WebSVN - FlightCtrl - Diff - Rev 1268 and 1278


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
unsigned char EEPromArray[E2END+1] EEMEM;
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
unsigned char BattLowVoltageWarning = 94;
// -- Parametersatz aus EEPROM lesen ---
// number [1..5]
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
   if((number > 5)||(number < 1)) number = 3;
   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
   LED_Init();
}
 
// -- Parametersatz ins EEPROM schreiben ---
// number [1..5]
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
   if(number > 5) number = 5;
   if(number < 1) return;
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
   SetActiveParamSetNumber(number);
   LED_Init();
}
 
unsigned char GetActiveParamSetNumber(void)
{
        unsigned char set;
        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
        if((set > 5) || (set < 1))
        {
                set = 3;
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
        }
        return(set);
}
 
 
void SetActiveParamSetNumber(unsigned char number)
{
        if(number > 5) number = 5;
        if(number < 1) return;
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
}
 
 
void CalMk3Mag(void)
{
 static unsigned char stick = 1;
 
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
  {
   stick = 1;
   WinkelOut.CalcState++;
   if(WinkelOut.CalcState > 4)
    {
//     WinkelOut.CalcState = 0; // in Uart.c
     beeptime = 1000;
    }
   else Piep(WinkelOut.CalcState,150);
  }
  DebugOut.Analog[19] = WinkelOut.CalcState;
}
 
void LipoDetection(unsigned char print)
{
   unsigned int timer;
   if(print) printf("\n\rBatt:");
   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
    {
         timer = SetDelay(500);
         if(print) while (!CheckDelay(timer));
         if(UBat < 130)
          {
           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
           if(print)
            {
                 Piep(3,200);
             printf(" 3 Cells  ");
                }
          }
         else
          {
           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
           if(print)
            {
                 Piep(4,200);
             printf(" 4 Cells  ");
                }
          }
    }
    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
        if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i;
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // verzögern
    if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else           PlatinenVersion = 10;
     }
 
    DDRC  = 0x81; // SCL
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
        PORTD = 0x47; // LED
    HEF4017R_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2000;
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
    ROT_OFF;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        i2c_init();
        SPI_MasterInit();
 
        sei();
 
        printf("\n\r===================================");
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
     {
      Uart1Init();
     }
        GRN_ON;
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
 
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
        {
     unsigned char i;
         RequiredMotors = 0;
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
        }
        else // default
        {
     unsigned char i;
         printf("\n\rGenerating default Mixer Table");
         for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
     // default = Quadro
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
         Mixer.Revision = MIXER_REVISION;
     memcpy(Mixer.Name, "Quadro\0", 11);
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
    }
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        printf("\n\rFound BL-Ctrl: ");
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
    timer = SetDelay(2000);
        for(i=0; i < MAX_MOTORS; i++)
         {
          UpdateMotor = 0;
      SendMotorData();
          while(!UpdateMotor);
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
        {
             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
                }
          if(MotorPresent[i]) printf("%d ",i+1);
     }
        for(i=0; i < MAX_MOTORS; i++)
         {
          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
          MotorError[i] = 0;
     }
        printf("\n\r===================================");
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check Settings
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
        {
          DefaultKonstanten1();
          printf("\n\rInit. EEPROM");
          for (unsigned char i=1;i<6;i++)
      {
       if(i==2) DefaultKonstanten2(); // Kamera
       if(i==3) DefaultKonstanten3(); // Beginner
       if(i>3)  DefaultKonstanten2(); // Kamera
           if(PlatinenVersion >= 20)
            {
                 EE_Parameter.Gyro_D = 5;
                 EE_Parameter.Driftkomp = 0;
                 EE_Parameter.GyroAccFaktor = 27;
         EE_Parameter.WinkelUmschlagNick = 78;
         EE_Parameter.WinkelUmschlagRoll = 78;
                }
    // valid Stick-Settings?
           if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
            {
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
                } else DefaultStickMapping();
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
      }
          SetActiveParamSetNumber(3); // default-Setting
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
        }
 
