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| Rev 1112 | Rev 1126 | ||
|---|---|---|---|
| Line 54... | Line 54... | ||
| 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 | // -- Parametersatz aus EEPROM lesen --- |
57 | // -- Parametersatz aus EEPROM lesen --- |
| 58 | // number [1..5] |
58 | // number [1..5] |
| - | 59 | ||
| 59 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
60 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) { |
| 60 | { |
- | |
| 61 | if((number > 5)||(number < 1)) number = 3; |
61 | if ((number > 5) || (number < 1)) number = 3; |
| 62 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
62 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
| 63 | LED_Init(); |
63 | LED_Init(); |
| 64 | } |
64 | } |
| Line 65... | Line 65... | ||
| 65 | 65 | ||
| 66 | // -- Parametersatz ins EEPROM schreiben --- |
66 | // -- Parametersatz ins EEPROM schreiben --- |
| - | 67 | // number [1..5] |
|
| 67 | // number [1..5] |
68 | |
| 68 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
- | |
| 69 | { |
69 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) { |
| 70 | if(number > 5) number = 5; |
70 | if (number > 5) number = 5; |
| 71 | if(number < 1) return; |
71 | if (number < 1) return; |
| 72 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
72 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
| 73 | SetActiveParamSetNumber(number); |
73 | SetActiveParamSetNumber(number); |
| 74 | LED_Init(); |
74 | LED_Init(); |
| Line 75... | Line 75... | ||
| 75 | } |
75 | } |
| 76 | - | ||
| 77 | unsigned char GetActiveParamSetNumber(void) |
76 | |
| 78 | { |
77 | unsigned char GetActiveParamSetNumber(void) { |
| 79 | unsigned char set; |
78 | unsigned char set; |
| 80 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
- | |
| 81 | if((set > 5) || (set < 1)) |
79 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| 82 | { |
80 | if ((set > 5) || (set < 1)) { |
| 83 | set = 3; |
81 | set = 3; |
| 84 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
82 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
| 85 | } |
83 | } |
| Line 86... | Line -... | ||
| 86 | return(set); |
- | |
| 87 | } |
84 | return (set); |
| 88 | - | ||
| 89 | 85 | } |
|
| 90 | void SetActiveParamSetNumber(unsigned char number) |
86 | |
| 91 | { |
87 | void SetActiveParamSetNumber(unsigned char number) { |
| 92 | if(number > 5) number = 5; |
88 | if (number > 5) number = 5; |
| Line 93... | Line -... | ||
| 93 | if(number < 1) return; |
- | |
| 94 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
89 | if (number < 1) return; |
| 95 | } |
- | |
| 96 | 90 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
|
| Line 97... | Line 91... | ||
| 97 | 91 | } |
|
| 98 | void CalMk3Mag(void) |
92 | |
| 99 | { |
- | |
| 100 | static unsigned char stick = 1; |
93 | void CalMk3Mag(void) { |
| 101 | 94 | static unsigned char stick = 1; |
|
| 102 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
95 | |
| 103 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
- | |
| 104 | { |
96 | if (PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| 105 | stick = 1; |
97 | if ((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) { |
| 106 | WinkelOut.CalcState++; |
- | |
| 107 | if(WinkelOut.CalcState > 4) |
98 | stick = 1; |
| 108 | { |
99 | WinkelOut.CalcState++; |
| 109 | // WinkelOut.CalcState = 0; // in Uart.c |
100 | if (WinkelOut.CalcState > 4) { |
| 110 | beeptime = 1000; |
101 | // WinkelOut.CalcState = 0; // in Uart.c |
| Line 111... | Line 102... | ||
| 111 | } |
102 | beeptime = 1000; |
| 112 | else Piep(WinkelOut.CalcState); |
103 | } else Piep(WinkelOut.CalcState); |
| - | 104 | } |
|
| 113 | } |
105 | DebugOut.Analog[19] = WinkelOut.CalcState; |
| 114 | DebugOut.Analog[19] = WinkelOut.CalcState; |
106 | } |
