	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	-
303	Piep(3,200);	325	LipoDetection(1);
304	printf(" 3 Cells ");	-
305	}	-
306	else	-
307	{	-
308	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	-
309	Piep(4,200);	-
310	printf(" 4 Cells ");	-
311	}	-
312	}	-
313	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	-
314	printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	-
315	printf("\n\r===================================\n\r");	326	printf("\n\r===================================\n\r");
316	while (1)	327	while (1)
317	{	328	{
318	if(UpdateMotor && AdReady) // ReglerIntervall	329	if(UpdateMotor && AdReady) // ReglerIntervall
319	{	330	{
320	UpdateMotor=0;	331	UpdateMotor=0;
321	if(WinkelOut.CalcState) CalMk3Mag();	332	if(WinkelOut.CalcState) CalMk3Mag();
322	else MotorRegler();	333	else MotorRegler();
323	SendMotorData();	334	SendMotorData();
324	ROT_OFF;	335	ROT_OFF;
325	if(PcZugriff) PcZugriff--;	336	if(PcZugriff) PcZugriff--;
326	else	337	else
327	{	338	{
328	ExternControl.Config = 0;	339	ExternControl.Config = 0;
329	ExternStickNick = 0;	340	ExternStickNick = 0;
330	ExternStickRoll = 0;	341	ExternStickRoll = 0;
331	ExternStickGier = 0;	342	ExternStickGier = 0;
332	}	343	}
333	if(SenderOkay) SenderOkay--;	344	if(SenderOkay) SenderOkay--;
334	else	345	else
335	{	346	{
336	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	347	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
337	}	348	}
338	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	349	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
339	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	350	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
340	if(NaviDataOkay)	351	if(NaviDataOkay)
341	{	352	{
342	if(--NaviDataOkay == 0)	353	if(--NaviDataOkay == 0)
343	{	354	{
344	GPS_Nick = 0;	355	GPS_Nick = 0;
345	GPS_Roll = 0;	356	GPS_Roll = 0;
346	}	357	}
347	}	358	}
348	if(!--I2CTimeout \|\| MissingMotor)	359	if(!--I2CTimeout \|\| MissingMotor)
349	{	360	{
350	if(!I2CTimeout)	361	if(!I2CTimeout)
351	{	362	{
352	i2c_reset();	363	i2c_reset();
353	I2CTimeout = 5;	364	I2CTimeout = 5;
354	}	365	}
355	if((BeepMuster == 0xffff) && MotorenEin)	366	if((BeepMuster == 0xffff) && MotorenEin)
356	{	367	{
357	beeptime = 10000;	368	beeptime = 10000;
358	BeepMuster = 0x0080;	369	BeepMuster = 0x0080;
359	}	370	}
360	}	371	}
361	else	372	else
362	{	373	{
363	ROT_OFF;	374	ROT_OFF;
364	}	375	}
365	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	376	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
366	{	377	{
367	DatenUebertragung();	378	DatenUebertragung();
368	BearbeiteRxDaten();	379	BearbeiteRxDaten();
369	}	380	}
370	else BearbeiteRxDaten();	381	else BearbeiteRxDaten();
371	if(CheckDelay(timer))	382	if(CheckDelay(timer))
372	{	383	{
373	if(UBat < BattLowVoltageWarning)	384	if(UBat < BattLowVoltageWarning)
374	{	385	{
375	MikroKopterFlags \|= FLAG_LOWBAT;	386	MikroKopterFlags \|= FLAG_LOWBAT;
376	if(BeepMuster == 0xffff)	387	if(BeepMuster == 0xffff)
377	{	388	{
378	beeptime = 6000;	389	beeptime = 6000;
379	BeepMuster = 0x0300;	390	BeepMuster = 0x0300;
380	}	391	}
381	}	392	}
382	else MikroKopterFlags &= ~FLAG_LOWBAT;	393	else MikroKopterFlags &= ~FLAG_LOWBAT;
383	SPI_StartTransmitPacket();	394	SPI_StartTransmitPacket();
384		395
385	SendSPI = 4;	396	SendSPI = 4;
386	timer = SetDelay(20);	397	timer = SetDelay(20);
387	}	398	}
388	LED_Update();	399	LED_Update();
389	}	400	}
390	if(!SendSPI) { SPI_TransmitByte(); }	401	if(!SendSPI) { SPI_TransmitByte(); }
391	}	402	}
392	return (1);	403	return (1);
393	}	404	}
394		405
395		406
396		407

Subversion Repositories FlightCtrl

(root)/branches/V0.80g_ACC-HH_MartinR_HR/main.c @ 1797 - Rev 1254 → 1268