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
     {
       printf("\n\rACC not calibrated !");
     }
 
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
 
 
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
         {
           printf("\n\rCalibrating pressure sensor..");
           timer = SetDelay(1000);
       SucheLuftruckOffset();
           while (!CheckDelay(timer));
       printf("OK\n\r");
        }
 
        SetNeutral();
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
        printf("\n\r===================================\n\r");
        while (1)
        {
            if(UpdateMotor && AdReady)      // ReglerIntervall
            {
                    UpdateMotor=0;
            if(WinkelOut.CalcState) CalMk3Mag();
            else MotorRegler();
            SendMotorData();
            ROT_OFF;
            if(PcZugriff) PcZugriff--;
             else
              {
                           ExternControl.Config = 0;
               ExternStickNick = 0;
               ExternStickRoll = 0;
               ExternStickGier = 0;
              }
            if(SenderOkay)  SenderOkay--;
                        else
                         {
                          TIMSK1 |= _BV(ICIE1); // enable PPM-Input
                         }
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
            if(NaviDataOkay)
                         {
                          if(--NaviDataOkay == 0)
                           {
                    GPS_Nick = 0;
                GPS_Roll = 0;
               }
              }
            if(!--I2CTimeout || MissingMotor)
                {
                  if(!I2CTimeout)
                                   {
                                    i2c_reset();
                    I2CTimeout = 5;
                                        }
                  if((BeepMuster == 0xffff) && MotorenEin)
                   {
                    beeptime = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                }
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
              {
               DatenUebertragung();
               BearbeiteRxDaten();
              }
                        else BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                if(UBat < BattLowVoltageWarning)
                                {
                                        MikroKopterFlags |= FLAG_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else MikroKopterFlags &= ~FLAG_LOWBAT;
                                SPI_StartTransmitPacket();
 
