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| Rev 1112 | Rev 1126 | ||
|---|---|---|---|
| Line 49... | Line 49... | ||
| 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" |
| Line 53... | Line 53... | ||
| 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 | // -- 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 | { |
60 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) { |
| 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(); |
| Line 64... | Line 64... | ||
| 64 | } |
64 | } |
| 65 | 65 | ||
| 66 | // -- Parametersatz ins EEPROM schreiben --- |
- | |
| 67 | // number [1..5] |
- | |
| 68 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
- | |
| 69 | { |
- | |
| 70 | if(number > 5) number = 5; |
- | |
| 71 | if(number < 1) return; |
- | |
| 72 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
- | |
| 73 | SetActiveParamSetNumber(number); |
- | |
| Line -... | Line 66... | ||
| - | 66 | // -- Parametersatz ins EEPROM schreiben --- |
|
| 74 | LED_Init(); |
67 | // number [1..5] |
| 75 | } |
- | |
| 76 | 68 | ||
| 77 | unsigned char GetActiveParamSetNumber(void) |
69 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) { |
| 78 | { |
- | |
| 79 | unsigned char set; |
- | |
| 80 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
- | |
| 81 | if((set > 5) || (set < 1)) |
70 | if (number > 5) number = 5; |
| 82 | { |
- | |
| 83 | set = 3; |
71 | if (number < 1) return; |
| 84 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
72 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
| Line 85... | Line -... | ||
| 85 | } |
- | |
| 86 | return(set); |
73 | SetActiveParamSetNumber(number); |
| 87 | } |
- | |
| - | 74 | LED_Init(); |
|
| - | 75 | } |
|
| 88 | 76 | ||
| 89 | 77 | unsigned char GetActiveParamSetNumber(void) { |
|
| 90 | void SetActiveParamSetNumber(unsigned char number) |
78 | unsigned char set; |
| - | 79 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
|
| - | 80 | if ((set > 5) || (set < 1)) { |
|
| 91 | { |
81 | set = 3; |
| Line -... | Line 82... | ||
| - | 82 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
|
| - | 83 | } |
|
| - | 84 | return (set); |
|
| - | 85 | } |
|
| - | 86 | ||
| 92 | if(number > 5) number = 5; |
87 | void SetActiveParamSetNumber(unsigned char number) { |
| 93 | if(number < 1) return; |
88 | if (number > 5) number = 5; |
| 94 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
- | |
| 95 | } |
89 | if (number < 1) return; |
| 96 | 90 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
|
| 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) { |
| - | 98 | stick = 1; |
|
| 106 | WinkelOut.CalcState++; |
99 | WinkelOut.CalcState++; |
| 107 | if(WinkelOut.CalcState > 4) |
- | |
| 108 | { |
- | |
| 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) { |
| 132 | } |
121 | if (PINB & 0x02) PlatinenVersion = 13; |
| 133 | else |
122 | else PlatinenVersion = 11; |
| 134 | { |
123 | } else { |
| 135 | if(PINB & 0x02) PlatinenVersion = 20; |
124 | if (PINB & 0x02) PlatinenVersion = 20; |
| 136 | else PlatinenVersion = 10; |
125 | else PlatinenVersion = 10; |
| 137 | } |
126 | } |
| 138 | 127 | ||
| Line 139... | Line 128... | ||
| 139 | DDRC = 0x81; // SCL |
128 | DDRC = 0x81; // SCL |
| 140 | DDRC |=0x40; // HEF4017 Reset |
129 | DDRC |= 0x40; // HEF4017 Reset |
| 141 | PORTC = 0xff; // Pullup SDA |
130 | PORTC = 0xff; // Pullup SDA |
| Line 142... | Line 131... | ||
| 142 | DDRB = 0x1B; // LEDs und Druckoffset |
131 | DDRB = 0x1B; // LEDs und Druckoffset |
| Line -... | Line 132... | ||
| - | 132 | PORTB = 0x01; // LED_Rot |
|
| 143 | PORTB = 0x01; // LED_Rot |
133 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| - | 134 | DDRD |= 0x80; // J7 -> Servo signal |
|
| - | 135 | PORTD = 0x77; // LED |
|
| Line 144... | Line 136... | ||
| 144 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
136 | |
| Line 145... | Line 137... | ||
| 145 | DDRD |=0x80; // J7 -> Servo signal |
137 | |
| 146 | PORTD = 0x77; // LED |
138 | MCUSR &= ~(1 << WDRF); |
| 147 | 139 | WDTCSR |= (1 << WDCE) | (1 << WDE); |
|
| 148 | 140 | WDTCSR = 0; |
|
| 149 | MCUSR &=~(1<<WDRF); |
141 | |
| 150 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
142 | beeptime = 2000; |
| Line 151... | Line 143... | ||
| 151 | WDTCSR = 0; |
143 | |
| Line 152... | Line 144... | ||
| 152 | 144 | StickGier = 0; |
|
| 153 | beeptime = 2000; |
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 | ||
| 157 | ROT_OFF; |
149 | ROT_OFF; |
| 158 | 150 | ||
| 159 | Timer_Init(); |
- | |
| 160 | UART_Init(); |
151 | Timer_Init(); |
| 161 | rc_sum_init(); |
152 | UART_Init(); |
| 162 | ADC_Init(); |
- | |
| 163 | i2c_init(); |
153 | rc_sum_init(); |
| Line 164... | Line 154... | ||
| 164 | SPI_MasterInit(); |
154 | ADC_Init(); |
| 165 | - | ||
| 166 | sei(); |
155 | i2c_init(); |
| 167 | 156 | SPI_MasterInit(); |
|
| 168 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
- | |
| 169 | printf("\n\r=============================="); |
157 | |
| 170 | 158 | sei(); |
|
| 171 | GRN_ON; |
159 | |
| 172 | 160 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ", PlatinenVersion / 10, PlatinenVersion % 10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
|
| 173 | 161 | printf("\n\r=============================="); |
|
| 174 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
162 | |
| 175 | // valid Stick-Settings? |
163 | GRN_ON; |
| 176 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION || |
164 | |
| 177 | EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9) |
165 | |
| 178 | { |
166 | ReadParameterSet(3, (unsigned char *) & EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
| 179 | printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings..."); |
- | |
| 180 | DefaultStickMapping(); |
167 | // valid Stick-Settings? |
| 181 | } |
168 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION || |
| Line 182... | Line 169... | ||
| 182 | else if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings"); |
169 | EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9) { |
| 183 | 170 | printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings..."); |
|
| Line 184... | Line 171... | ||
| 184 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
171 | DefaultStickMapping(); |
| 185 | { |
- | |
| 186 | DefaultKonstanten1(); |
172 | } else if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings"); |
| 187 | for (unsigned char i=1;i<6;i++) |
173 | |
| 188 | { |
174 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) { |
| 189 | if(i==2) DefaultKonstanten2(); // Kamera |
175 | DefaultKonstanten1(); |
| 190 | if(i==3) DefaultKonstanten3(); // Beginner |
176 | for (unsigned char i = 1; i < 6; i++) { |
| 191 | if(i>3) DefaultKonstanten2(); // Kamera |
177 | if (i == 2) DefaultKonstanten2(); // Kamera |
| Line 192... | Line 178... | ||
| 192 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
178 | if (i == 3) DefaultKonstanten3(); // Beginner |
| Line 193... | Line 179... | ||
| 193 | } |
179 | if (i > 3) DefaultKonstanten2(); // Kamera |
| Line 194... | Line 180... | ||
| 194 | SetActiveParamSetNumber(3); // default-Setting |
180 | WriteParameterSet(i, (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 195 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
181 | } |
| Line 196... | Line 182... | ||
| 196 | } |
182 | SetActiveParamSetNumber(3); // default-Setting |
| 197 | 183 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
|
| 198 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
184 | } |
| Line 199... | Line 185... | ||
| 199 | { |
185 | |
| Line 200... | Line 186... | ||
| 200 | printf("\n\rACC nicht abgeglichen!"); |
186 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) { |
| 201 | } |
187 | printf("\n\rACC nicht abgeglichen!"); |
| 202 | 188 | } |
|
| 203 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
189 | |
| 204 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
- | |
| Line 205... | Line 190... | ||
| 205 | 190 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
| 206 | 191 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
|
| 207 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
192 | |
| 208 | { |
193 | |
| 209 | printf("\n\rAbgleich Luftdrucksensor.."); |
194 | if (EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) { |
| 210 | timer = SetDelay(1000); |
195 | printf("\n\rAbgleich Luftdrucksensor.."); |
| 211 | SucheLuftruckOffset(); |
196 | timer = SetDelay(1000); |
| 212 | while (!CheckDelay(timer)); |
197 | SucheLuftruckOffset(); |
| 213 | printf("OK\n\r"); |
198 | while (!CheckDelay(timer)); |
| 214 | } |
199 | printf("OK\n\r"); |
| 215 | 200 | } |
|
| 216 | SetNeutral(); |
- | |
| 217 | 201 | ||
| 218 | ROT_OFF; |
202 | SetNeutral(); |
| 219 | 203 | ||
| 220 | beeptime = 2000; |
204 | ROT_OFF; |
| 221 | ExternControl.Digital[0] = 0x55; |
205 | |
| 222 | 206 | beeptime = 2000; |
|
| 223 | 207 | ExternControl.Digital[0] = 0x55; |
|
| 224 | printf("\n\rSteuerung: "); |
- | |
| 225 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
208 | |
| 226 | else printf("Neutral"); |
209 | |
| 227 | 210 | printf("\n\rSteuerung: "); |
|
| 228 | printf("\n\n\r"); |
- | |
| 229 | 211 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
|
| 230 | LcdClear(); |
212 | else printf("Neutral"); |
| 231 | I2CTimeout = 5000; |
- | |
| 232 | WinkelOut.Orientation = 1; |
213 | |
| 233 | while (1) |
214 | printf("\n\n\r"); |
| 234 | { |
- | |
| 235 | 215 | ||
| 236 | if(UpdateMotor) // ReglerIntervall |
216 | LcdClear(); |
| 237 | { |
217 | I2CTimeout = 5000; |
| 238 | UpdateMotor=0; |
218 | WinkelOut.Orientation = 1; |
| 239 | //PORTD |= 0x08; |
- | |
| 240 | if(WinkelOut.CalcState) CalMk3Mag(); |
219 | while (1) { |
| 241 | else MotorRegler(); |
220 | |
| 242 | //PORTD &= ~0x08; |
- | |
| 243 | SendMotorData(); |
221 | if (UpdateMotor) // ReglerIntervall |
| 244 | ROT_OFF; |
222 | { |
| 245 | if(PcZugriff) PcZugriff--; |
- | |
| 246 | else |
223 | UpdateMotor = 0; |
| 247 | { |
- | |
| 248 | ExternControl.Config = 0; |
224 | //PORTD |= 0x08; |
| 249 | ExternStickNick = 0; |
- | |
| 250 | ExternStickRoll = 0; |
225 | if (WinkelOut.CalcState) CalMk3Mag(); |
| 251 | ExternStickGier = 0; |
226 | else MotorRegler(); |
| 252 | } |
227 | //PORTD &= ~0x08; |
| 253 | if(SenderOkay) SenderOkay--; |
228 | SendMotorData(); |
| 254 | if(!I2CTimeout) |
229 | ROT_OFF; |
| 255 | { |
230 | if (PcZugriff) PcZugriff--; |
| 256 | I2CTimeout = 5; |
231 | else { |
| 257 | i2c_reset(); |
232 | ExternControl.Config = 0; |
| 258 | if((BeepMuster == 0xffff) && MotorenEin) |
233 | ExternStickNick = 0; |
| 259 | { |
234 | ExternStickRoll = 0; |
| 260 | beeptime = 10000; |
235 | ExternStickGier = 0; |
| 261 | BeepMuster = 0x0080; |
236 | } |
| Line 262... | Line 237... | ||
| 262 | } |
237 | if (SenderOkay) SenderOkay--; |
| 263 | } |
238 | if (!I2CTimeout) { |
| 264 | else |
239 | I2CTimeout = 5; |
| 265 | { |
240 | i2c_reset(); |
| 266 | I2CTimeout--; |
241 | if ((BeepMuster == 0xffff) && MotorenEin) { |
| 267 | ROT_OFF; |
242 | beeptime = 10000; |
| - | 243 | BeepMuster = 0x0080; |
|
| 268 | } |
244 | } |
| - | 245 | } else { |
|
| 269 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
246 | I2CTimeout--; |
| 270 | { |
247 | ROT_OFF; |
| 271 | DatenUebertragung(); |
248 | } |