WebSVN - FlightCtrl - Diff - Rev 950 and 957 - /branches/V0.70d CRK HexaLotte/main.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 = 2000;
 
        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);
}
 
 

Rev 950	Rev 957
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	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.	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	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	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"	17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	18	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	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	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.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	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"	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	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	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	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	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	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52	#include <avr/boot.h>	52	#include <avr/boot.h>
53		53
54	#include <avr/io.h>	54	#include <avr/io.h>
55	#include <avr/interrupt.h>	55	#include <avr/interrupt.h>
56		56
57	#include "main.h"	57	#include "main.h"
58	#include "timer0.h"	58	#include "timer0.h"
59	#include "timer2.h"	59	#include "timer2.h"
60	#include "uart.h"	60	#include "uart.h"
61	#if defined (__AVR_ATmega644P__)	61	#if defined (__AVR_ATmega644P__)
62	#include "uart1.h"	62	#include "uart1.h"
63	#endif	63	#endif
64	#include "led.h"	64	#include "led.h"
65	#include "menu.h"	65	#include "menu.h"
66	#include "fc.h"	66	#include "fc.h"
67	#include "rc.h"	67	#include "rc.h"
68	#include "analog.h"	68	#include "analog.h"
69	#include "printf_P.h"	69	#include "printf_P.h"
70	#ifdef USE_KILLAGREG	70	#ifdef USE_KILLAGREG
71	#include "mm3.h"	71	#include "mm3.h"
72	#endif	72	#endif
73	#ifdef USE_NAVICTRL	73	#ifdef USE_NAVICTRL
74	#include "spi.h"	74	#include "spi.h"
75	#endif	75	#endif
76	#ifdef USE_MK3MAG	76	#ifdef USE_MK3MAG
77	#include "mk3mag.h"	77	#include "mk3mag.h"
78	#endif	78	#endif
79	#include "twimaster.h"	79	#include "twimaster.h"
80	#include "eeprom.h"	80	#include "eeprom.h"
81	#include "_Settings.h"	81	#include "_Settings.h"
82		82
83		83
84	uint8_t BoardRelease = 10;	84	uint8_t BoardRelease = 10;
85		85
86		86
87	//############################################################################	87	//############################################################################
88	//Hauptprogramm	88	//Hauptprogramm
89	int main (void)	89	int main (void)
90	//############################################################################	90	//############################################################################
91	{	91	{
92	unsigned int timer;	92	unsigned int timer;
93		93
94	// disable interrupts global	94	// disable interrupts global
95	cli();	95	cli();
96		96
97	// get board release	97	// get board release
98	DDRB = 0x00;	98	DDRB = 0x00;
99	PORTB = 0x00;	99	PORTB = 0x00;
100	for(timer = 0; timer < 1000; timer++); // make some delay	100	for(timer = 0; timer < 1000; timer++); // make some delay
101	if(PINB & (1<<PINB0))	101	if(PINB & (1<<PINB0))
102	{	102	{
103	if(PINB & (1<<PINB1)) BoardRelease = 13;	103	if(PINB & (1<<PINB1)) BoardRelease = 13;
104	else BoardRelease = 11;	104	else BoardRelease = 11;
105	}	105	}
106	else BoardRelease = 10;	106	else BoardRelease = 10;
107		107
108	// set LED ports as output	108	// set LED ports as output
109	DDRB \|= (1<<DDB1)\|(1<<DDB0);	109	DDRB \|= (1<<DDB1)\|(1<<DDB0);
110	RED_ON;	110	RED_ON;
111	GRN_OFF;	111	GRN_OFF;
112		112
113	// disable watchdog	113	// disable watchdog
114	MCUSR &=~(1<<WDRF);	114	MCUSR &=~(1<<WDRF);
115	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	115	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
116	WDTCSR = 0;	116	WDTCSR = 0;
117		117
118	BeepTime = 2000;	118	BeepTime = 2000;
119		119
120	PPM_in[CH_GAS] = 0;	120	PPM_in[CH_GAS] = 0;
121	StickYaw = 0;	121	StickYaw = 0;
122	StickRoll = 0;	122	StickRoll = 0;
123	StickNick = 0;	123	StickNick = 0;
124		124
125	RED_OFF;	125	RED_OFF;
126		126
127	// initalize modules	127	// initalize modules
128	//LED_Init(); Is done within ParamSet_Init() below	128	//LED_Init(); Is done within ParamSet_Init() below
129	TIMER0_Init();	129	TIMER0_Init();
130	TIMER2_Init();	130	TIMER2_Init();
131	USART0_Init();	131	USART0_Init();
132		132
133	#if defined (__AVR_ATmega644P__)	133	#if defined (__AVR_ATmega644P__)
134	if (BoardRelease > 10) USART1_Init();	134	if (BoardRelease > 10) USART1_Init();
135	#endif	135	#endif