                                SendSPI = 4;
                                timer = SetDelay(20);
                        }
           LED_Update();
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1268	Rev 1278
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	18	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52	#include "main.h"	52	#include "main.h"
53		53
54	unsigned char EEPromArray[E2END+1] EEMEM;	54	unsigned char EEPromArray[E2END+1] EEMEM;
55	unsigned char PlatinenVersion = 10;	55	unsigned char PlatinenVersion = 10;
56	unsigned char SendVersionToNavi = 1;	56	unsigned char SendVersionToNavi = 1;
57	unsigned char BattLowVoltageWarning = 94;	57	unsigned char BattLowVoltageWarning = 94;
58	// -- Parametersatz aus EEPROM lesen ---	58	// -- Parametersatz aus EEPROM lesen ---
59	// number [1..5]	59	// number [1..5]
60	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	60	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
61	{	61	{
62	if((number > 5)\|\|(number < 1)) number = 3;	62	if((number > 5)\|\|(number < 1)) number = 3;
63	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	63	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
64	LED_Init();	64	LED_Init();
65	}	65	}
66		66
67	// -- Parametersatz ins EEPROM schreiben ---	67	// -- Parametersatz ins EEPROM schreiben ---
68	// number [1..5]	68	// number [1..5]
69	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	69	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
70	{	70	{
71	if(number > 5) number = 5;	71	if(number > 5) number = 5;
72	if(number < 1) return;	72	if(number < 1) return;
73	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	73	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
74	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken	74	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
75	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken	75	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
76	SetActiveParamSetNumber(number);	76	SetActiveParamSetNumber(number);
77	LED_Init();	77	LED_Init();
78	}	78	}
79		79
80	unsigned char GetActiveParamSetNumber(void)	80	unsigned char GetActiveParamSetNumber(void)
81	{	81	{
82	unsigned char set;	82	unsigned char set;
83	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	83	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
84	if((set > 5) \|\| (set < 1))	84	if((set > 5) \|\| (set < 1))
85	{	85	{
86	set = 3;	86	set = 3;
87	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	87	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
88	}	88	}
89	return(set);	89	return(set);
90	}	90	}
91		91
92		92
93	void SetActiveParamSetNumber(unsigned char number)	93	void SetActiveParamSetNumber(unsigned char number)
94	{	94	{
95	if(number > 5) number = 5;	95	if(number > 5) number = 5;
96	if(number < 1) return;	96	if(number < 1) return;
97	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken	97	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
98	}	98	}
99		99
100		100
101	void CalMk3Mag(void)	101	void CalMk3Mag(void)
102	{	102	{
103	static unsigned char stick = 1;	103	static unsigned char stick = 1;
104		104
105	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	105	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
106	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	106	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
107	{	107	{
108	stick = 1;	108	stick = 1;
109	WinkelOut.CalcState++;	109	WinkelOut.CalcState++;
110	if(WinkelOut.CalcState > 4)	110	if(WinkelOut.CalcState > 4)
111	{	111	{
112	// WinkelOut.CalcState = 0; // in Uart.c	112	// WinkelOut.CalcState = 0; // in Uart.c
113	beeptime = 1000;	113	beeptime = 1000;
114	}	114	}
115	else Piep(WinkelOut.CalcState,150);	115	else Piep(WinkelOut.CalcState,150);
116	}	116	}
117	DebugOut.Analog[19] = WinkelOut.CalcState;	117	DebugOut.Analog[19] = WinkelOut.CalcState;
118	}	118	}
119		119
120	void LipoDetection(unsigned char print)	120	void LipoDetection(unsigned char print)
121	{	121	{
122	unsigned int timer;	122	unsigned int timer;
123	if(print) printf("\n\rBatt:");	123	if(print) printf("\n\rBatt:");
124	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	124	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
125	{	125	{
126	timer = SetDelay(500);	126	timer = SetDelay(500);
127	if(print) while (!CheckDelay(timer));	127	if(print) while (!CheckDelay(timer));
128	if(UBat < 130)	128	if(UBat < 130)
129	{	129	{
130	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	130	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
131	if(print)	131	if(print)
132	{	132	{
133	Piep(3,200);	133	Piep(3,200);
134	printf(" 3 Cells ");	134	printf(" 3 Cells ");
135	}	135	}
136	}	136	}
137	else	137	else
138	{	138	{
139	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	139	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
