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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 <avr/boot.h> |
53 | - | ||
54 | unsigned char EEPromArray[E2END+1] EEMEM; |
- | |
55 | unsigned char PlatinenVersion = 10; |
- | |
56 | unsigned char SendVersionToNavi = 1; |
- | |
57 | // -- Parametersatz aus EEPROM lesen --- |
- | |
58 | // number [0..5] |
- | |
59 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
- | |
60 | { |
- | |
61 | if (number > 5) number = 5; |
- | |
62 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
- | |
63 | } |
- | |
Line -... | Line 53... | ||
- | 53 | ||
- | 54 | #include <avr/io.h> |
|
Line 64... | Line 55... | ||
64 | 55 | #include <avr/interrupt.h> |
|
65 | 56 | ||
66 | // -- Parametersatz ins EEPROM schreiben --- |
57 | #include "main.h" |
67 | // number [0..5] |
- | |
68 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
58 | #include "timer0.h" |
69 | { |
59 | #include "timer2.h" |
70 | if(number > 5) number = 5; |
60 | #include "uart.h" |
71 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
61 | #if defined (__AVR_ATmega644P__) |
72 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
62 | #include "uart1.h" |
73 | } |
63 | #endif |
- | 64 | #include "led.h" |
|
74 | 65 | #include "menu.h" |
|
75 | unsigned char GetActiveParamSetNumber(void) |
66 | #include "fc.h" |
- | 67 | #include "rc.h" |
|
76 | { |
68 | #include "analog.h" |
77 | unsigned char set; |
69 | #include "printf_P.h" |
78 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
70 | #ifdef USE_KILLAGREG |
- | 71 | #include "mm3.h" |
|
- | 72 | #endif |
|
79 | if(set > 5) |
73 | #ifdef USE_NAVICTRL |
80 | { |
74 | #include "spi.h" |
- | 75 | #endif |
|
81 | set = 2; |
76 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
82 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
77 | #include "mk3mag.h" |
83 | } |
78 | #endif |
- | 79 | #include "twimaster.h" |
|
Line 84... | Line -... | ||
84 | return(set); |
- | |
85 | } |
- | |
86 | - | ||
Line 87... | Line -... | ||
87 | void CalMk3Mag(void) |
- | |
88 | { |
- | |
89 | static unsigned char stick = 1; |
- | |
90 | - | ||
91 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
- | |
92 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
- | |
93 | { |
- | |
94 | stick = 1; |
- | |
95 | WinkelOut.CalcState++; |
80 | #include "eeprom.h" |
96 | if(WinkelOut.CalcState > 4) |
- | |
97 | { |
- | |
98 | // WinkelOut.CalcState = 0; // in Uart.c |
- | |
99 | beeptime = 1000; |
- | |
100 | } |
- | |
Line 101... | Line 81... | ||
101 | else Piep(WinkelOut.CalcState); |
81 | #include "_Settings.h" |
102 | } |
82 | |
103 | DebugOut.Analog[19] = WinkelOut.CalcState; |
83 | |
104 | } |
84 | uint8_t BoardRelease = 10; |
105 | 85 | ||
106 | 86 | ||
Line 107... | Line 87... | ||
107 | //############################################################################ |
87 | //############################################################################ |
- | 88 | //Hauptprogramm |
|
- | 89 | int main (void) |
|
- | 90 | //############################################################################ |
|
108 | //Hauptprogramm |
91 | { |
109 | int main (void) |
92 | unsigned int timer; |
110 | //############################################################################ |
93 | |
111 | { |
94 | // disable interrupts global |
112 | unsigned int timer; |
95 | cli(); |
113 | - | ||
114 | //unsigned int timer2 = 0; |
- | |
115 | DDRB = 0x00; |
- | |
116 | PORTB = 0x00; |
- | |
117 | for(timer = 0; timer < 1000; timer++); // verzögern |
- | |
118 | if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
96 | |
119 | DDRC = 0x81; // SCL |
97 | // get board release |
- | 98 | DDRB = 0x00; |
|
120 | PORTC = 0xff; // Pullup SDA |
99 | PORTB = 0x00; |
- | 100 | for(timer = 0; timer < 1000; timer++); // make some delay |
|
Line -... | Line 101... | ||
- | 101 | if(PINB & (1<<PINB0)) BoardRelease = 11; |
|
121 | DDRB = 0x1B; // LEDs und Druckoffset |
102 | else BoardRelease = 10; |
122 | PORTB = 0x01; // LED_Rot |
103 | |
123 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
104 | // set LED ports as output |
Line 124... | Line 105... | ||
124 | DDRD |=0x80; // J7 |
