Subversion Repositories FlightCtrl

Rev

Rev 909 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + 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.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
886 killagreg 33
// +   * 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
38
// +     clearly linked as origin
1 ingob 39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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
886 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 52
#include <avr/boot.h>
1 ingob 53
 
886 killagreg 54
#include <avr/io.h>
55
#include <avr/interrupt.h>
1 ingob 56
 
886 killagreg 57
#include "main.h"
58
#include "timer0.h"
59
#include "timer2.h"
60
#include "uart.h"
61
#if defined (__AVR_ATmega644P__)
62
#include "uart1.h"
63
#endif
64
#include "led.h"
65
#include "menu.h"
66
#include "fc.h"
67
#include "rc.h"
68
#include "analog.h"
69
#include "printf_P.h"
70
#ifdef USE_KILLAGREG
71
#include "mm3.h"
72
#endif
73
#ifdef USE_NAVICTRL
74
#include "spi.h"
75
#endif
909 pangu 76
#ifdef USE_MK3MAG
886 killagreg 77
#include "mk3mag.h"
78
#endif
79
#include "twimaster.h"
80
#include "eeprom.h"
81
#include "_Settings.h"
1 ingob 82
 
83
 
886 killagreg 84
uint8_t BoardRelease = 10;
1 ingob 85
 
819 hbuss 86
 
1 ingob 87
//############################################################################
88
//Hauptprogramm
89
int main (void)
90
//############################################################################
91
{
819 hbuss 92
        unsigned int timer;
296 holgerb 93
 
886 killagreg 94
        // disable interrupts global
95
        cli();
96
 
97
        // get board release
98
    DDRB  = 0x00;
99
    PORTB = 0x00;
100
    for(timer = 0; timer < 1000; timer++); // make some delay
101
    if(PINB & (1<<PINB0)) BoardRelease = 11;
102
    else BoardRelease = 10;
103
 
104
        // set LED ports as output
105
        DDRB |= (1<<DDB1)|(1<<DDB0);
106
        ROT_ON;
107
        GRN_OFF;
108
 
109
        // disable watchdog
1 ingob 110
    MCUSR &=~(1<<WDRF);
111
    WDTCSR |= (1<<WDCE)|(1<<WDE);
112
    WDTCSR = 0;
113
 
886 killagreg 114
    BeepTime = 2000;
1 ingob 115
 
916 pangu 116
        PPM_in[CH_GAS] = 0;
886 killagreg 117
        StickYaw = 0;
118
        StickRoll = 0;
916 pangu 119
        StickNick = 0;
1 ingob 120
 
121
    ROT_OFF;
886 killagreg 122
 
123
        // initalize modules
124
        LED_Init();
125
    TIMER0_Init();
126
    TIMER2_Init();
127
        USART0_Init();
128
 
129
        #if defined (__AVR_ATmega644P__)
130
        if (BoardRelease == 11) USART1_Init();
131
        #endif
132
 
133
    RC_Init();
1 ingob 134
        ADC_Init();
886 killagreg 135
        I2C_Init();
136
 
909 pangu 137
 
138
        #ifdef USE_NAVICTRL
139
        SPI_MasterInit();
140
        #endif
886 killagreg 141
        #ifdef USE_KILLAGREG
142
        MM3_Init();
143
        #endif
909 pangu 144
        #ifdef USE_MK3MAG
886 killagreg 145
        MK3MAG_Init();
146
        #endif
147
 
148
 
149
        // enable interrupts global
1 ingob 150
        sei();
151
 
886 killagreg 152
    VersionInfo.Major = VERSION_MAJOR;
153
    VersionInfo.Minor = VERSION_MINOR;
154
    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
155
 
156
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');
1 ingob 157
        printf("\n\r==============================");
158
        GRN_ON;
159
 
886 killagreg 160
        // Parameter set handling
161
        ParamSet_Init();
513 hbuss 162
 
916 pangu 163
    if(GetParamWord(PID_ACC_NICK) > 1023)
513 hbuss 164
     {
886 killagreg 165
       printf("\n\rACC not calibrated!");
513 hbuss 166
     }
1 ingob 167
 
886 killagreg 168
        //wait for a short time (otherwise the RC channel check won't work below)
169
        timer = SetDelay(500);
170
        while(!CheckDelay(timer));
171
 
