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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 |
| #ifdef USE_MK3MAG |
| #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)) |
| { |
| if(PINB & (1<<PINB1)) BoardRelease = 13; |
| else BoardRelease = 11; |
| } |
| else BoardRelease = 10; |
| |
| // set LED ports as output |
| DDRB |= (1<<DDB1)|(1<<DDB0); |
| RED_ON; |
| GRN_OFF; |
| |
| // disable watchdog |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| |
| BeepTime = 2000; |
| |
| PPM_in[CH_GAS] = 0; |
| StickYaw = 0; |
| StickRoll = 0; |
| StickNick = 0; |
| |
| RED_OFF; |
| |
| // initalize modules |
| //LED_Init(); Is done within ParamSet_Init() below |
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| |
| #if defined (__AVR_ATmega644P__) |
| if (BoardRelease > 10) USART1_Init(); |
| #endif |
| |
| RC_Init(); |
| ADC_Init(); |
| I2C_Init(); |
| |
| |
| #ifdef USE_NAVICTRL |
| SPI_MasterInit(); |
| #endif |
| #ifdef USE_KILLAGREG |
| MM3_Init(); |
| #endif |
| #ifdef USE_MK3MAG |
| MK3MAG_Init(); |
| #endif |
| |
| |
| // enable interrupts global |
| sei(); |
| |
| VersionInfo.Major = VERSION_MAJOR; |
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| VersionInfo.Hardware = 1; // Flight Control |
| |
| 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_NICK) > 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(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| printf("\n\rCalibrating air pressure sensor.."); |
| timer = SetDelay(1000); |
| SearchAirPressureOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| |
| #ifdef USE_NAVICTRL |
| printf("\n\rSupport for NaviCtrl"); |
| #endif |
| |
| #ifdef USE_KILLAGREG |
| printf("\n\rSupport for MicroMag3 Compass"); |
| #endif |
| |
| #ifdef USE_MK3MAG |
| printf("\n\rSupport for MK3MAG Compass"); |
| #endif |
| |
| |
| |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| #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(); |
| |
| RED_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(); |
| |
| RED_OFF; |
| |
| if(PcAccess) PcAccess--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternControl.Config = 0; |
| ExternStickNick= 0; |
| ExternStickRoll = 0; |
| ExternStickYaw = 0; |
| } |
| |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| I2C_Reset(); |
| if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
| { |
| BeepTime = 10000; // 1 second |
| BeepModulation = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| RED_OFF; |
| } |
| |
| if(SIO_DEBUG && (!UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) )) |
| { |
| USART0_TransmitTxData(); |
| USART0_ProcessRxData(); |
| } |
| else USART0_ProcessRxData(); |
| |
| if(CheckDelay(timer)) |
| { |
| if(UBat < ParamSet.LowVoltageWarning) |
| { |
| BeepModulation = 0x0300; |
| if(!BeepTime ) |
| { |
| BeepTime = 6000; // 0.6 seconds |
| } |
| } |
| #ifdef USE_NAVICTRL |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| #endif |
| timer = SetDelay(20); // every 20 ms |
| } |
| |
| LED_Update(); |
| } |
| |
| #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); |
| } |
| |