105 | DDRB |= (1<<DDB1)|(1<<DDB0); |
Line 125... | Line 106... | ||
125 | 106 | ROT_ON; |
|
- | 107 | GRN_OFF; |
|
- | 108 | ||
- | 109 | // disable watchdog |
|
Line 126... | Line 110... | ||
126 | PORTD = 0xF7; // LED |
110 | MCUSR &=~(1<<WDRF); |
Line -... | Line 111... | ||
- | 111 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
|
- | 112 | WDTCSR = 0; |
|
- | 113 | ||
127 | 114 | BeepTime = 2000; |
|
128 | 115 | ||
- | 116 | PPM_in[CH_THRUST] = 0; |
|
- | 117 | StickYaw = 0; |
|
- | 118 | StickRoll = 0; |
|
- | 119 | StickPitch = 0; |
|
- | 120 | ||
129 | MCUSR &=~(1<<WDRF); |
121 | ROT_OFF; |
130 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
122 | |
131 | WDTCSR = 0; |
123 | // initalize modules |
- | 124 | LED_Init(); |
|
- | 125 | TIMER0_Init(); |
|
- | 126 | TIMER2_Init(); |
|
- | 127 | USART0_Init(); |
|
- | 128 | ||
132 | 129 | #if defined (__AVR_ATmega644P__) |
|
- | 130 | if (BoardRelease == 11) USART1_Init(); |
|
- | 131 | #endif |
|
- | 132 | ||
- | 133 | RC_Init(); |
|
Line -... | Line 134... | ||
- | 134 | ADC_Init(); |
|
- | 135 | I2C_Init(); |
|
133 | beeptime = 2000; |
136 | |
Line 134... | Line 137... | ||
134 | 137 | #ifdef USE_KILLAGREG |
|
135 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
138 | MM3_Init(); |
136 | 139 | #endif |
|
Line 137... | Line 140... | ||
137 | ROT_OFF; |
140 | #ifdef USE_NAVICTRL |
138 | 141 | SPI_MasterInit(); |
|
139 | Timer_Init(); |
142 | #endif |
Line 140... | Line -... | ||
140 | UART_Init(); |
- | |
141 | rc_sum_init(); |
- | |
142 | ADC_Init(); |
- | |
143 | i2c_init(); |
- | |
144 | SPI_MasterInit(); |
143 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
145 | 144 | MK3MAG_Init(); |
|
146 | sei(); |
- | |
147 | - | ||
148 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
- | |
149 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
- | |
150 | VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
- | |
151 | - | ||
152 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
- | |
153 | printf("\n\r=============================="); |
- | |
154 | GRN_ON; |
- | |
Line 155... | Line 145... | ||
155 | 145 | #endif |
|
156 | #define EE_DATENREVISION 70 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
146 | |
157 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
147 | |
158 | { |
148 | // enable interrupts global |
Line 159... | Line 149... | ||
159 | printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
149 | sei(); |
- | 150 | ||
160 | DefaultKonstanten1(); |
151 | VersionInfo.Major = VERSION_MAJOR; |
- | 152 | VersionInfo.Minor = VERSION_MINOR; |
|
Line -... | Line 153... | ||
- | 153 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
|
- | 154 | ||
- | 155 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
|
Line -... | Line 156... | ||
- | 156 | printf("\n\r=============================="); |
|
161 | for (unsigned char i=0;i<6;i++) |
157 | GRN_ON; |
162 | { |
158 | |
163 | if(i==2) DefaultKonstanten2(); // Kamera |
159 | // Parameter set handling |
164 | if(i==3) DefaultKonstanten3(); // Beginner |
160 | ParamSet_Init(); |
165 | if(i>3) DefaultKonstanten2(); // Kamera |
161 | |
166 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
162 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
167 | } |
163 | { |
168 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
164 | printf("\n\rACC not calibrated!"); |
Line -... | Line 165... | ||
- | 165 | } |
|
- | 166 | ||
- | 167 | //wait for a short time (otherwise the RC channel check won't work below) |
|
- | 168 | timer = SetDelay(500); |
|
- | 169 | while(!CheckDelay(timer)); |
|
- | 170 | ||
- | 171 | ||
- | 172 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
|
- | 173 | printf("\n\rSupport for MK3MAG Compass"); |
|
- | 174 | #endif |
|
- | 175 | ||
- | 176 | ||
- | 177 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
|
- | 178 | { |
|
- | 179 | printf("\n\rCalibrating air pressure sensor.."); |
|
- | 180 | timer = SetDelay(1000); |
|
169 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
181 | SearchAirPressureOffset(); |
Line 170... | Line 182... | ||
170 | } |
182 | while (!CheckDelay(timer)); |
Line 171... | Line 183... | ||