172
 
173
        if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
174
         {
175
           printf("\n\rCalibrating air pressure sensor..");
176
           timer = SetDelay(1000);
177
       SearchAirPressureOffset();
1 ingob 178
           while (!CheckDelay(timer));
179
       printf("OK\n\r");
180
        }
886 killagreg 181
 
909 pangu 182
        #ifdef USE_NAVICTRL
183
        printf("\n\rSupport for NaviCtrl");
184
        #endif
185
 
886 killagreg 186
        #ifdef USE_KILLAGREG
187
        printf("\n\rSupport for MicroMag3 Compass");
909 pangu 188
        #endif
189
        #ifdef USE_MK3MAG
190
        printf("\n\rSupport for MK3MAG Compass");
191
        #endif
192
 
193
 
194
 
195
        #if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
886 killagreg 196
        #if defined (__AVR_ATmega644P__)
197
        if(BoardRelease == 10)
198
        {
199
                printf("\n\rSupport for GPS at 1st UART");
200
        }
201
        else
202
        {
203
                printf("\n\rSupport for GPS at 2nd UART");
204
        }
205
        #else // (__AVR_ATmega644__)
909 pangu 206
        printf("\n\rSupport for GPS at 1st UART");
886 killagreg 207
        #endif
208
        #endif
209
 
909 pangu 210
 
211
 
1 ingob 212
        SetNeutral();
213
 
214
        ROT_OFF;
215
 
886 killagreg 216
    BeepTime = 2000;
217
    ExternControl.Digital[0] = 0x55;
218
 
219
 
220
        printf("\n\rControl: ");
221
        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1 ingob 222
        else printf("Neutral");
886 killagreg 223
 
1 ingob 224
        printf("\n\n\r");
886 killagreg 225
 
226
    LCD_Clear();
227
 
173 holgerb 228
    I2CTimeout = 5000;
886 killagreg 229
 
1 ingob 230
        while (1)
231
        {
886 killagreg 232
        if(UpdateMotor)      // control interval
233
        {
234
                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
235
                        //PORTD |= (1<<PORTD4);
236
            MotorControl();
237
                        //PORTD &= ~(1<<PORTD4);
238
 
239
                        SendMotorData();
240
 
1 ingob 241
            ROT_OFF;
886 killagreg 242
 
243
            if(PcAccess) PcAccess--;
244
            else
245
            {
246
               DubWiseKeys[0] = 0;
492 hbuss 247
               DubWiseKeys[1] = 0;
595 hbuss 248
                           ExternControl.Config = 0;
916 pangu 249
               ExternStickNick= 0;
492 hbuss 250
               ExternStickRoll = 0;
886 killagreg 251
               ExternStickYaw = 0;
252
            }
253
 
173 holgerb 254
            if(!I2CTimeout)
886 killagreg 255
            {
256
                                I2CTimeout = 5;
257
                                I2C_Reset();
258
                                if((BeepModulation == 0xFFFF) && MotorsOn)
259
                                {
260
                                        BeepTime = 10000; // 1 second
261
                                        BeepModulation = 0x0080;
262
                                }
263
                        }
264
                        else
265
                        {
266
                                I2CTimeout--;
267
                                ROT_OFF;
268
                        }
269
 
270
                        if(SIO_DEBUG && (!UpdateMotor || !MotorsOn))
271
                        {
272
                                USART0_TransmitTxData();
273
                                USART0_ProcessRxData();
274
                        }
275
                        else USART0_ProcessRxData();
276
 
277
                        if(CheckDelay(timer))
278
                        {
279
                if(UBat < ParamSet.LowVoltageWarning)
173 holgerb 280
                {
886 killagreg 281
                                        if(BeepModulation == 0xFFFF)
282
                                        {
283
                                                BeepTime = 6000; // 0.6 seconds
284
                        BeepModulation = 0x0300;
285
                                        }
1 ingob 286
                }
886 killagreg 287
                                #ifdef USE_NAVICTRL
288
                                SPI_StartTransmitPacket();
289
                                SendSPI = 4;
290
                                #endif
291
                                timer = SetDelay(20); // every 20 ms
292
            }
293
                }
723 hbuss 294
 
886 killagreg 295
                #ifdef USE_NAVICTRL
296
                if(!SendSPI)
297
                {       // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
298
                        // within the SPI_TransmitByte() routine the value is set to 4.
299
                        // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
300
                        // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
301
                        SPI_TransmitByte();
302
                }
303
                #endif
1 ingob 304
    }
886 killagreg 305
        return (1);
1 ingob 306
}
307