WebSVN - FlightCtrl - Diff - Rev 1309 and 1312 - /branches/V0.82b-Arthur-P/main.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
// -- 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(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0;
    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);
        }
 
    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
    if(FlugMinutenGesamt == 0xffff)
         {
          FlugMinuten = 0;
          FlugMinutenGesamt = 0;
         }
    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
 
    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(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(PcZugriff) PcZugriff--;
              else
               {
                            ExternControl.Config = 0;
                ExternStickNick = 0;
                ExternStickRoll = 0;
                ExternStickGier = 0;
                if(BeepMuster == 0xffff && SenderOkay == 0)
                {
                 beeptime = 15000;
                 BeepMuster = 0x0c00;
                }
               }
                           if(UBat < BattLowVoltageWarning)
                                {
                                        MikroKopterFlags |= FLAG_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else MikroKopterFlags &= ~FLAG_LOWBAT;
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
                                if(!MotorenEin) timer2 = 1300; // 0,5 Minuten aufrunden
                                if(++timer2 == 2600)  // eine Minute
                                 {
                                   timer2 = 0;
                   FlugMinuten++;
                       FlugMinutenGesamt++;
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); // ACC-NeutralWerte speichern
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); // ACC-NeutralWerte speichern
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); // ACC-NeutralWerte speichern
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); // ACC-NeutralWerte speichern
                             }
                                timer = SetDelay(20);
                        }
           LED_Update();
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1309	Rev 1312
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	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	58	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
59	// -- Parametersatz aus EEPROM lesen ---	59	// -- Parametersatz aus EEPROM lesen ---
60	// number [1..5]	60	// number [1..5]
61	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	61	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
62	{	62	{
63	if((number > 5)\|\|(number < 1)) number = 3;	63	if((number > 5)\|\|(number < 1)) number = 3;
64	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	64	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
65	LED_Init();	65	LED_Init();
66	}	66	}
67		67
68	// -- Parametersatz ins EEPROM schreiben ---	68	// -- Parametersatz ins EEPROM schreiben ---
69	// number [1..5]	69	// number [1..5]
70	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	70	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
71	{	71	{
72	if(number > 5) number = 5;	72	if(number > 5) number = 5;
73	if(number < 1) return;	73	if(number < 1) return;
74	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	74	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
75	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken	75	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
76	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken	76	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
77	SetActiveParamSetNumber(number);	77	SetActiveParamSetNumber(number);
78	LED_Init();	78	LED_Init();
79	}	79	}
80		80
81	unsigned char GetActiveParamSetNumber(void)	81	unsigned char GetActiveParamSetNumber(void)
82	{	82	{
83	unsigned char set;	83	unsigned char set;
84	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	84	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
85	if((set > 5) \|\| (set < 1))	85	if((set > 5) \|\| (set < 1))
86	{	86	{
87	set = 3;	87	set = 3;
88	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	88	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
89	}	89	}
90	return(set);	90	return(set);
91	}	91	}
92		92
93		93
94	void SetActiveParamSetNumber(unsigned char number)	94	void SetActiveParamSetNumber(unsigned char number)
95	{	95	{
96	if(number > 5) number = 5;	96	if(number > 5) number = 5;
97	if(number < 1) return;	97	if(number < 1) return;
98	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken	98	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
99	}	99	}
100		100
101		101
102	void CalMk3Mag(void)	102	void CalMk3Mag(void)
103	{	103	{
104	static unsigned char stick = 1;	104	static unsigned char stick = 1;
105		105
106	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	106	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