140	if(print)	140	if(print)
141	{	141	{
142	Piep(4,200);	142	Piep(4,200);
143	printf(" 4 Cells ");	143	printf(" 4 Cells ");
144	}	144	}
145	}	145	}
146	}	146	}
147	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	147	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
-		148	if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
148	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	149	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
149	}	150	}
150		151
151	//############################################################################	152	//############################################################################
152	//Hauptprogramm	153	//Hauptprogramm
153	int main (void)	154	int main (void)
154	//############################################################################	155	//############################################################################
155	{	156	{
156	unsigned int timer,i;	157	unsigned int timer,i;
157	DDRB = 0x00;	158	DDRB = 0x00;
158	PORTB = 0x00;	159	PORTB = 0x00;
159	for(timer = 0; timer < 1000; timer++); // verzögern	160	for(timer = 0; timer < 1000; timer++); // verzögern
160	if(PINB & 0x01)	161	if(PINB & 0x01)
161	{	162	{
162	if(PINB & 0x02) PlatinenVersion = 13;	163	if(PINB & 0x02) PlatinenVersion = 13;
163	else PlatinenVersion = 11;	164	else PlatinenVersion = 11;
164	}	165	}
165	else	166	else
166	{	167	{
167	if(PINB & 0x02) PlatinenVersion = 20;	168	if(PINB & 0x02) PlatinenVersion = 20;
168	else PlatinenVersion = 10;	169	else PlatinenVersion = 10;
169	}	170	}
170		171
171	DDRC = 0x81; // SCL	172	DDRC = 0x81; // SCL
172	DDRC \|=0x40; // HEF4017 Reset	173	DDRC \|=0x40; // HEF4017 Reset
173	PORTC = 0xff; // Pullup SDA	174	PORTC = 0xff; // Pullup SDA
174	DDRB = 0x1B; // LEDs und Druckoffset	175	DDRB = 0x1B; // LEDs und Druckoffset
175	PORTB = 0x01; // LED_Rot	176	PORTB = 0x01; // LED_Rot
176	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	177	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
177	PORTD = 0x47; // LED	178	PORTD = 0x47; // LED
178	HEF4017R_ON;	179	HEF4017R_ON;
179	MCUSR &=~(1<<WDRF);	180	MCUSR &=~(1<<WDRF);
180	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	181	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
181	WDTCSR = 0;	182	WDTCSR = 0;
182		183
183	beeptime = 2000;	184	beeptime = 2000;
184	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	185	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
185	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	186	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
186	ROT_OFF;	187	ROT_OFF;
187		188
188	Timer_Init();	189	Timer_Init();
189	TIMER2_Init();	190	TIMER2_Init();
190	UART_Init();	191	UART_Init();
191	rc_sum_init();	192	rc_sum_init();
192	ADC_Init();	193	ADC_Init();
193	i2c_init();	194	i2c_init();
194	SPI_MasterInit();	195	SPI_MasterInit();
195		196
196	sei();	197	sei();
197		198
198	printf("\n\r===================================");	199	printf("\n\r===================================");
199	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');	200	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
200	if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P	201	if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P
201	{	202	{
202	Uart1Init();	203	Uart1Init();
203	}	204	}
204	GRN_ON;	205	GRN_ON;
205	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes	206	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
206		207
207	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	208	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
208	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool	209	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
209	{	210	{
210	unsigned char i;	211	unsigned char i;
211	RequiredMotors = 0;	212	RequiredMotors = 0;
212	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	213	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
213	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	214	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
214	}	215	}
215	else // default	216	else // default
216	{	217	{
217	unsigned char i;	218	unsigned char i;
218	printf("\n\rGenerating default Mixer Table");	219	printf("\n\rGenerating default Mixer Table");
219	for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};	220	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;};
220	// default = Quadro	221	// default = Quadro
221	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	222	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
222	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	223	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
223	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	224	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
224	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	225	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
