WebSVN - FlightCtrl - Diff - Rev 1126 and 1133 - /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;
+{
-    if (number < 1) return;
+        unsigned char set;
+        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
+        if((set > 5) || (set < 1))
+        {
-    eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
+                set = 3;
+                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
-    SetActiveParamSetNumber(number);
+        }
-    LED_Init();
+        return(set);
+}
-}
-unsigned char GetActiveParamSetNumber(void) {
-    unsigned char set;
+void SetActiveParamSetNumber(unsigned char number)
-    set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
+{
-    if ((set > 5) || (set < 1)) {
+        if(number > 5) number = 5;
-        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;
-    if (number < 1) return;
+        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
-    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]] > -20) stick = 0;
+ if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
-    if ((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) {
+  {
+   stick = 1;
-        stick = 1;
+   WinkelOut.CalcState++;
-        WinkelOut.CalcState++;
+   if(WinkelOut.CalcState > 4)
+    {
-        if (WinkelOut.CalcState > 4) {
+//     WinkelOut.CalcState = 0; // in Uart.c
-            //     WinkelOut.CalcState = 0; // in Uart.c
+     beeptime = 1000;
-            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;
-    StickNick = 0;
+        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 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
-    ReadParameterSet(3, (unsigned char *) & EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
+    // valid Stick-Settings?
+    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION ||
-    // valid Stick-Settings?
+        EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9)
-    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...");
-            EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9) {
+        DefaultStickMapping();
-        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();
-    } else if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings");
+    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
+        {
-    if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) {
+          DefaultKonstanten1();
-        DefaultKonstanten1();
+          for (unsigned char i=1;i<6;i++)
-        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
-        SetActiveParamSetNumber(3); // default-Setting
+          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
-        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 @ 2094 - Rev 1126 → 1133