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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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 oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung oder Nutzung 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 the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
39 | // + * porting the sources to other systems or using the software on other systems (except 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 | 54 | ||
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 | unsigned int FlugSekunden = 0; |
59 | unsigned int FlugSekunden = 0; |
60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
60 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
61 | - | ||
62 | // -- Parametersatz aus EEPROM lesen --- |
- | |
63 | // number [1..5] |
- | |
64 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
- | |
65 | { |
- | |
66 | if((number > 5)||(number < 1)) number = 3; |
- | |
67 | eeprom_read_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length); |
- | |
68 | LED_Init(); |
- | |
69 | } |
- | |
70 | - | ||
71 | // -- Parametersatz ins EEPROM schreiben --- |
- | |
72 | // number [1..5] |
- | |
73 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
- | |
74 | { |
- | |
75 | if(number > 5) number = 5; |
- | |
76 | if(number < 1) return; |
- | |
77 | eeprom_write_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length); |
- | |
78 | eeprom_write_byte((unsigned char*)(EEPROM_ADR_PARAM_LENGTH), length); // Länge der Datensätze merken |
- | |
79 | eeprom_write_block(buffer, (void*)(EEPROM_ADR_CHANNELS), 12); // 12 Kanäle merken |
- | |
80 | SetActiveParamSetNumber(number); |
- | |
81 | LED_Init(); |
- | |
82 | } |
- | |
83 | - | ||
84 | unsigned char GetActiveParamSetNumber(void) |
- | |
85 | { |
- | |
86 | unsigned char set; |
- | |
87 | set = eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET)); |
- | |
88 | if((set > 5) || (set < 1)) |
- | |
89 | { |
- | |
90 | set = 3; |
- | |
91 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
- | |
92 | } |
- | |
93 | return(set); |
- | |
94 | } |
- | |
95 | - | ||
96 | void SetActiveParamSetNumber(unsigned char number) |
- | |
97 | { |
- | |
98 | if(number > 5) number = 5; |
- | |
99 | if(number < 1) return; |
- | |
100 | eeprom_write_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET), number); // diesen Parametersatz als aktuell merken |
- | |
101 | } |
- | |
102 | 61 | ||
103 | 62 | ||
104 | void CalMk3Mag(void) |
63 | void CalMk3Mag(void) |
105 | { |
64 | { |
106 | static unsigned char stick = 1; |
65 | static unsigned char stick = 1; |
107 | 66 | ||
108 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
67 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
109 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
68 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
110 | { |
69 | { |
111 | stick = 1; |
70 | stick = 1; |
112 | WinkelOut.CalcState++; |
71 | WinkelOut.CalcState++; |
113 | if(WinkelOut.CalcState > 4) |
72 | if(WinkelOut.CalcState > 4) |
114 | { |
73 | { |
115 | // WinkelOut.CalcState = 0; // in Uart.c |
74 | // WinkelOut.CalcState = 0; // in Uart.c |
116 | beeptime = 1000; |
75 | beeptime = 1000; |
117 | } |
76 | } |
118 | else Piep(WinkelOut.CalcState,150); |
77 | else Piep(WinkelOut.CalcState,150); |
119 | } |
78 | } |
120 | DebugOut.Analog[19] = WinkelOut.CalcState; |
79 | DebugOut.Analog[19] = WinkelOut.CalcState; |
121 | } |
80 | } |
122 | 81 | ||
123 | 82 | ||
124 | 83 | ||
125 | void LipoDetection(unsigned char print) |
84 | void LipoDetection(unsigned char print) |
126 | { |
85 | { |
127 | unsigned int timer; |
86 | unsigned int timer; |
128 | if(print) printf("\n\rBatt:"); |
87 | if(print) printf("\n\rBatt:"); |
129 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
88 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
130 | { |
89 | { |
131 | timer = SetDelay(500); |
90 | timer = SetDelay(500); |