225	Mixer.Revision = MIXER_REVISION;	226	Mixer.Revision = MIXER_REVISION;
226	memcpy(Mixer.Name, "Quadro\0", 11);	227	memcpy(Mixer.Name, "Quadro\0", 11);
227	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	228	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
228	}	229	}
229	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	230	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
230	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	231	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
231	// + Check connected BL-Ctrls	232	// + Check connected BL-Ctrls
232	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	233	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
233	printf("\n\rFound BL-Ctrl: ");	234	printf("\n\rFound BL-Ctrl: ");
234	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	235	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
235	timer = SetDelay(2000);	236	timer = SetDelay(2000);
236	for(i=0; i < MAX_MOTORS; i++)	237	for(i=0; i < MAX_MOTORS; i++)
237	{	238	{
238	UpdateMotor = 0;	239	UpdateMotor = 0;
239	SendMotorData();	240	SendMotorData();
240	while(!UpdateMotor);	241	while(!UpdateMotor);
241	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up	242	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
242	{	243	{
243	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	244	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
244	}	245	}
245	if(MotorPresent[i]) printf("%d ",i+1);	246	if(MotorPresent[i]) printf("%d ",i+1);
246	}	247	}
247	for(i=0; i < MAX_MOTORS; i++)	248	for(i=0; i < MAX_MOTORS; i++)
248	{	249	{
249	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	250	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
250	MotorError[i] = 0;	251	MotorError[i] = 0;
251	}	252	}
252	printf("\n\r===================================");	253	printf("\n\r===================================");
253	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	254	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
254	// + Check Settings	255	// + Check Settings
255	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	256	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
256	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	257	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
257	{	258	{
258	DefaultKonstanten1();	259	DefaultKonstanten1();
259	printf("\n\rInit. EEPROM");	260	printf("\n\rInit. EEPROM");
260	for (unsigned char i=1;i<6;i++)	261	for (unsigned char i=1;i<6;i++)
261	{	262	{
262	if(i==2) DefaultKonstanten2(); // Kamera	263	if(i==2) DefaultKonstanten2(); // Kamera
263	if(i==3) DefaultKonstanten3(); // Beginner	264	if(i==3) DefaultKonstanten3(); // Beginner
264	if(i>3) DefaultKonstanten2(); // Kamera	265	if(i>3) DefaultKonstanten2(); // Kamera
265	if(PlatinenVersion >= 20)	266	if(PlatinenVersion >= 20)
266	{	267	{
267	EE_Parameter.Gyro_D = 5;	268	EE_Parameter.Gyro_D = 5;
268	EE_Parameter.Driftkomp = 0;	269	EE_Parameter.Driftkomp = 0;
269	EE_Parameter.GyroAccFaktor = 27;	270	EE_Parameter.GyroAccFaktor = 27;
270	EE_Parameter.WinkelUmschlagNick = 78;	271	EE_Parameter.WinkelUmschlagNick = 78;
271	EE_Parameter.WinkelUmschlagRoll = 78;	272	EE_Parameter.WinkelUmschlagRoll = 78;
272	}	273	}
273	// valid Stick-Settings?	274	// valid Stick-Settings?
274	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)	275	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)
275	{	276	{
276	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	277	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
277	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	278	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
278	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	279	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
279	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	280	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
280	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	281	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
281	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	282	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
282	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	283	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
283	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	284	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
284	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	285	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
285	} else DefaultStickMapping();	286	} else DefaultStickMapping();
286	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	287	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
287	}	288	}
288	SetActiveParamSetNumber(3); // default-Setting	289	SetActiveParamSetNumber(3); // default-Setting
289	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	290	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
