Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt und genannt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/boot.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include "main.h"

#include "timer0.h"

#include "timer2.h"

#include "uart.h"

#if defined (__AVR_ATmega644P__)

#include "uart1.h"

#endif

#include "led.h"

#include "menu.h"

#include "fc.h"

#include "rc.h"

#include "analog.h"

#include "printf_P.h"

#ifdef USE_KILLAGREG

#include "mm3.h"

#endif

#ifdef USE_NAVICTRL

#include "spi.h"

#endif

#if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)

#include "mk3mag.h"

#endif

#include "twimaster.h"

#include "eeprom.h"

#include "_Settings.h"

uint8_t BoardRelease = 10;

//############################################################################

//Hauptprogramm

int main (void)

//############################################################################

{

        unsigned int timer;

        // disable interrupts global

        cli();

        // get board release

    DDRB  = 0x00;

    PORTB = 0x00;

    for(timer = 0; timer < 1000; timer++); // make some delay

    if(PINB & (1<<PINB0)) BoardRelease = 11;

    else BoardRelease = 10;

        // set LED ports as output

        DDRB |= (1<<DDB1)|(1<<DDB0);

        ROT_ON;

        GRN_OFF;

        // disable watchdog

    MCUSR &=~(1<<WDRF);

    WDTCSR |= (1<<WDCE)|(1<<WDE);

    WDTCSR = 0;

    BeepTime = 2000;

        PPM_in[CH_THRUST] = 0;

        StickYaw = 0;

        StickRoll = 0;

        StickPitch = 0;

    ROT_OFF;

        // initalize modules

        LED_Init();

    TIMER0_Init();

    TIMER2_Init();

        USART0_Init();

        #if defined (__AVR_ATmega644P__)

        if (BoardRelease == 11) USART1_Init();

        #endif

    RC_Init();

        ADC_Init();

        I2C_Init();

        #ifdef USE_KILLAGREG

        MM3_Init();

        #endif

        #ifdef USE_NAVICTRL

        SPI_MasterInit();

        #endif

        #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)

        MK3MAG_Init();

        #endif

        // enable interrupts global

        sei();

    VersionInfo.Major = VERSION_MAJOR;

    VersionInfo.Minor = VERSION_MINOR;

    VersionInfo.PCCompatible = VERSION_COMPATIBLE;

        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');

        printf("\n\r==============================");

        GRN_ON;

        // Parameter set handling

        ParamSet_Init();

    if(GetParamWord(PID_ACC_PITCH) > 1023)

     {

       printf("\n\rACC not calibrated!");

     }

        //wait for a short time (otherwise the RC channel check won't work below)

        timer = SetDelay(500);

        while(!CheckDelay(timer));

        #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)

        printf("\n\rSupport for MK3MAG Compass");

        #endif

        if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)

         {

           printf("\n\rCalibrating air pressure sensor..");

           timer = SetDelay(1000);

       SearchAirPressureOffset();

           while (!CheckDelay(timer));

       printf("OK\n\r");

        }

        #ifdef USE_KILLAGREG

        printf("\n\rSupport for MicroMag3 Compass");

        #if defined (__AVR_ATmega644P__)

        if(BoardRelease == 10)

        {

                printf("\n\rSupport for GPS at 1st UART");

        }

        else

        {

                printf("\n\rSupport for GPS at 2nd UART");

        }

        #else // (__AVR_ATmega644__)

                printf("\n\rSupport for GPS at 1st UART");

        #endif

        #endif

        SetNeutral();

        ROT_OFF;

    BeepTime = 2000;

    ExternControl.Digital[0] = 0x55;

        printf("\n\rControl: ");

        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");

        else printf("Neutral");

        printf("\n\n\r");

    LCD_Clear();

    I2CTimeout = 5000;

        while (1)

        {

        if(UpdateMotor)      // control interval

        {

                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0

                        //PORTD |= (1<<PORTD4);

            MotorControl();

                        //PORTD &= ~(1<<PORTD4);

                        SendMotorData();

            ROT_OFF;

            if(PcAccess) PcAccess--;

            else

            {

               DubWiseKeys[0] = 0;

               DubWiseKeys[1] = 0;

                           ExternControl.Config = 0;

               ExternStickPitch= 0;

               ExternStickRoll = 0;

               ExternStickYaw = 0;

            }

            if(!I2CTimeout)

            {

                                I2CTimeout = 5;

                                I2C_Reset();

                                if((BeepModulation == 0xFFFF) && MotorsOn)

                                {

                                        BeepTime = 10000; // 1 second

                                        BeepModulation = 0x0080;

                                }

                        }

                        else

                        {

                                I2CTimeout--;

                                ROT_OFF;

                        }

                        if(SIO_DEBUG && (!UpdateMotor || !MotorsOn))

                        {

                                USART0_TransmitTxData();

                                USART0_ProcessRxData();

                        }

                        else USART0_ProcessRxData();

                        if(CheckDelay(timer))

                        {

                if(UBat < ParamSet.LowVoltageWarning)

                {

                                        if(BeepModulation == 0xFFFF)

                                        {

                                                BeepTime = 6000; // 0.6 seconds

                        BeepModulation = 0x0300;

                                        }

                }

                                #ifdef USE_NAVICTRL

                                SPI_StartTransmitPacket();

                                SendSPI = 4;

                                #endif

                                timer = SetDelay(20); // every 20 ms

            }

                }

                #ifdef USE_NAVICTRL

                if(!SendSPI)

                {       // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.

                        // within the SPI_TransmitByte() routine the value is set to 4.

                        // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,

                        // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.

                        SPI_TransmitByte();

                }

                #endif

    }

        return (1);

}