132 | if(print) while (!CheckDelay(timer)); |
91 | if(print) while (!CheckDelay(timer)); |
133 | if(UBat < 130) |
92 | if(UBat < 130) |
134 | { |
93 | { |
135 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
94 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
136 | if(print) |
95 | if(print) |
137 | { |
96 | { |
138 | Piep(3,200); |
97 | Piep(3,200); |
139 | printf(" 3 Cells "); |
98 | printf(" 3 Cells "); |
140 | } |
99 | } |
141 | } |
100 | } |
142 | else |
101 | else |
143 | { |
102 | { |
144 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
103 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
145 | if(print) |
104 | if(print) |
146 | { |
105 | { |
147 | Piep(4,200); |
106 | Piep(4,200); |
148 | printf(" 4 Cells "); |
107 | printf(" 4 Cells "); |
149 | } |
108 | } |
150 | } |
109 | } |
151 | } |
110 | } |
152 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
111 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
153 | // if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93; |
112 | // if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93; |
154 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
113 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
155 | } |
114 | } |
156 | 115 | ||
157 | //############################################################################ |
116 | //############################################################################ |
158 | //Hauptprogramm |
117 | //Hauptprogramm |
159 | int main (void) |
118 | int main (void) |
160 | //############################################################################ |
119 | //############################################################################ |
161 | { |
120 | { |
162 | unsigned int timer,i,timer2 = 0, timerPolling; |
121 | unsigned int timer,i,timer2 = 0, timerPolling; |
163 | unsigned char RequiredMotors = 0; |
- | |
164 | 122 | ||
165 | DDRB = 0x00; |
123 | DDRB = 0x00; |
166 | PORTB = 0x00; |
124 | PORTB = 0x00; |
167 | for(timer = 0; timer < 1000; timer++); // verzögern |
125 | for(timer = 0; timer < 1000; timer++); // verzögern |
168 | if(PINB & 0x01) |
126 | if(PINB & 0x01) |
169 | { |
127 | { |
170 | if(PINB & 0x02) PlatinenVersion = 13; |
128 | if(PINB & 0x02) PlatinenVersion = 13; |
171 | else PlatinenVersion = 11; |
129 | else PlatinenVersion = 11; |
172 | } |
130 | } |
173 | else |
131 | else |
174 | { |
132 | { |
175 | if(PINB & 0x02) PlatinenVersion = 20; |
133 | if(PINB & 0x02) PlatinenVersion = 20; |
176 | else PlatinenVersion = 10; |
134 | else PlatinenVersion = 10; |
177 | } |
135 | } |
178 | 136 | ||
179 | DDRC = 0x81; // SCL |
137 | DDRC = 0x81; // SCL |
180 | DDRC |=0x40; // HEF4017 Reset |
138 | DDRC |=0x40; // HEF4017 Reset |
181 | PORTC = 0xff; // Pullup SDA |
139 | PORTC = 0xff; // Pullup SDA |
182 | DDRB = 0x1B; // LEDs und Druckoffset |
140 | DDRB = 0x1B; // LEDs und Druckoffset |
183 | PORTB = 0x01; // LED_Rot |
141 | PORTB = 0x01; // LED_Rot |
184 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
142 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
185 | PORTD = 0x47; // LED |
143 | PORTD = 0x47; // LED |
186 | HEF4017R_ON; |
144 | HEF4017R_ON; |
187 | MCUSR &=~(1<<WDRF); |
145 | MCUSR &=~(1<<WDRF); |
188 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
146 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
189 | WDTCSR = 0; |
147 | WDTCSR = 0; |
190 | 148 | ||
191 | beeptime = 2000; |
149 | beeptime = 2000; |
192 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
150 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
193 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
151 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
194 | ROT_OFF; |
152 | ROT_OFF; |
195 | 153 | ||
196 | Timer_Init(); |
154 | Timer_Init(); |
197 | TIMER2_Init(); |
155 | TIMER2_Init(); |
198 | UART_Init(); |
156 | UART_Init(); |
199 | rc_sum_init(); |
157 | rc_sum_init(); |
200 | ADC_Init(); |
158 | ADC_Init(); |
201 | i2c_init(); |
159 | i2c_init(); |
202 | SPI_MasterInit(); |
160 | SPI_MasterInit(); |
203 | Capacity_Init(); |
161 | Capacity_Init(); |
204 | LIBFC_Init(); |
162 | LIBFC_Init(); |
205 | GRN_ON; |
163 | GRN_ON; |
206 | sei(); |
164 | sei(); |
207 | - | ||
208 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes |
165 | ParamSet_Init(); |
209 | - | ||
210 | - | ||
211 | if((eeprom_read_byte((unsigned char*)(EEPROM_ADR_MIXER_TABLE)) == MIXER_REVISION) && // Check Revision in the first Byte |
- | |
212 | (eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != 0xff)) // Settings reset via Koptertool |
- | |
213 | { |
- | |
214 | unsigned char i; |
- | |
215 | eeprom_read_block(&Mixer, (unsigned char*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer)); |
- | |
216 | for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
- | |
217 | } |
- | |
218 | else // default |
- | |
219 | { |
- | |
220 | unsigned char i; |
- | |
221 | printf("\n\rGenerating default Mixer Table"); |
- | |
222 | 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;}; |
- | |
223 | // default = Quadro |
- | |
224 | Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; |
- | |
225 | Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; |
- | |
226 | Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
- | |
227 | Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
- | |
228 | Mixer.Revision = MIXER_REVISION; |
- | |
229 | memcpy(Mixer.Name, "Quadro\0", 11); |
- | |
230 | eeprom_write_block(&Mixer, (void*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer)); |
- | |
231 | } |
- | |
232 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
166 | |
233 | 167 | ||
234 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
235 | // + Check connected BL-Ctrls |
169 | // + Check connected BL-Ctrls |
236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
237 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
171 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
238 | printf("\n\rFound BL-Ctrl: "); |
172 | printf("\n\rFound BL-Ctrl: "); |
239 | timer = SetDelay(4000); |
173 | timer = SetDelay(4000); |
240 | 174 | ||
241 | for(i=0; i < MAX_MOTORS; i++) |
175 | for(i=0; i < MAX_MOTORS; i++) |
242 | { |
176 | { |
243 | UpdateMotor = 0; |
177 | UpdateMotor = 0; |
244 | SendMotorData(); |
178 | SendMotorData(); |
245 | while(!UpdateMotor); |
179 | while(!UpdateMotor); |
246 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
180 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
247 | { |
181 | { |
248 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
182 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
249 | } |
183 | } |
250 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1); |
184 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1); |
251 | } |
185 | } |
252 | for(i=0; i < MAX_MOTORS; i++) |
186 | for(i=0; i < MAX_MOTORS; i++) |
253 | { |
- | |
254 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
- | |
255 | { |
- | |
256 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
- | |
257 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
- | |
258 | } |
- | |
259 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
- | |
260 | } |
- | |
261 | printf("\n\r==================================="); |
- | |
262 | SendMotorData(); |
- | |
263 | //printf("\n size: %u",STRUCT_PARAM_LAENGE); |
- | |
264 | - | ||
265 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
266 | // + Check Settings |
- | |
267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
268 | if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != EE_DATENREVISION) |
- | |
269 | { |
187 | { |
270 | DefaultKonstanten1(); |
- | |
271 | printf("\n\rInit. EEPROM"); |
- | |
272 | for (unsigned char i=1;i<6;i++) |
- | |
273 | { |
- | |
274 | if(i==2) DefaultKonstanten2(); // Kamera |
- | |
275 | if(i==3) DefaultKonstanten3(); // Beginner |
188 | if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
276 | if(i>3) DefaultKonstanten2(); // Kamera |
- | |
277 | if(PlatinenVersion >= 20) |
- | |
278 | { |
189 | { |
279 | EE_Parameter.Gyro_D = 5; |
- | |
280 | EE_Parameter.Driftkomp = 0; |
- | |
281 | EE_Parameter.GyroAccFaktor = 27; |
- | |
282 | EE_Parameter.WinkelUmschlagNick = 78; |
190 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
283 | EE_Parameter.WinkelUmschlagRoll = 78; |
191 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
284 | } |
192 | } |
285 | // valid Stick-Settings? |
- | |
286 | if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3)) < 12) |
193 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
287 | { |
- | |
288 | EE_Parameter.Kanalbelegung[0] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+0)); |
- | |
289 | EE_Parameter.Kanalbelegung[1] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1)); |
- | |
290 | EE_Parameter.Kanalbelegung[2] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2)); |
- | |
291 | EE_Parameter.Kanalbelegung[3] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3)); |
- | |
292 | EE_Parameter.Kanalbelegung[4] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+4)); |
- | |
293 | EE_Parameter.Kanalbelegung[5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+5)); |
- | |
294 | EE_Parameter.Kanalbelegung[6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+6)); |
- | |
295 | EE_Parameter.Kanalbelegung[7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+7)); |
- | |
296 | - | ||
297 | if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8)) < 0xFF) |
- | |
298 | { |
- | |
299 | EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8)); |
- | |
300 | EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+9)); |
- | |
301 | EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+10)); |
- | |
302 | EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+11)); |
- | |
303 | } |
- | |
304 | else |
- | |
305 | { |
- | |
306 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
- | |
307 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
- | |
308 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
- | |
309 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
- | |
310 | } |
- | |
311 | if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
- | |
312 | } else DefaultStickMapping(); |
- | |
313 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
314 | } |
- | |
315 | SetActiveParamSetNumber(3); // default-Setting |
- | |
316 | eeprom_write_byte((unsigned char*)(EEPROM_ADR_VALID), EE_DATENREVISION); |
- | |
317 | } |
194 | } |
318 | - | ||
319 | FlugMinuten = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1)); |
- | |
320 | FlugMinutenGesamt = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES+1)); |
- | |
321 | if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff) |
195 | printf("\n\r==================================="); |
322 | { |
- | |
323 | FlugMinuten = 0; |
196 | SendMotorData(); |
324 | FlugMinutenGesamt = 0; |
- | |
325 | } |
- | |
326 | printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt); |
- | |
327 | - | ||
328 | if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACC_NICK)) > 4) |
- | |
329 | { |
- | |
330 | printf("\n\rACC not calibrated !"); |
- | |
331 | } |
- | |
332 | - | ||
333 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
334 | printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
- | |
335 | - | ||
336 | 197 | ||
337 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
198 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
338 | { |
199 | { |
339 | printf("\n\rCalibrating pressure sensor.."); |
200 | printf("\n\rCalibrating pressure sensor.."); |
340 | timer = SetDelay(1000); |
201 | timer = SetDelay(1000); |
341 | SucheLuftruckOffset(); |
202 | SucheLuftruckOffset(); |
342 | while (!CheckDelay(timer)); |
203 | while (!CheckDelay(timer)); |
343 | printf("OK\n\r"); |
204 | printf("OK\n\r"); |
344 | } |
205 | } |
345 | 206 | ||
346 | SetNeutral(); |
207 | SetNeutral(0); |
347 | 208 | ||
348 | ROT_OFF; |
209 | ROT_OFF; |
349 | 210 | ||