107	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	107	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
108	{	108	{
109	stick = 1;	109	stick = 1;
110	WinkelOut.CalcState++;	110	WinkelOut.CalcState++;
111	if(WinkelOut.CalcState > 4)	111	if(WinkelOut.CalcState > 4)
112	{	112	{
113	// WinkelOut.CalcState = 0; // in Uart.c	113	// WinkelOut.CalcState = 0; // in Uart.c
114	beeptime = 1000;	114	beeptime = 1000;
115	}	115	}
116	else Piep(WinkelOut.CalcState,150);	116	else Piep(WinkelOut.CalcState,150);
117	}	117	}
118	DebugOut.Analog[19] = WinkelOut.CalcState;	118	DebugOut.Analog[19] = WinkelOut.CalcState;
119	}	119	}
120		120
121	void LipoDetection(unsigned char print)	121	void LipoDetection(unsigned char print)
122	{	122	{
123	unsigned int timer;	123	unsigned int timer;
124	if(print) printf("\n\rBatt:");	124	if(print) printf("\n\rBatt:");
125	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	125	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
126	{	126	{
127	timer = SetDelay(500);	127	timer = SetDelay(500);
128	if(print) while (!CheckDelay(timer));	128	if(print) while (!CheckDelay(timer));
129	if(UBat < 130)	129	if(UBat < 130)
130	{	130	{
131	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	131	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
132	if(print)	132	if(print)
133	{	133	{
134	Piep(3,200);	134	Piep(3,200);
135	printf(" 3 Cells ");	135	printf(" 3 Cells ");
136	}	136	}
137	}	137	}
138	else	138	else
139	{	139	{
140	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	140	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
141	if(print)	141	if(print)
142	{	142	{
143	Piep(4,200);	143	Piep(4,200);
144	printf(" 4 Cells ");	144	printf(" 4 Cells ");
145	}	145	}
146	}	146	}
147	}	147	}
148	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	148	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
149	if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;	149	if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
150	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	150	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
151	}	151	}
152		152
153	//############################################################################	153	//############################################################################
154	//Hauptprogramm	154	//Hauptprogramm
155	int main (void)	155	int main (void)
156	//############################################################################	156	//############################################################################
157	{	157	{
158	unsigned int timer,i,timer2 = 0;	158	unsigned int timer,i,timer2 = 0;
159	DDRB = 0x00;	159	DDRB = 0x00;
160	PORTB = 0x00;	160	PORTB = 0x00;
161	for(timer = 0; timer < 1000; timer++); // verzögern	161	for(timer = 0; timer < 1000; timer++); // verzögern
162	if(PINB & 0x01)	162	if(PINB & 0x01)
163	{	163	{
164	if(PINB & 0x02) PlatinenVersion = 13;	164	if(PINB & 0x02) PlatinenVersion = 13;
165	else PlatinenVersion = 11;	165	else PlatinenVersion = 11;
166	}	166	}
167	else	167	else
168	{	168	{
169	if(PINB & 0x02) PlatinenVersion = 20;	169	if(PINB & 0x02) PlatinenVersion = 20;
170	else PlatinenVersion = 10;	170	else PlatinenVersion = 10;
171	}	171	}
172		172
173	DDRC = 0x81; // SCL	173	DDRC = 0x81; // SCL
174	DDRC \|=0x40; // HEF4017 Reset	174	DDRC \|=0x40; // HEF4017 Reset
175	PORTC = 0xff; // Pullup SDA	175	PORTC = 0xff; // Pullup SDA
176	DDRB = 0x1B; // LEDs und Druckoffset	176	DDRB = 0x1B; // LEDs und Druckoffset
177	PORTB = 0x01; // LED_Rot	177	PORTB = 0x01; // LED_Rot
178	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	178	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
179	PORTD = 0x47; // LED	179	PORTD = 0x47; // LED
180	HEF4017R_ON;	180	HEF4017R_ON;
181	MCUSR &=~(1<<WDRF);	181	MCUSR &=~(1<<WDRF);
182	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	182	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
183	WDTCSR = 0;	183	WDTCSR = 0;
184		184
185	beeptime = 2000;	185	beeptime = 2000;
186	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	186	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
187	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	187	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
188	ROT_OFF;	188	ROT_OFF;
189		189
190	Timer_Init();	190	Timer_Init();
191	TIMER2_Init();	191	TIMER2_Init();
192	UART_Init();	192	UART_Init();
193	rc_sum_init();	193	rc_sum_init();
194	ADC_Init();	194	ADC_Init();
195	i2c_init();	195	i2c_init();
196	SPI_MasterInit();	196	SPI_MasterInit();
197		197
198	sei();	198	sei();
199		199
200	printf("\n\r===================================");	200	printf("\n\r===================================");
201	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');	201	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
202	if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P	202	if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P
