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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + 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
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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"
18
// + eindeutig als Ursprung verlinkt und genannt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 25
// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 30
// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 34
// +     for non-commercial use (directly or indirectly)
886 killagreg 35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 36
// +     with our written permission
886 killagreg 37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
1 ingob 39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
886 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/boot.h>
1 ingob 53
 
886 killagreg 54
#include <avr/io.h>
55
#include <avr/interrupt.h>
1180 killagreg 56
#include <util/delay.h>
1 ingob 57
 
886 killagreg 58
#include "main.h"
59
#include "timer0.h"
60
#include "timer2.h"
1180 killagreg 61
#include "uart0.h"
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#include "uart1.h"
63
#include "led.h"
64
#include "menu.h"
65
#include "fc.h"
66
#include "rc.h"
67
#include "analog.h"
68
#include "printf_P.h"
69
#ifdef USE_KILLAGREG
70
#include "mm3.h"
71
#endif
72
#ifdef USE_NAVICTRL
73
#include "spi.h"
74
#endif
908 killagreg 75
#ifdef USE_MK3MAG
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#include "mk3mag.h"
77
#endif
78
#include "twimaster.h"
79
#include "eeprom.h"
1 ingob 80
 
81
 
886 killagreg 82
uint8_t BoardRelease = 10;
1180 killagreg 83
uint8_t CPUType = ATMEGA644;
1 ingob 84
 
819 hbuss 85
 
1180 killagreg 86
uint8_t GetCPUType(void)
87
{   // works only after reset or power on when the registers have default values
88
        uint8_t CPUType = ATMEGA644;
89
        if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P;  // initial Values for 644P after reset
90
        return CPUType;
91
}
92
 
93
 
94
uint8_t GetBoardRelease(void)
1 ingob 95
{
1180 killagreg 96
        uint8_t BoardRelease = 10;
97
        // the board release is coded via the pull up or down the 2 status LED
296 holgerb 98
 
1180 killagreg 99
    PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
100
    DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input
886 killagreg 101
 
1180 killagreg 102
        _delay_loop_2(1000); // make some delay
103
 
104
    switch( PINB & ((1<<PINB1)|(1<<PINB0)) )
936 killagreg 105
    {
1180 killagreg 106
                case 0x00:
107
                        BoardRelease = 10; // 1.0
108
                        break;
109
                case 0x01:
110
                        BoardRelease = 11; // 1.1 or 1.2
111
                        break;
112
                case 0x02:
113
                        BoardRelease = 20; // 2.0
114
                        break;
115
                case 0x03:
116
                        BoardRelease = 13; // 1.3
117
                        break;
118
                default:
119
                        break;
936 killagreg 120
        }
886 killagreg 121
        // set LED ports as output
122
        DDRB |= (1<<DDB1)|(1<<DDB0);
936 killagreg 123
        RED_ON;
886 killagreg 124
        GRN_OFF;
1180 killagreg 125
        return BoardRelease;
126
}
886 killagreg 127
 
1180 killagreg 128
 
129
int16_t main (void)
130
{
1222 killagreg 131
        uint16_t timer;
132
        uint8_t i;
1180 killagreg 133
 
134
        // disable interrupts global
135
        cli();
136
 
137
        // analyze hardware environment
138
        CPUType = GetCPUType();
139
        BoardRelease = GetBoardRelease();
140
 
886 killagreg 141
        // disable watchdog
1 ingob 142
    MCUSR &=~(1<<WDRF);
143
    WDTCSR |= (1<<WDCE)|(1<<WDE);
144
    WDTCSR = 0;
145
 
886 killagreg 146
    BeepTime = 2000;
1 ingob 147
 
911 killagreg 148
        PPM_in[CH_GAS] = 0;
886 killagreg 149
        StickYaw = 0;
150
        StickRoll = 0;
911 killagreg 151
        StickNick = 0;
1 ingob 152
 
936 killagreg 153
    RED_OFF;
886 killagreg 154
 
155
        // initalize modules
1180 killagreg 156
        LED_Init();
886 killagreg 157
    TIMER0_Init();
158
    TIMER2_Init();
159
        USART0_Init();
1180 killagreg 160
        if(CPUType == ATMEGA644P) USART1_Init();
886 killagreg 161
    RC_Init();
1 ingob 162
        ADC_Init();
886 killagreg 163
        I2C_Init();
908 killagreg 164
        #ifdef USE_NAVICTRL
165
        SPI_MasterInit();
166
        #endif
886 killagreg 167
        #ifdef USE_KILLAGREG
168
        MM3_Init();
169
        #endif
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        #ifdef USE_MK3MAG
886 killagreg 171
        MK3MAG_Init();
172
        #endif
173
 
174
        // enable interrupts global
1 ingob 175
        sei();
176
 
1222 killagreg 177
        printf("\n\r===================================");
1180 killagreg 178
        printf("\n\rFlightControl");
179
        printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10);
180
        if(CPUType == ATMEGA644P)
181
        printf("\r\n     CPU: Atmega644p");
182
        else
183
        printf("\r\n     CPU: Atmega644");
184
        printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
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        printf("\n\r===================================");
1 ingob 186
        GRN_ON;
187
 
1180 killagreg 188
        // Parameter Set handling
886 killagreg 189
        ParamSet_Init();
513 hbuss 190
 
1222 killagreg 191
        // Check connected BL-Ctrls
192
        printf("\n\rFound BL-Ctrl: ");
193
        motor_read = 0;
194
        UpdateMotor = 0;
195
        SendMotorData();
196
        while(!UpdateMotor);
197
        motor_read = 0;  // read the first I2C-Data
198
        for(i = 0; i < MAX_MOTORS; i++)
199
        {
200
                UpdateMotor = 0;
201
                SendMotorData();
202
                while(!UpdateMotor);
203
                if(Motor[i].Present) printf("%d ",i+1);
204
        }
205
        for(i = 0; i < MAX_MOTORS; i++)
206
        {
207
                if(!Motor[i].Present && Mixer.Motor[i][MIX_GAS] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
208
                Motor[i].Error = 0;
209
        }
210
        printf("\n\r===================================");
211
 
212
 
1223 killagreg 213
        if(GetParamWord(PID_ACC_NICK) > 2048)
1180 killagreg 214
        {
215
                printf("\n\rACC not calibrated!");
216
        }
1 ingob 217
 
886 killagreg 218
        //wait for a short time (otherwise the RC channel check won't work below)
219
        timer = SetDelay(500);
220
        while(!CheckDelay(timer));
221
 
222
        if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
1180 killagreg 223
        {
224
                printf("\n\rCalibrating air pressure sensor..");
225
                timer = SetDelay(1000);
226
                SearchAirPressureOffset();
227
                while (!CheckDelay(timer));
228
                printf("OK\n\r");
1 ingob 229
        }
886 killagreg 230
 
908 killagreg 231
        #ifdef USE_NAVICTRL
232
        printf("\n\rSupport for NaviCtrl");
1199 killagreg 233
        #ifdef USE_RC_DSL
234
        printf("\r\nSupport for DSL RC at 2nd UART");
908 killagreg 235
        #endif
1199 killagreg 236
        #ifdef USE_RC_SPECTRUM
237
        printf("\r\nSupport for SPECTRUM RC at 2nd UART");
238
        #endif
239
        #endif
908 killagreg 240
 
886 killagreg 241
        #ifdef USE_KILLAGREG
242
        printf("\n\rSupport for MicroMag3 Compass");
908 killagreg 243
        #endif
953 killagreg 244
 
908 killagreg 245
        #ifdef USE_MK3MAG
246
        printf("\n\rSupport for MK3MAG Compass");
247
        #endif
248
 
953 killagreg 249
        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
1180 killagreg 250
        if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART");
251
        else                      printf("\n\rSupport for GPS at 1st UART");
886 killagreg 252
        #endif
253
 
908 killagreg 254
 
1180 killagreg 255
        SetNeutral(NO_ACC_CALIB);
908 killagreg 256
 
936 killagreg 257
        RED_OFF;
1 ingob 258
 
1180 killagreg 259
        BeepTime = 2000;
260
        ExternControl.Digital[0] = 0x55;
886 killagreg 261
 
262
 
263
        printf("\n\rControl: ");
264
        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1222 killagreg 265
        else printf("Neutral (ACC-Mode)");
886 killagreg 266
 
1 ingob 267
        printf("\n\n\r");
886 killagreg 268
 
1180 killagreg 269
        LCD_Clear();
886 killagreg 270
 
1180 killagreg 271
        I2CTimeout = 5000;
1 ingob 272
        while (1)
273
        {
1180 killagreg 274
                if(UpdateMotor && ADReady)      // control interval
275
                {
276
                        UpdateMotor = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
886 killagreg 277
 
1180 killagreg 278
                        //J4HIGH;
279
                        MotorControl();
280
                        //J4LOW;
886 killagreg 281
 
1180 killagreg 282
                        SendMotorData(); // the flight control code
283
                        RED_OFF;
886 killagreg 284
 
285
 
1180 killagreg 286
 
287
                        if(PcAccess) PcAccess--;
288
                        else
289
                        {
290
                                ExternControl.Config = 0;
291
                                ExternStickNick= 0;
292
                                ExternStickRoll = 0;
293
                                ExternStickYaw = 0;
294
                        }
1214 killagreg 295
                        if(RC_Quality)  RC_Quality--;
1222 killagreg 296
 
297
                        #ifdef USE_NAVICTRL
298
                        if(NCDataOkay)
1180 killagreg 299
                        {
1222 killagreg 300
                                if(--NCDataOkay == 0) // no data from NC
301
                                {  // set gps control sticks neutral
302
                                        GPSStickNick = 0;
303
                                        GPSStickRoll = 0;
304
                                        NCSerialDataOkay = 0;
305
                                }
306
                        }
307
                        #endif
308
 
309
                        if(!--I2CTimeout || MissingMotor) // try to reset the i2c if motor is missing ot timeout
310
                        {
311
                                RED_ON;
312
                                if(!I2CTimeout)
313
                                {
314
                                        I2C_Reset();
315
                                        I2CTimeout = 5;
316
                                }
936 killagreg 317
                                if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 318
                                {
319
                                        BeepTime = 10000; // 1 second
320
                                        BeepModulation = 0x0080;
321
                                }
322
                        }
323
                        else
324
                        {
936 killagreg 325
                                RED_OFF;
886 killagreg 326
                        }
327
 
1180 killagreg 328
                        // allow Serial Data Transmit if motors must not updated or motors are not running
329
                        if( !UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 330
                        {
331
                                USART0_TransmitTxData();
332
                        }
1180 killagreg 333
                        USART0_ProcessRxData();
886 killagreg 334
 
335
                        if(CheckDelay(timer))
336
                        {
1180 killagreg 337
                                if(UBat < ParamSet.LowVoltageWarning)
338
                                {
954 killagreg 339
                                        BeepModulation = 0x0300;
952 killagreg 340
                                        if(!BeepTime )
886 killagreg 341
                                        {
342
                                                BeepTime = 6000; // 0.6 seconds
343
                                        }
1180 killagreg 344
                                }
886 killagreg 345
                                #ifdef USE_NAVICTRL
346
                                SPI_StartTransmitPacket();
347
                                SendSPI = 4;
348
                                #endif
349
                                timer = SetDelay(20); // every 20 ms
1180 killagreg 350
                        }
936 killagreg 351
 
1180 killagreg 352
                        LED_Update();
886 killagreg 353
                }
723 hbuss 354
 
886 killagreg 355
                #ifdef USE_NAVICTRL
356
                if(!SendSPI)
357
                {       // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
358
                        // within the SPI_TransmitByte() routine the value is set to 4.
359
                        // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
360
                        // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
361
                        SPI_TransmitByte();
362
                }
363
                #endif
1180 killagreg 364
        }
886 killagreg 365
        return (1);
1 ingob 366
}
367