350 | beeptime = 2000; |
211 | beeptime = 2000; |
351 | ExternControl.Digital[0] = 0x55; |
212 | ExternControl.Digital[0] = 0x55; |
352 | 213 | ||
- | 214 | ||
- | 215 | FlugMinuten = GetParamWord(PID_FLIGHT_MINUTES); |
|
- | 216 | FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL); |
|
- | 217 | ||
- | 218 | if( (FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF) ) |
|
- | 219 | { |
|
- | 220 | FlugMinuten = 0; |
|
- | 221 | FlugMinutenGesamt = 0; |
|
- | 222 | } |
|
- | 223 | printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
|
- | 224 | ||
353 | 225 | ||
354 | printf("\n\rControl: "); |
226 | printf("\n\rControl: "); |
355 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
227 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
356 | else printf("Normal (ACC-Mode)"); |
228 | else printf("Normal (ACC-Mode)"); |
357 | 229 | ||
358 | LcdClear(); |
230 | LcdClear(); |
359 | I2CTimeout = 5000; |
231 | I2CTimeout = 5000; |
360 | WinkelOut.Orientation = 1; |
232 | WinkelOut.Orientation = 1; |
361 | LipoDetection(1); |
233 | LipoDetection(1); |
362 | 234 | ||
363 | LIBFC_ReceiverInit(); |
235 | LIBFC_ReceiverInit(); |
364 | 236 | ||
365 | printf("\n\r===================================\n\r"); |
237 | printf("\n\r===================================\n\r"); |
366 | //SpektrumBinding(); |
238 | //SpektrumBinding(); |
367 | timer = SetDelay(2000); |
239 | timer = SetDelay(2000); |
368 | timerPolling = SetDelay(250); |
240 | timerPolling = SetDelay(250); |
369 | 241 | ||
370 | while (1) |
242 | while (1) |
371 | { |
243 | { |
372 | 244 | ||
373 | if(CheckDelay(timerPolling)) |
245 | if(CheckDelay(timerPolling)) |
374 | { |
246 | { |
375 | timerPolling = SetDelay(100); |
247 | timerPolling = SetDelay(100); |
376 | LIBFC_Polling(); |
248 | LIBFC_Polling(); |
377 | } |
249 | } |
378 | 250 | ||
379 | if(UpdateMotor && AdReady) // ReglerIntervall |
251 | if(UpdateMotor && AdReady) // ReglerIntervall |
380 | { |
252 | { |
381 | UpdateMotor=0; |
253 | UpdateMotor=0; |
382 | if(WinkelOut.CalcState) CalMk3Mag(); |
254 | if(WinkelOut.CalcState) CalMk3Mag(); |
383 | else MotorRegler(); |
255 | else MotorRegler(); |
384 | SendMotorData(); |
256 | SendMotorData(); |
385 | ROT_OFF; |
257 | ROT_OFF; |
386 | if(SenderOkay) SenderOkay--; |
258 | if(SenderOkay) SenderOkay--; |
387 | else |
259 | else |
388 | { |
260 | { |
389 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
261 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
390 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
262 | PPM_in[0] = 0; // set RSSI to zero on data timeout |
391 | } |
263 | } |
392 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
264 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
393 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
265 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
394 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
266 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
395 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
267 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
396 | 268 | ||
397 | if(!--I2CTimeout || MissingMotor) |
269 | if(!--I2CTimeout || MissingMotor) |
398 | { |
270 | { |
399 | if(!I2CTimeout) |
271 | if(!I2CTimeout) |
400 | { |
272 | { |
401 | i2c_reset(); |
273 | i2c_reset(); |
402 | I2CTimeout = 5; |
274 | I2CTimeout = 5; |
403 | DebugOut.Analog[28]++; // I2C-Error |
275 | DebugOut.Analog[28]++; // I2C-Error |
404 | FCFlags |= FCFLAG_I2CERR; |
276 | FCFlags |= FCFLAG_I2CERR; |
405 | } |
277 | } |
406 | if((BeepMuster == 0xffff) && MotorenEin) |
278 | if((BeepMuster == 0xffff) && MotorenEin) |
407 | { |
279 | { |
408 | beeptime = 10000; |
280 | beeptime = 10000; |
409 | BeepMuster = 0x0080; |
281 | BeepMuster = 0x0080; |
410 | } |
282 | } |
411 | } |
283 | } |
412 | else |
284 | else |
413 | { |
285 | { |
414 | ROT_OFF; |
286 | ROT_OFF; |
415 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
287 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
