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Rev | Author | Line No. | Line |
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2108 | - | 1 | #include <avr/boot.h> |
2 | #include <avr/io.h> |
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3 | #include <avr/interrupt.h> |
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4 | #include <util/delay.h> |
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5 | |||
6 | #include "timer0.h" |
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7 | #include "timer2.h" |
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8 | #include "uart0.h" |
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9 | #include "output.h" |
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10 | #include "attitude.h" |
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11 | #include "commands.h" |
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12 | #include "flight.h" |
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13 | #include "rc.h" |
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14 | #include "analog.h" |
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15 | #include "configuration.h" |
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16 | #include "controlMixer.h" |
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17 | #include "eeprom.h" |
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18 | #include "printf_P.h" |
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19 | |||
20 | int16_t main(void) { |
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21 | uint16_t timer; |
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2130 | - | 22 | static uint8_t profileTimer; |
2108 | - | 23 | |
24 | // disable interrupts global |
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25 | cli(); |
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26 | |||
27 | // disable watchdog |
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28 | MCUSR &= ~(1 << WDRF); |
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29 | WDTCSR |= (1 << WDCE) | (1 << WDE); |
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30 | WDTCSR = 0; |
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31 | |||
32 | // This is strange: It should NOT be necessarty to do. But the call of the same, |
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33 | // in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,.... |
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2130 | - | 34 | // channelMap_default(); |
2108 | - | 35 | |
36 | // initalize modules |
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37 | output_init(); |
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38 | timer0_init(); |
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39 | timer2_init(); |
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40 | usart0_init(); |
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41 | RC_Init(); |
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42 | analog_init(); |
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43 | |||
44 | // Parameter Set handling |
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45 | IMUConfig_readOrDefault(); |
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46 | channelMap_readOrDefault(); |
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2130 | - | 47 | rcTrim_readOrDefault(); |
2108 | - | 48 | paramSet_readOrDefault(); |
49 | |||
50 | // enable interrupts global |
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51 | sei(); |
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52 | |||
53 | controlMixer_setNeutral(); |
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54 | |||
55 | // Cal. attitude sensors and reset integrals. |
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56 | attitude_setNeutral(); |
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57 | |||
2130 | - | 58 | // This is not a busy-wait operation and should be OK. |
2108 | - | 59 | beep(2000); |
60 | |||
2109 | - | 61 | while (1) { |
2108 | - | 62 | if (runFlightControl) { // control interval |
63 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
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64 | if (sensorDataReady != ALL_DATA_READY) { |
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65 | // Analog data should have been ready but is not!! |
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66 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
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67 | } else { |
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68 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
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2109 | - | 69 | } |
2110 | - | 70 | PD2HIGH; |
2109 | - | 71 | // This is probably the correct order: |
72 | // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level) |
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73 | // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc. |
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74 | // Flight control uses results from both. |
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75 | calculateFlightAttitude(); |
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76 | controlMixer_periodicTask(); |
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77 | commands_handleCommands(); |
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78 | flight_control(); |
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2110 | - | 79 | PD2LOW; |
2108 | - | 80 | |
2109 | - | 81 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
82 | if (!runFlightControl || !isFlying) { |
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83 | usart0_transmitTxData(); |
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84 | } |
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2108 | - | 85 | |
2109 | - | 86 | usart0_processRxData(); |
2108 | - | 87 | |
2130 | - | 88 | static uint8_t aboveWarningLimitVoltageSeen = 0; |
2108 | - | 89 | |
2130 | - | 90 | if (checkDelay(timer)) { |
91 | if (UBat >= staticParams.batteryWarningVoltage) { |
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92 | aboveWarningLimitVoltageSeen = 1; |
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93 | } else { // If we are above USB voltage, or if we have once been above warning voltage |
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94 | if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) { |
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95 | beepBatteryAlarm(); |
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96 | } |
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97 | } |
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98 | calculateFeaturedServoValues(); |
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99 | timer = setDelay(20); // every 20 ms |
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100 | } |
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2108 | - | 101 | |
2130 | - | 102 | output_update(); |
2109 | - | 103 | |
104 | if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
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105 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
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106 | } else { |
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107 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
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2108 | - | 108 | } |
109 | } |
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110 | return (1); |
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111 | } |