| 115 | } |
107 | |
| 116 | 108 | //############################################################################ |
|
| Line 117... | Line 109... | ||
| 117 | //############################################################################ |
109 | //Hauptprogramm |
| 118 | //Hauptprogramm |
110 | |
| 119 | int main (void) |
111 | int main(void) |
| 120 | //############################################################################ |
112 | //############################################################################ |
| 121 | { |
113 | { |
| 122 | unsigned int timer; |
- | |
| 123 | 114 | unsigned int timer; |
|
| 124 | //unsigned int timer2 = 0; |
115 | |
| 125 | DDRB = 0x00; |
- | |
| 126 | PORTB = 0x00; |
116 | //unsigned int timer2 = 0; |
| 127 | for(timer = 0; timer < 1000; timer++); // verzögern |
- | |
| 128 | if(PINB & 0x01) |
117 | DDRB = 0x00; |
| 129 | { |
118 | PORTB = 0x00; |
| 130 | if(PINB & 0x02) PlatinenVersion = 13; |
119 | for (timer = 0; timer < 1000; timer++); // verzögern |
| Line 131... | Line 120... | ||
| 131 | else PlatinenVersion = 11; |
120 | if (PINB & 0x01) { |
| Line 150... | Line 139... | ||
| 150 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
139 | WDTCSR |= (1 << WDCE) | (1 << WDE); |
| 151 | WDTCSR = 0; |
140 | WDTCSR = 0; |
| Line 152... | Line 141... | ||
| 152 | 141 | ||
| Line -... | Line 142... | ||
| - | 142 | beeptime = 2000; |
|
| 153 | beeptime = 2000; |
143 | |
| - | 144 | StickGier = 0; |
|
| - | 145 | PPM_in[K_GAS] = 0; |
|
| Line 154... | Line 146... | ||
| 154 | 146 | StickRoll = 0; |
|
| Line 155... | Line 147... | ||
| 155 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
147 | StickNick = 0; |
| 156 | 148 | ||
| Line 172... | Line 164... | ||
| 172 | 164 | ||
| 173 | 165 | ||
| 174 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
166 | ReadParameterSet(3, (unsigned char *) & EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
| 175 | // valid Stick-Settings? |
167 | // valid Stick-Settings? |
| 176 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION || |
- | |
| 177 | EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9) |
168 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION || |
| 178 | { |
169 | EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9) { |
| 179 | printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings..."); |
- | |
| 180 | DefaultStickMapping(); |
170 | printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings..."); |
| Line 181... | Line 171... | ||
| 181 | } |
171 | DefaultStickMapping(); |
| 182 | else if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings"); |
- | |
| 183 | 172 | } else if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings"); |
|
| 184 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
173 | |
| 185 | { |
- | |
| 186 | DefaultKonstanten1(); |
174 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) { |
| 187 | for (unsigned char i=1;i<6;i++) |
175 | DefaultKonstanten1(); |
| 188 | { |
176 | for (unsigned char i = 1; i < 6; i++) { |
| 189 | if(i==2) DefaultKonstanten2(); // Kamera |
177 | if (i == 2) DefaultKonstanten2(); // Kamera |
| 190 | if(i==3) DefaultKonstanten3(); // Beginner |
178 | if (i == 3) DefaultKonstanten3(); // Beginner |
| 191 | if(i>3) DefaultKonstanten2(); // Kamera |
179 | if (i > 3) DefaultKonstanten2(); // Kamera |
| 192 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
180 | WriteParameterSet(i, (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 193 | } |
181 | } |
| Line 194... | Line 182... | ||
| 194 | SetActiveParamSetNumber(3); // default-Setting |
182 | SetActiveParamSetNumber(3); // default-Setting |
| 195 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
- | |
| 196 | } |
183 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| 197 | 184 | } |
