| 19,6 → 19,7 |
|---|
| |
| int16_t main(void) { |
| uint16_t timer; |
| static uint8_t profileTimer; |
| |
| // disable interrupts global |
| cli(); |
| 30,7 → 31,7 |
|---|
| |
| // This is strange: It should NOT be necessarty to do. But the call of the same, |
| // in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,.... |
| channelMap_default(); |
| // channelMap_default(); |
| |
| // initalize modules |
| output_init(); |
| 43,68 → 44,20 |
|---|
| // Parameter Set handling |
| IMUConfig_readOrDefault(); |
| channelMap_readOrDefault(); |
| rcTrim_readOrDefault(); |
| paramSet_readOrDefault(); |
| |
| // enable interrupts global |
| sei(); |
| |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl"); |
| printf("\n\rHardware: Custom"); |
| printf("\n\r CPU: Atmega328"); |
| printf("\n\rSoftware: V%d.%d%c", |
| VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| printf("\n\r==================================="); |
| |
| // Wait for a short time (otherwise the RC channel check won't work below) |
| // timer = SetDelay(500); |
| // while(!CheckDelay(timer)); |
| |
| // Instead, while away the time by flashing the 2 outputs: |
| // First J16, then J17. Makes it easier to see which is which. |
| timer = setDelay(200); |
| outputSet(0, 1); |
| GRN_OFF; |
| RED_ON; |
| while (!checkDelay(timer)) |
| ; |
| |
| timer = setDelay(200); |
| outputSet(0, 0); |
| outputSet(1, 1); |
| RED_OFF; |
| GRN_ON; |
| while (!checkDelay(timer)) |
| ; |
| |
| timer = setDelay(200); |
| while (!checkDelay(timer)) |
| ; |
| outputSet(1, 0); |
| GRN_OFF; |
| |
| printf("\n\r==================================="); |
| |
| #ifdef USE_NAVICTRL |
| printf("\n\rSupport for NaviCtrl"); |
| #endif |
| |
| #ifdef USE_DIRECT_GPS |
| printf("\n\rDirect (no NaviCtrl) navigation"); |
| #endif |
| |
| controlMixer_setNeutral(); |
| |
| // Cal. attitude sensors and reset integrals. |
| attitude_setNeutral(); |
| |
| // Init flight parameters |
| // flight_setNeutral(); |
| |
| // This is not a busy-wait operation and should be OK. |
| beep(2000); |
| |
| printf("\n\n\r"); |
| |
| while (1) { |
| if (runFlightControl) { // control interval |
| runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| 132,18 → 85,21 |
|---|
| |
| usart0_processRxData(); |
| |
| if (checkDelay(timer)) { |
| // Do nothing. The voltage on the input side of the regulator is <5V; |
| // we must be running off USB power. Keep it quiet. |
| } else if (UBat < staticParams.batteryWarningVoltage && UBat > UBAT_AT_5V) { |
| beepBatteryAlarm(); |
| } |
| static uint8_t aboveWarningLimitVoltageSeen = 0; |
| |
| timer = setDelay(20); // every 20 ms |
| output_update(); |
| } |
| if (checkDelay(timer)) { |
| if (UBat >= staticParams.batteryWarningVoltage) { |
| aboveWarningLimitVoltageSeen = 1; |
| } else { // If we are above USB voltage, or if we have once been above warning voltage |
| if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) { |
| beepBatteryAlarm(); |
| } |
| } |
| calculateFeaturedServoValues(); |
| timer = setDelay(20); // every 20 ms |
| } |
| |
| calculateFeaturedServoValues(); |
| output_update(); |
| |
| if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |