WebSVN - FlightCtrl - Diff - Rev 1112 and 1126 - /branches/thjac/V1

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + 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 EEPromArray[E2END + 1] EEMEM;
 unsigned char PlatinenVersion = 10;
 unsigned char SendVersionToNavi = 1;
 // -- Parametersatz aus EEPROM lesen ---
 // number [1..5]
-void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
+void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) {
-{
-   if((number > 5)||(number < 1)) number = 3;
+    if ((number > 5) || (number < 1)) number = 3;
-   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
+    eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
-   LED_Init();
+    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);
-   SetActiveParamSetNumber(number);
-   LED_Init();
-}
+void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) {
-unsigned char GetActiveParamSetNumber(void)
-{
+    if (number > 5) number = 5;
-        unsigned char set;
+    if (number < 1) return;
-        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
-        if((set > 5) || (set < 1))
-        {
-                set = 3;
+    eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
-                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
-        }
+    SetActiveParamSetNumber(number);
-        return(set);
+    LED_Init();
-}
+}
+unsigned char GetActiveParamSetNumber(void) {
-void SetActiveParamSetNumber(unsigned char number)
+    unsigned char set;
-{
+    set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
-        if(number > 5) number = 5;
+    if ((set > 5) || (set < 1)) {
+        set = 3;
+        SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
         if(number < 1) return;
+    return (set);
+}
+void SetActiveParamSetNumber(unsigned char number) {
+    if (number > 5) number = 5;
-        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
+    if (number < 1) return;
-}
+    eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
+}
-void CalMk3Mag(void)
-{
+void CalMk3Mag(void) {
- static unsigned char stick = 1;
+    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)
+    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++;
+        stick = 1;
-   if(WinkelOut.CalcState > 4)
+        WinkelOut.CalcState++;
-    {
-//     WinkelOut.CalcState = 0; // in Uart.c
+        if (WinkelOut.CalcState > 4) {
-     beeptime = 1000;
+            //     WinkelOut.CalcState = 0; // in Uart.c
-    }
+            beeptime = 1000;
-   else Piep(WinkelOut.CalcState);
+        } else Piep(WinkelOut.CalcState);
+    }
-  DebugOut.Analog[19] = WinkelOut.CalcState;
+    DebugOut.Analog[19] = WinkelOut.CalcState;
+}
 //############################################################################
 //Hauptprogramm
-int main (void)
+int main(void)
 //############################################################################
+{
-        unsigned int timer;
+    unsigned int timer;
-        //unsigned int timer2 = 0;
+    //unsigned int timer2 = 0;
-    DDRB  = 0x00;
+    DDRB = 0x00;
     PORTB = 0x00;
-    for(timer = 0; timer < 1000; timer++); // verzögern
+    for (timer = 0; timer < 1000; timer++); // verzögern
-    if(PINB & 0x01)
-     {
+    if (PINB & 0x01) {
-      if(PINB & 0x02) PlatinenVersion = 13;
+        if (PINB & 0x02) PlatinenVersion = 13;
-       else           PlatinenVersion = 11;
-     }
+        else PlatinenVersion = 11;
-    else
-     {
+    } else {
-      if(PINB & 0x02) PlatinenVersion = 20;
+        if (PINB & 0x02) PlatinenVersion = 20;
-       else           PlatinenVersion = 10;
+        else PlatinenVersion = 10;
-     }
+    }
-    DDRC  = 0x81; // SCL
+    DDRC = 0x81; // SCL
-    DDRC  |=0x40; // HEF4017 Reset
+    DDRC |= 0x40; // HEF4017 Reset
     PORTC = 0xff; // Pullup SDA
-    DDRB  = 0x1B; // LEDs und Druckoffset
+    DDRB = 0x1B; // LEDs und Druckoffset
     PORTB = 0x01; // LED_Rot
-    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
+    DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
-    DDRD  |=0x80; // J7 -> Servo signal
+    DDRD |= 0x80; // J7 -> Servo signal
-        PORTD = 0x77; // LED
+    PORTD = 0x77; // LED
-    MCUSR &=~(1<<WDRF);
+    MCUSR &= ~(1 << WDRF);
-    WDTCSR |= (1<<WDCE)|(1<<WDE);
+    WDTCSR |= (1 << WDCE) | (1 << WDE);
     WDTCSR = 0;
     beeptime = 2000;
+    StickGier = 0;
+    PPM_in[K_GAS] = 0;
+    StickRoll = 0;
-        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
+    StickNick = 0;
     ROT_OFF;
     Timer_Init();
-        UART_Init();
+    UART_Init();
     rc_sum_init();
-        ADC_Init();
+    ADC_Init();
-        i2c_init();
+    i2c_init();
-        SPI_MasterInit();
+    SPI_MasterInit();
-        sei();
+    sei();
-        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
+    printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ", PlatinenVersion / 10, PlatinenVersion % 10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
-        printf("\n\r==============================");
+    printf("\n\r==============================");
-        GRN_ON;
+    GRN_ON;
-        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
-    // valid Stick-Settings?
+    ReadParameterSet(3, (unsigned char *) & EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
-    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION ||
-        EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9)
+    // valid Stick-Settings?
-           {
+    if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION ||
-            printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings...");
-        DefaultStickMapping();
+            EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9) {
-       }
+        printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings...");
-    else if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings");
+        DefaultStickMapping();
-    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
+    } else if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings");
-        {
-          DefaultKonstanten1();
+    if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) {
-          for (unsigned char i=1;i<6;i++)
+        DefaultKonstanten1();