|
| Line 198... | Line 185... | ||
| 198 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
185 | |
| 199 | { |
186 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) { |
| Line 200... | Line 187... | ||
| 200 | printf("\n\rACC nicht abgeglichen!"); |
187 | printf("\n\rACC nicht abgeglichen!"); |
| 201 | } |
- | |
| 202 | 188 | } |
|
| 203 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
189 | |
| 204 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
190 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 205 | 191 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
|
| 206 | 192 | ||
| Line 228... | Line 214... | ||
| 228 | printf("\n\n\r"); |
214 | printf("\n\n\r"); |
| Line 229... | Line 215... | ||
| 229 | 215 | ||
| 230 | LcdClear(); |
216 | LcdClear(); |
| 231 | I2CTimeout = 5000; |
217 | I2CTimeout = 5000; |
| 232 | WinkelOut.Orientation = 1; |
218 | WinkelOut.Orientation = 1; |
| 233 | while (1) |
- | |
| Line 234... | Line 219... | ||
| 234 | { |
219 | while (1) { |
| 235 | 220 | ||
| 236 | if(UpdateMotor) // ReglerIntervall |
221 | if (UpdateMotor) // ReglerIntervall |
| 237 | { |
222 | { |
| Line 241... | Line 226... | ||
| 241 | else MotorRegler(); |
226 | else MotorRegler(); |
| 242 | //PORTD &= ~0x08; |
227 | //PORTD &= ~0x08; |
| 243 | SendMotorData(); |
228 | SendMotorData(); |
| 244 | ROT_OFF; |
229 | ROT_OFF; |
| 245 | if(PcZugriff) PcZugriff--; |
230 | if (PcZugriff) PcZugriff--; |
| 246 | else |
231 | else { |
| 247 | { |
- | |
| 248 | ExternControl.Config = 0; |
232 | ExternControl.Config = 0; |
| 249 | ExternStickNick = 0; |
233 | ExternStickNick = 0; |
| 250 | ExternStickRoll = 0; |
234 | ExternStickRoll = 0; |
| 251 | ExternStickGier = 0; |
235 | ExternStickGier = 0; |
| 252 | } |
236 | } |
| 253 | if(SenderOkay) SenderOkay--; |
237 | if (SenderOkay) SenderOkay--; |
| 254 | if(!I2CTimeout) |
238 | if (!I2CTimeout) { |
| 255 | { |
- | |
| 256 | I2CTimeout = 5; |
239 | I2CTimeout = 5; |
| 257 | i2c_reset(); |
240 | i2c_reset(); |
| 258 | if((BeepMuster == 0xffff) && MotorenEin) |
241 | if ((BeepMuster == 0xffff) && MotorenEin) { |
| 259 | { |
- | |
| 260 | beeptime = 10000; |
242 | beeptime = 10000; |
| 261 | BeepMuster = 0x0080; |
243 | BeepMuster = 0x0080; |
| 262 | } |
244 | } |
| 263 | } |
- | |
| 264 | else |
245 | } else { |
| 265 | { |
- | |
| 266 | I2CTimeout--; |
246 | I2CTimeout--; |
| 267 | ROT_OFF; |
247 | ROT_OFF; |
| 268 | } |
248 | } |
| 269 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
249 | if (SIO_DEBUG && (!UpdateMotor || !MotorenEin)) { |
| 270 | { |
- | |
| 271 | DatenUebertragung(); |
250 | DatenUebertragung(); |
| 272 | BearbeiteRxDaten(); |
251 | BearbeiteRxDaten(); |
| 273 | } |
- | |
| 274 | else BearbeiteRxDaten(); |
252 | } else BearbeiteRxDaten(); |
| 275 | if(CheckDelay(timer)) |
253 | if (CheckDelay(timer)) { |
| 276 | { |
- | |
| 277 | if(UBat < EE_Parameter.UnterspannungsWarnung) |
254 | if (UBat < EE_Parameter.UnterspannungsWarnung) { |
| 278 | { |
- | |
| 279 | if(BeepMuster == 0xffff) |
255 | if (BeepMuster == 0xffff) { |
| 280 | { |
- | |
| 281 | beeptime = 6000; |
256 | beeptime = 6000; |
| 282 | BeepMuster = 0x0300; |
257 | BeepMuster = 0x0300; |
| 283 | } |
258 | } |
| 284 | } |
259 | } |
| 285 | /* if(SendVersionToNavi) |
260 | /* if(SendVersionToNavi) |
| Line 295... | Line 270... | ||
| 295 | timer = SetDelay(20); |
270 | timer = SetDelay(20); |
| 296 | } |
271 | } |
| 297 | //if(UpdateMotor) DebugOut.Analog[26]++; |
272 | //if(UpdateMotor) DebugOut.Analog[26]++; |
| 298 | LED_Update(); |
273 | LED_Update(); |
| 299 | } |
274 | } |
| - | 275 | if (!SendSPI) { |
|
| 300 | if(!SendSPI) { SPI_TransmitByte(); } |
276 | SPI_TransmitByte(); |
| - | 277 | } |
|
| 301 | } |
278 | } |
| 302 | return (1); |
279 | return (1); |
| 303 | } |
280 | } |