203	{	203	{
204	Uart1Init();	204	Uart1Init();
205	}	205	}
206	GRN_ON;	206	GRN_ON;
207	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes	207	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
208		208
209	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	209	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
210	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool	210	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
211	{	211	{
212	unsigned char i;	212	unsigned char i;
213	RequiredMotors = 0;	213	RequiredMotors = 0;
214	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	214	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
215	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	215	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
216	}	216	}
217	else // default	217	else // default
218	{	218	{
219	unsigned char i;	219	unsigned char i;
220	printf("\n\rGenerating default Mixer Table");	220	printf("\n\rGenerating default Mixer Table");
221	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;};	221	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;};
222	// default = Quadro	222	// default = Quadro
223	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	223	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
224	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	224	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
225	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	225	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
226	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	226	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
227	Mixer.Revision = MIXER_REVISION;	227	Mixer.Revision = MIXER_REVISION;
228	memcpy(Mixer.Name, "Quadro\0", 11);	228	memcpy(Mixer.Name, "Quadro\0", 11);
229	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	229	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
230	}	230	}
231	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	231	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
232	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	232	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
233	// + Check connected BL-Ctrls	233	// + Check connected BL-Ctrls
234	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	234	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
235	printf("\n\rFound BL-Ctrl: ");	235	printf("\n\rFound BL-Ctrl: ");
236	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	236	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
237	timer = SetDelay(2000);	237	timer = SetDelay(2000);
238	for(i=0; i < MAX_MOTORS; i++)	238	for(i=0; i < MAX_MOTORS; i++)
239	{	239	{
240	UpdateMotor = 0;	240	UpdateMotor = 0;
241	SendMotorData();	241	SendMotorData();
242	while(!UpdateMotor);	242	while(!UpdateMotor);
243	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up	243	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
244	{	244	{
245	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	245	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
246	}	246	}
247	if(MotorPresent[i]) printf("%d ",i+1);	247	if(MotorPresent[i]) printf("%d ",i+1);
248	}	248	}
249	for(i=0; i < MAX_MOTORS; i++)	249	for(i=0; i < MAX_MOTORS; i++)
250	{	250	{
251	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	251	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
252	MotorError[i] = 0;	252	MotorError[i] = 0;
253	}	253	}
254	printf("\n\r===================================");	254	printf("\n\r===================================");
255	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	255	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
256	// + Check Settings	256	// + Check Settings
257	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	257	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
258	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	258	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
259	{	259	{
260	DefaultKonstanten1();	260	DefaultKonstanten1();
261	printf("\n\rInit. EEPROM");	261	printf("\n\rInit. EEPROM");
262	for (unsigned char i=1;i<6;i++)	262	for (unsigned char i=1;i<6;i++)
263	{	263	{
264	if(i==2) DefaultKonstanten2(); // Kamera	264	if(i==2) DefaultKonstanten2(); // Kamera
265	if(i==3) DefaultKonstanten3(); // Beginner	265	if(i==3) DefaultKonstanten3(); // Beginner
266	if(i>3) DefaultKonstanten2(); // Kamera	266	if(i>3) DefaultKonstanten2(); // Kamera
267	if(PlatinenVersion >= 20)	267	if(PlatinenVersion >= 20)
268	{	268	{
269	EE_Parameter.Gyro_D = 5;	269	EE_Parameter.Gyro_D = 5;
270	EE_Parameter.Driftkomp = 0;	270	EE_Parameter.Driftkomp = 0;
271	EE_Parameter.GyroAccFaktor = 27;	271	EE_Parameter.GyroAccFaktor = 27;
272	EE_Parameter.WinkelUmschlagNick = 78;	272	EE_Parameter.WinkelUmschlagNick = 78;
273	EE_Parameter.WinkelUmschlagRoll = 78;	273	EE_Parameter.WinkelUmschlagRoll = 78;
274	}	274	}
275	// valid Stick-Settings?	275	// valid Stick-Settings?
276	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)	276	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)
277	{	277	{
278	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	278	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
279	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	279	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
280	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	280	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
281	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	281	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
282	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	282	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
283	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	283	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
284	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	284	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
285	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	285	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
286	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	286	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
287	} else DefaultStickMapping();	287	} else DefaultStickMapping();
288	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	288	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
289	}	289	}
290	SetActiveParamSetNumber(3); // default-Setting	290	SetActiveParamSetNumber(3); // default-Setting
291	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	291	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
292	}	292	}
293		293
294	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);	294	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
295	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);	295	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
296	if(FlugMinutenGesamt == 0xffff)	296	if(FlugMinutenGesamt == 0xffff)
297	{	297	{
298	FlugMinuten = 0;	298	FlugMinuten = 0;
299	FlugMinutenGesamt = 0;	299	FlugMinutenGesamt = 0;
300	}	300	}
301	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);	301	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
302		302
303	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	303	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
304	{	304	{
305	printf("\n\rACC not calibrated !");	305	printf("\n\rACC not calibrated !");
306	}	306	}
307		307
308	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	308	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
309	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	309	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
310		310
311		311
312	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	312	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
313	{	313	{
314	printf("\n\rCalibrating pressure sensor..");	314	printf("\n\rCalibrating pressure sensor..");
315	timer = SetDelay(1000);	315	timer = SetDelay(1000);
316	SucheLuftruckOffset();	316	SucheLuftruckOffset();
317	while (!CheckDelay(timer));	317	while (!CheckDelay(timer));
318	printf("OK\n\r");	318	printf("OK\n\r");
319	}	319	}
320		320
321	SetNeutral();	321	SetNeutral();
322		322
323	ROT_OFF;	323	ROT_OFF;
324		324
325	beeptime = 2000;	325	beeptime = 2000;
326	ExternControl.Digital[0] = 0x55;	326	ExternControl.Digital[0] = 0x55;
327		327
328		328
329	printf("\n\rControl: ");	329	printf("\n\rControl: ");
330	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	330	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
331	else printf("Normal (ACC-Mode)");	331	else printf("Normal (ACC-Mode)");
332		332
333	LcdClear();	333	LcdClear();
334	I2CTimeout = 5000;	334	I2CTimeout = 5000;
335	WinkelOut.Orientation = 1;	335	WinkelOut.Orientation = 1;
336	LipoDetection(1);	336	LipoDetection(1);
337	printf("\n\r===================================\n\r");	337	printf("\n\r===================================\n\r");
338	while (1)	338	while (1)
339	{	339	{
340	if(UpdateMotor && AdReady) // ReglerIntervall	340	if(UpdateMotor && AdReady) // ReglerIntervall
341	{	341	{
342	UpdateMotor=0;	342	UpdateMotor=0;
343	if(WinkelOut.CalcState) CalMk3Mag();	343	if(WinkelOut.CalcState) CalMk3Mag();
344	else MotorRegler();	344	else MotorRegler();
345	SendMotorData();	345	SendMotorData();
346	ROT_OFF;	346	ROT_OFF;
347	if(SenderOkay) SenderOkay--;	347	if(SenderOkay) SenderOkay--;
348	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	348	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
349	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	349	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
350	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	350	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
351	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	351	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
352	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	352	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
353	if(NaviDataOkay)	353	if(NaviDataOkay)
354	{	354	{
355	if(--NaviDataOkay == 0)	355	if(--NaviDataOkay == 0)
356	{	356	{
357	GPS_Nick = 0;	357	GPS_Nick = 0;
358	GPS_Roll = 0;	358	GPS_Roll = 0;
359	}	359	}
360	}	360	}
361	if(!--I2CTimeout \|\| MissingMotor)	361	if(!--I2CTimeout \|\| MissingMotor)
362	{	362	{
363	if(!I2CTimeout)	363	if(!I2CTimeout)
364	{	364	{
365	i2c_reset();	365	i2c_reset();
366	I2CTimeout = 5;	366	I2CTimeout = 5;
367	}	367	}
368	if((BeepMuster == 0xffff) && MotorenEin)	368	if((BeepMuster == 0xffff) && MotorenEin)
369	{	369	{
370	beeptime = 10000;	370	beeptime = 10000;
371	BeepMuster = 0x0080;	371	BeepMuster = 0x0080;
372	}	372	}
373	}	373	}
374	else	374	else
375	{	375	{
376	ROT_OFF;	376	ROT_OFF;
377	}	377	}
378	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	378	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
379	{	379	{
380	DatenUebertragung();	380	DatenUebertragung();
381	BearbeiteRxDaten();	381	BearbeiteRxDaten();
382	}	382	}
383	else BearbeiteRxDaten();	383	else BearbeiteRxDaten();
384	if(CheckDelay(timer))	384	if(CheckDelay(timer))
385	{	385	{
386	if(PcZugriff) PcZugriff--;	386	if(PcZugriff) PcZugriff--;
387	else	387	else
388	{	388	{
389	ExternControl.Config = 0;	389	ExternControl.Config = 0;
390	ExternStickNick = 0;	390	ExternStickNick = 0;
391	ExternStickRoll = 0;	391	ExternStickRoll = 0;
392	ExternStickGier = 0;	392	ExternStickGier = 0;
393	if(BeepMuster == 0xffff && SenderOkay == 0)	393	if(BeepMuster == 0xffff && SenderOkay == 0)
394	{	394	{
395	beeptime = 15000;	395	beeptime = 15000;
396	BeepMuster = 0x0c00;	396	BeepMuster = 0x0c00;
397	}	397	}
398	}	398	}
399	if(UBat < BattLowVoltageWarning)	399	if(UBat < BattLowVoltageWarning)
400	{	400	{
401	MikroKopterFlags \|= FLAG_LOWBAT;	401	MikroKopterFlags \|= FLAG_LOWBAT;
402	if(BeepMuster == 0xffff)	402	if(BeepMuster == 0xffff)
403	{	403	{
404	beeptime = 6000;	404	beeptime = 6000;
405	BeepMuster = 0x0300;	405	BeepMuster = 0x0300;
406	}	406	}
407	}	407	}
408	else MikroKopterFlags &= ~FLAG_LOWBAT;	408	else MikroKopterFlags &= ~FLAG_LOWBAT;
409	SPI_StartTransmitPacket();	409	SPI_StartTransmitPacket();
410	SendSPI = 4;	410	SendSPI = 4;
411	if(!MotorenEin) timer2 = 1300; // 0,5 Minuten aufrunden	411	if(!MotorenEin) timer2 = 1300; // 0,5 Minuten aufrunden
412	if(++timer2 == 2600) // eine Minute	412	if(++timer2 == 2600) // eine Minute
413	{	413	{
414	timer2 = 0;	414	timer2 = 0;
415	FlugMinuten++;	415	FlugMinuten++;
416	FlugMinutenGesamt++;	416	FlugMinutenGesamt++;
417	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); // ACC-NeutralWerte speichern	417	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); // ACC-NeutralWerte speichern
418	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); // ACC-NeutralWerte speichern	418	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); // ACC-NeutralWerte speichern
419	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); // ACC-NeutralWerte speichern	419	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); // ACC-NeutralWerte speichern
420	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); // ACC-NeutralWerte speichern	420	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); // ACC-NeutralWerte speichern
421	}	421	}
422	timer = SetDelay(20);	422	timer = SetDelay(20);
423	}	423	}
424	LED_Update();	424	LED_Update();
425	}	425	}
426	if(!SendSPI) { SPI_TransmitByte(); }	426	if(!SendSPI) { SPI_TransmitByte(); }
427	}	427	}
428	return (1);	428	return (1);
429	}	429	}
430		430
431		431
432		432

Subversion Repositories FlightCtrl

(root)/branches/V0.82b-Arthur-P/main.c @ 1813 - Rev 1309 → 1312