-      {
+        for (unsigned char i = 1; i < 6; i++) {
-       if(i==2) DefaultKonstanten2(); // Kamera
+            if (i == 2) DefaultKonstanten2(); // Kamera
-       if(i==3) DefaultKonstanten3(); // Beginner
+            if (i == 3) DefaultKonstanten3(); // Beginner
-       if(i>3)  DefaultKonstanten2(); // Kamera
+            if (i > 3) DefaultKonstanten2(); // Kamera
-       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
+            WriteParameterSet(i, (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
-      }
-          SetActiveParamSetNumber(3); // default-Setting
+        }
-          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
+        SetActiveParamSetNumber(3); // default-Setting
-        }
+        eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
+    }
     if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
     if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) {
-       printf("\n\rACC nicht abgeglichen!");
+        printf("\n\rACC nicht abgeglichen!");
+    }
-        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
+    ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
     printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
-        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
-         {
+    if (EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) {
-           printf("\n\rAbgleich Luftdrucksensor..");
+        printf("\n\rAbgleich Luftdrucksensor..");
-           timer = SetDelay(1000);
+        timer = SetDelay(1000);
-       SucheLuftruckOffset();
+        SucheLuftruckOffset();
-           while (!CheckDelay(timer));
+        while (!CheckDelay(timer));
-       printf("OK\n\r");
+        printf("OK\n\r");
-        }
+    }
-        SetNeutral();
+    SetNeutral();
-        ROT_OFF;
+    ROT_OFF;
     beeptime = 2000;
     ExternControl.Digital[0] = 0x55;
-        printf("\n\rSteuerung: ");
+    printf("\n\rSteuerung: ");
-        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
+    if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
-        else printf("Neutral");
+    else printf("Neutral");
-        printf("\n\n\r");
+    printf("\n\n\r");
     LcdClear();
     I2CTimeout = 5000;
     WinkelOut.Orientation = 1;
-        while (1)
+    while (1) {
-        {
-                if(UpdateMotor)      // ReglerIntervall
+        if (UpdateMotor) // ReglerIntervall
-            {
+        {
-                    UpdateMotor=0;
+            UpdateMotor = 0;
-//PORTD |= 0x08;
+            //PORTD |= 0x08;
-            if(WinkelOut.CalcState) CalMk3Mag();
+            if (WinkelOut.CalcState) CalMk3Mag();
             else MotorRegler();
-//PORTD &= ~0x08;
+            //PORTD &= ~0x08;
             SendMotorData();
             ROT_OFF;
-            if(PcZugriff) PcZugriff--;
+            if (PcZugriff) PcZugriff--;
-             else
-              {
+            else {
-                           ExternControl.Config = 0;
+                ExternControl.Config = 0;
-               ExternStickNick = 0;
+                ExternStickNick = 0;
-               ExternStickRoll = 0;
+                ExternStickRoll = 0;
-               ExternStickGier = 0;
+                ExternStickGier = 0;
-              }
+            }
-            if(SenderOkay)  SenderOkay--;
+            if (SenderOkay) SenderOkay--;
-            if(!I2CTimeout)
-                {
+            if (!I2CTimeout) {
-                 I2CTimeout = 5;
+                I2CTimeout = 5;
-                 i2c_reset();
+                i2c_reset();
-                  if((BeepMuster == 0xffff) && MotorenEin)
                 if ((BeepMuster == 0xffff) && MotorenEin) {
                     beeptime = 10000;
-                    BeepMuster = 0x0080;
                     BeepMuster = 0x0080;
                 }
-            else
-                {
+            } else {
-                 I2CTimeout--;
+                I2CTimeout--;
-                 ROT_OFF;
+                ROT_OFF;
-                }
+            }
-            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
-              {
+            if (SIO_DEBUG && (!UpdateMotor || !MotorenEin)) {
-               DatenUebertragung();
+                DatenUebertragung();
-               BearbeiteRxDaten();
-              }
+                BearbeiteRxDaten();
-              else BearbeiteRxDaten();
+            } else BearbeiteRxDaten();
-         if(CheckDelay(timer))
-            {
+            if (CheckDelay(timer)) {
-            if(UBat < EE_Parameter.UnterspannungsWarnung)
-                {
+                if (UBat < EE_Parameter.UnterspannungsWarnung) {
-                  if(BeepMuster == 0xffff)
-                   {
+                    if (BeepMuster == 0xffff) {
-                    beeptime = 6000;
+                        beeptime = 6000;
-                    BeepMuster = 0x0300;
+                        BeepMuster = 0x0300;
+                    }
                 }
-/*           if(SendVersionToNavi)
+                /*           if(SendVersionToNavi)
-              {
+                              {
-               SPI_StartTransmitPacket(SPI_CMD_VERSION);//#
+                               SPI_StartTransmitPacket(SPI_CMD_VERSION);//#
-               SendVersionToNavi = 0;
+                               SendVersionToNavi = 0;
-              }
+                              }
-              else  SPI_StartTransmitPacket(SPI_CMD_VALUE);//#
+                              else  SPI_StartTransmitPacket(SPI_CMD_VALUE);//#
-*/
+                 */
-             SPI_StartTransmitPacket();//#
+                SPI_StartTransmitPacket(); //#
-             SendSPI = 4;
+                SendSPI = 4;
-                         timer = SetDelay(20);
+                timer = SetDelay(20);
             }
-           //if(UpdateMotor) DebugOut.Analog[26]++;
+            //if(UpdateMotor) DebugOut.Analog[26]++;
+            LED_Update();
-           LED_Update();
+        }
+        if (!SendSPI) {
             SPI_TransmitByte();
-     if(!SendSPI) { SPI_TransmitByte(); }
+        }
+    }
- return (1);
+    return (1);
+}

Subversion Repositories FlightCtrl

(root)/branches/thjac/V1_10/main.c @ 1115 - Rev 1112 → 1126