416 | } |
288 | } |
417 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
289 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
418 | { |
290 | { |
419 | DatenUebertragung(); |
291 | DatenUebertragung(); |
420 | BearbeiteRxDaten(); |
292 | BearbeiteRxDaten(); |
421 | } |
293 | } |
422 | else BearbeiteRxDaten(); |
294 | else BearbeiteRxDaten(); |
423 | if(CheckDelay(timer)) |
295 | if(CheckDelay(timer)) |
424 | { |
296 | { |
425 | static unsigned char second; |
297 | static unsigned char second; |
426 | timer += 20; // 20 ms interval |
298 | timer += 20; // 20 ms interval |
427 | if(PcZugriff) PcZugriff--; |
299 | if(PcZugriff) PcZugriff--; |
428 | else |
300 | else |
429 | { |
301 | { |
430 | ExternControl.Config = 0; |
302 | ExternControl.Config = 0; |
431 | ExternStickNick = 0; |
303 | ExternStickNick = 0; |
432 | ExternStickRoll = 0; |
304 | ExternStickRoll = 0; |
433 | ExternStickGier = 0; |
305 | ExternStickGier = 0; |
434 | if(BeepMuster == 0xffff && SenderOkay == 0) |
306 | if(BeepMuster == 0xffff && SenderOkay == 0) |
435 | { |
307 | { |
436 | beeptime = 15000; |
308 | beeptime = 15000; |
437 | BeepMuster = 0x0c00; |
309 | BeepMuster = 0x0c00; |
438 | } |
310 | } |
439 | } |
311 | } |
440 | if(NaviDataOkay) |
312 | if(NaviDataOkay) |
441 | { |
313 | { |
442 | NaviDataOkay--; |
314 | NaviDataOkay--; |
443 | FCFlags &= ~FCFLAG_SPI_RX_ERR; |
315 | FCFlags &= ~FCFLAG_SPI_RX_ERR; |
444 | } |
316 | } |
445 | else |
317 | else |
446 | { |
318 | { |
447 | GPS_Nick = 0; |
319 | GPS_Nick = 0; |
448 | GPS_Roll = 0; |
320 | GPS_Roll = 0; |
449 | if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR; |
321 | if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR; |
450 | } |
322 | } |
451 | if(UBat < BattLowVoltageWarning) |
323 | if(UBat < BattLowVoltageWarning) |
452 | { |
324 | { |
453 | FCFlags |= FCFLAG_LOWBAT; |
325 | FCFlags |= FCFLAG_LOWBAT; |
454 | if(BeepMuster == 0xffff) |
326 | if(BeepMuster == 0xffff) |
455 | { |
327 | { |
456 | beeptime = 6000; |
328 | beeptime = 6000; |
457 | BeepMuster = 0x0300; |
329 | BeepMuster = 0x0300; |
458 | } |
330 | } |
459 | } |
331 | } |
460 | else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
332 | else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
461 | 333 | ||
462 | SPI_StartTransmitPacket(); |
334 | SPI_StartTransmitPacket(); |
463 | SendSPI = 4; |
335 | SendSPI = 4; |
464 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
336 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
465 | else |
337 | else |
466 | if(++second == 49) |
338 | if(++second == 49) |
467 | { |
339 | { |
468 | second = 0; |
340 | second = 0; |
469 | FlugSekunden++; |
341 | FlugSekunden++; |
470 | } |
342 | } |
471 | 343 | ||
472 | if(++timer2 == 2930) // eine Minute |
344 | if(++timer2 == 2930) // eine Minute |
473 | { |
345 | { |
474 | timer2 = 0; |
346 | timer2 = 0; |
475 | FlugMinuten++; |
347 | FlugMinuten++; |
476 | FlugMinutenGesamt++; |
348 | FlugMinutenGesamt++; |
477 | eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2),FlugMinuten / 256); |
349 | SetParamWord(PID_FLIGHT_MINUTES_TOTAL, FlugMinutenGesamt); |
478 | eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1),FlugMinuten % 256); |
350 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
479 | eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES),FlugMinutenGesamt / 256); |
- | |
480 | eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES+1),FlugMinutenGesamt % 256); |
- | |
481 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
351 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
482 | } |
352 | } |
483 | } |
353 | } |
484 | LED_Update(); |
354 | LED_Update(); |
485 | Capacity_Update(); |
355 | Capacity_Update(); |
486 | } |
356 | } |
487 | if(!SendSPI) { SPI_TransmitByte(); } |
357 | if(!SendSPI) { SPI_TransmitByte(); } |
488 | } |
358 | } |
489 | return (1); |
359 | return (1); |
490 | } |
360 | } |
491 | 361 | ||
492 | 362 | ||
493 | 363 |