290	}	291	}
291		292
292	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	293	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
293	{	294	{
294	printf("\n\rACC not calibrated !");	295	printf("\n\rACC not calibrated !");
295	}	296	}
296		297
297	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	298	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
298	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	299	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
299		300
300		301
301	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	302	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
302	{	303	{
303	printf("\n\rCalibrating pressure sensor..");	304	printf("\n\rCalibrating pressure sensor..");
304	timer = SetDelay(1000);	305	timer = SetDelay(1000);
305	SucheLuftruckOffset();	306	SucheLuftruckOffset();
306	while (!CheckDelay(timer));	307	while (!CheckDelay(timer));
307	printf("OK\n\r");	308	printf("OK\n\r");
308	}	309	}
309		310
310	SetNeutral();	311	SetNeutral();
311		312
312	ROT_OFF;	313	ROT_OFF;
313		314
314	beeptime = 2000;	315	beeptime = 2000;
315	ExternControl.Digital[0] = 0x55;	316	ExternControl.Digital[0] = 0x55;
316		317
317		318
318	printf("\n\rControl: ");	319	printf("\n\rControl: ");
319	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	320	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
320	else printf("Normal (ACC-Mode)");	321	else printf("Normal (ACC-Mode)");
321		322
322	LcdClear();	323	LcdClear();
323	I2CTimeout = 5000;	324	I2CTimeout = 5000;
324	WinkelOut.Orientation = 1;	325	WinkelOut.Orientation = 1;
325	LipoDetection(1);	326	LipoDetection(1);
326	printf("\n\r===================================\n\r");	327	printf("\n\r===================================\n\r");
327	while (1)	328	while (1)
328	{	329	{
329	if(UpdateMotor && AdReady) // ReglerIntervall	330	if(UpdateMotor && AdReady) // ReglerIntervall
330	{	331	{
331	UpdateMotor=0;	332	UpdateMotor=0;
332	if(WinkelOut.CalcState) CalMk3Mag();	333	if(WinkelOut.CalcState) CalMk3Mag();
333	else MotorRegler();	334	else MotorRegler();
334	SendMotorData();	335	SendMotorData();
335	ROT_OFF;	336	ROT_OFF;
336	if(PcZugriff) PcZugriff--;	337	if(PcZugriff) PcZugriff--;
337	else	338	else
338	{	339	{
339	ExternControl.Config = 0;	340	ExternControl.Config = 0;
340	ExternStickNick = 0;	341	ExternStickNick = 0;
341	ExternStickRoll = 0;	342	ExternStickRoll = 0;
342	ExternStickGier = 0;	343	ExternStickGier = 0;
343	}	344	}
344	if(SenderOkay) SenderOkay--;	345	if(SenderOkay) SenderOkay--;
345	else	346	else
346	{	347	{
347	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	348	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
348	}	349	}
349	//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;
350	//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;
351	if(NaviDataOkay)	352	if(NaviDataOkay)
352	{	353	{
353	if(--NaviDataOkay == 0)	354	if(--NaviDataOkay == 0)
354	{	355	{
355	GPS_Nick = 0;	356	GPS_Nick = 0;
356	GPS_Roll = 0;	357	GPS_Roll = 0;
357	}	358	}
358	}	359	}
359	if(!--I2CTimeout \|\| MissingMotor)	360	if(!--I2CTimeout \|\| MissingMotor)
360	{	361	{
361	if(!I2CTimeout)	362	if(!I2CTimeout)
362	{	363	{
363	i2c_reset();	364	i2c_reset();
364	I2CTimeout = 5;	365	I2CTimeout = 5;
365	}	366	}
366	if((BeepMuster == 0xffff) && MotorenEin)	367	if((BeepMuster == 0xffff) && MotorenEin)
367	{	368	{
368	beeptime = 10000;	369	beeptime = 10000;
369	BeepMuster = 0x0080;	370	BeepMuster = 0x0080;
370	}	371	}
371	}	372	}
372	else	373	else
373	{	374	{
374	ROT_OFF;	375	ROT_OFF;
375	}	376	}
376	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	377	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
377	{	378	{
378	DatenUebertragung();	379	DatenUebertragung();
379	BearbeiteRxDaten();	380	BearbeiteRxDaten();
380	}	381	}
381	else BearbeiteRxDaten();	382	else BearbeiteRxDaten();
382	if(CheckDelay(timer))	383	if(CheckDelay(timer))
383	{	384	{
384	if(UBat < BattLowVoltageWarning)	385	if(UBat < BattLowVoltageWarning)
385	{	386	{
386	MikroKopterFlags \|= FLAG_LOWBAT;	387	MikroKopterFlags \|= FLAG_LOWBAT;
387	if(BeepMuster == 0xffff)	388	if(BeepMuster == 0xffff)
388	{	389	{
389	beeptime = 6000;	390	beeptime = 6000;
390	BeepMuster = 0x0300;	391	BeepMuster = 0x0300;
391	}	392	}
392	}	393	}
393	else MikroKopterFlags &= ~FLAG_LOWBAT;	394	else MikroKopterFlags &= ~FLAG_LOWBAT;
394	SPI_StartTransmitPacket();	395	SPI_StartTransmitPacket();
395		396
396	SendSPI = 4;	397	SendSPI = 4;
397	timer = SetDelay(20);	398	timer = SetDelay(20);
398	}	399	}
399	LED_Update();	400	LED_Update();
400	}	401	}
401	if(!SendSPI) { SPI_TransmitByte(); }	402	if(!SendSPI) { SPI_TransmitByte(); }
402	}	403	}
403	return (1);	404	return (1);
404	}	405	}
405		406
406		407
407		408

Subversion Repositories FlightCtrl

(root)/tags/V0.80e/main.c @ 2556 - Rev 1268 → 1278