171 | 183 | printf("OK\n\r"); |
|
172 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
184 | } |
Line 173... | Line 185... | ||
173 | { |
185 | |
174 | printf("\n\rACC nicht abgeglichen!"); |
186 | #ifdef USE_KILLAGREG |
175 | } |
187 | printf("\n\rSupport for MicroMag3 Compass"); |
Line 176... | Line 188... | ||
176 | 188 | #if defined (__AVR_ATmega644P__) |
|
Line 177... | Line 189... | ||
177 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
189 | if(BoardRelease == 10) |
- | 190 | { |
|
178 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
191 | printf("\n\rSupport for GPS at 1st UART"); |
179 | - | ||
- | 192 | } |
|
180 | 193 | else |
|
181 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
194 | { |
182 | { |
- | |
183 | printf("\n\rAbgleich Luftdrucksensor.."); |
195 | printf("\n\rSupport for GPS at 2nd UART"); |
184 | timer = SetDelay(1000); |
196 | } |
185 | SucheLuftruckOffset(); |
197 | #else // (__AVR_ATmega644__) |
186 | while (!CheckDelay(timer)); |
198 | printf("\n\rSupport for GPS at 1st UART"); |
187 | printf("OK\n\r"); |
- | |
188 | } |
199 | #endif |
189 | 200 | #endif |
|
- | 201 | ||
190 | SetNeutral(); |
202 | SetNeutral(); |
- | 203 | ||
191 | 204 | ROT_OFF; |
|
- | 205 | ||
192 | ROT_OFF; |
206 | BeepTime = 2000; |
193 | 207 | ExternControl.Digital[0] = 0x55; |
|
194 | beeptime = 2000; |
208 | |
195 | ExternControl.Digital[0] = 0x55; |
209 | |
196 | 210 | printf("\n\rControl: "); |
|
197 | 211 | if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
|
198 | printf("\n\rSteuerung: "); |
212 | else printf("Neutral"); |
199 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
213 | |
200 | else printf("Neutral"); |
214 | printf("\n\n\r"); |
201 | 215 | ||
202 | printf("\n\n\r"); |
- | |
- | 216 | LCD_Clear(); |
|
203 | 217 | ||
204 | LcdClear(); |
218 | I2CTimeout = 5000; |
205 | I2CTimeout = 5000; |
219 | |
206 | WinkelOut.Orientation = 1; |
220 | while (1) |
207 | while (1) |
221 | { |
208 | { |
222 | if(UpdateMotor) // control interval |
209 | 223 | { |
|
210 | if(UpdateMotor) // ReglerIntervall |
224 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
211 | { |
225 | //PORTD |= (1<<PORTD4); |
212 | UpdateMotor=0; |
226 | MotorControl(); |
213 | //PORTD |= 0x08; |
227 | //PORTD &= ~(1<<PORTD4); |
214 | if(WinkelOut.CalcState) CalMk3Mag(); |
228 | |
215 | else MotorRegler(); |
229 | SendMotorData(); |
216 | //PORTD &= ~0x08; |
230 | |
217 | SendMotorData(); |
231 | ROT_OFF; |
- | 232 | ||
218 | ROT_OFF; |
233 | if(PcAccess) PcAccess--; |
219 | if(PcZugriff) PcZugriff--; |
234 | else |
220 | else |
235 | { |
221 | { |
236 | DubWiseKeys[0] = 0; |
222 | DubWiseKeys[0] = 0; |
237 | DubWiseKeys[1] = 0; |
223 | DubWiseKeys[1] = 0; |
238 | ExternControl.Config = 0; |
- | 239 | ExternStickPitch= 0; |
|
224 | ExternControl.Config = 0; |
240 | ExternStickRoll = 0; |
225 | ExternStickNick = 0; |
241 | ExternStickYaw = 0; |
226 | ExternStickRoll = 0; |
242 | } |
227 | ExternStickGier = 0; |
243 | |
228 | } |
244 | if(!I2CTimeout) |
229 | if(SenderOkay) SenderOkay--; |
245 | { |
230 | if(!I2CTimeout) |
246 | I2CTimeout = 5; |
231 | { |
247 | I2C_Reset(); |
232 | I2CTimeout = 5; |
- | |
233 | i2c_reset(); |
248 | if((BeepModulation == 0xFFFF) && MotorsOn) |
234 | if((BeepMuster == 0xffff) && MotorenEin) |
- | |
235 | { |
- | |
236 | beeptime = 10000; |
- | |
237 | BeepMuster = 0x0080; |
- | |
238 | } |
249 | { |
239 | } |
250 | BeepTime = 10000; // 1 second |
240 | else |
- | |
241 | { |
251 | BeepModulation = 0x0080; |
242 | I2CTimeout--; |
- | |
243 | ROT_OFF; |
252 | } |
- | 253 | } |
|
244 | } |
254 | else |
- | 255 | { |
|
245 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
256 | I2CTimeout--; |
- | 257 | ROT_OFF; |
|
- | 258 | } |
|
- | 259 | ||
246 | { |
260 | if(SIO_DEBUG && (!UpdateMotor || !MotorsOn)) |
- | 261 | { |
|
- | 262 | USART0_TransmitTxData(); |
|
- | 263 | USART0_ProcessRxData(); |
|
- | 264 | } |
|
247 | DatenUebertragung(); |
265 | else USART0_ProcessRxData(); |
248 | BearbeiteRxDaten(); |
266 | |
249 | } |
267 | if(CheckDelay(timer)) |
250 | else BearbeiteRxDaten(); |
268 | { |
251 | if(CheckDelay(timer)) |
269 | if(UBat < ParamSet.LowVoltageWarning) |