136		136
137	RC_Init();	137	RC_Init();
138	ADC_Init();	138	ADC_Init();
139	I2C_Init();	139	I2C_Init();
140		140
141		141
142	#ifdef USE_NAVICTRL	142	#ifdef USE_NAVICTRL
143	SPI_MasterInit();	143	SPI_MasterInit();
144	#endif	144	#endif
145	#ifdef USE_KILLAGREG	145	#ifdef USE_KILLAGREG
146	MM3_Init();	146	MM3_Init();
147	#endif	147	#endif
148	#ifdef USE_MK3MAG	148	#ifdef USE_MK3MAG
149	MK3MAG_Init();	149	MK3MAG_Init();
150	#endif	150	#endif
151		151
152		152
153	// enable interrupts global	153	// enable interrupts global
154	sei();	154	sei();
155		155
156	VersionInfo.Major = VERSION_MAJOR;	156	VersionInfo.Major = VERSION_MAJOR;
157	VersionInfo.Minor = VERSION_MINOR;	157	VersionInfo.Minor = VERSION_MINOR;
158	VersionInfo.PCCompatible = VERSION_COMPATIBLE;	158	VersionInfo.PCCompatible = VERSION_COMPATIBLE;
159	VersionInfo.Hardware = 1; // Flight Control	159	VersionInfo.Hardware = 1; // Flight Control
160		160
161	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');	161	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');
162	printf("\n\r==============================");	162	printf("\n\r==============================");
163	GRN_ON;	163	GRN_ON;
164		164
165	// Parameter set handling	165	// Parameter set handling
166	ParamSet_Init();	166	ParamSet_Init();
167		167
168	if(GetParamWord(PID_ACC_NICK) > 1023)	168	if(GetParamWord(PID_ACC_NICK) > 1023)
169	{	169	{
170	printf("\n\rACC not calibrated!");	170	printf("\n\rACC not calibrated!");
171	}	171	}
172		172
173	//wait for a short time (otherwise the RC channel check won't work below)	173	//wait for a short time (otherwise the RC channel check won't work below)
174	timer = SetDelay(500);	174	timer = SetDelay(500);
175	while(!CheckDelay(timer));	175	while(!CheckDelay(timer));
176		176
177		177
178	if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)	178	if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
179	{	179	{
180	printf("\n\rCalibrating air pressure sensor..");	180	printf("\n\rCalibrating air pressure sensor..");
181	timer = SetDelay(1000);	181	timer = SetDelay(1000);
182	SearchAirPressureOffset();	182	SearchAirPressureOffset();
183	while (!CheckDelay(timer));	183	while (!CheckDelay(timer));
184	printf("OK\n\r");	184	printf("OK\n\r");
185	}	185	}
186		186
187	#ifdef USE_NAVICTRL	187	#ifdef USE_NAVICTRL
188	printf("\n\rSupport for NaviCtrl");	188	printf("\n\rSupport for NaviCtrl");
189	#endif	189	#endif
190		190
191	#ifdef USE_KILLAGREG	191	#ifdef USE_KILLAGREG
192	printf("\n\rSupport for MicroMag3 Compass");	192	printf("\n\rSupport for MicroMag3 Compass");
193	#endif	193	#endif
-		194
194	#ifdef USE_MK3MAG	195	#ifdef USE_MK3MAG
195	printf("\n\rSupport for MK3MAG Compass");	196	printf("\n\rSupport for MK3MAG Compass");
196	#endif	197	#endif
197		198
198		199
199		200
200	#if defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG)	201	#if (defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG))
201	#if defined (__AVR_ATmega644P__)	202	#if defined (__AVR_ATmega644P__)
202	if(BoardRelease == 10)	203	if(BoardRelease == 10)
203	{	204	{
204	printf("\n\rSupport for GPS at 1st UART");	205	printf("\n\rSupport for GPS at 1st UART");
205	}	206	}
206	else	207	else
207	{	208	{
208	printf("\n\rSupport for GPS at 2nd UART");	209	printf("\n\rSupport for GPS at 2nd UART");
209	}	210	}
210	#else // (__AVR_ATmega644__)	211	#else // (__AVR_ATmega644__)
211	printf("\n\rSupport for GPS at 1st UART");	212	printf("\n\rSupport for GPS at 1st UART");
212	#endif	213	#endif
213	#endif	214	#endif
214		215
215		216
216		217
217	SetNeutral();	218	SetNeutral();
218		219
219	RED_OFF;	220	RED_OFF;
220		221
221	BeepTime = 2000;	222	BeepTime = 2000;
222	ExternControl.Digital[0] = 0x55;	223	ExternControl.Digital[0] = 0x55;
223		224
224		225
225	printf("\n\rControl: ");	226	printf("\n\rControl: ");
226	if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	227	if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
227	else printf("Neutral");	228	else printf("Neutral");
228		229
229	printf("\n\n\r");	230	printf("\n\n\r");
230		231
231	LCD_Clear();	232	LCD_Clear();
232		233
233	I2CTimeout = 2000;	234	I2CTimeout = 2000;
234		235
235	while (1)	236	while (1)
236	{	237	{
237	if(UpdateMotor) // control interval	238	if(UpdateMotor) // control interval
238	{	239	{
239	UpdateMotor = 0; // reset Flag, is enabled every 2 ms by isr of timer0	240	UpdateMotor = 0; // reset Flag, is enabled every 2 ms by isr of timer0
240	//PORTD \|= (1<<PORTD4);	241	//PORTD \|= (1<<PORTD4);
241	MotorControl();	242	MotorControl();
242	//PORTD &= ~(1<<PORTD4);	243	//PORTD &= ~(1<<PORTD4);
243		244
244	SendMotorData();	245	SendMotorData();
245		246
246	RED_OFF;	247	RED_OFF;
247		248
248	if(PcAccess) PcAccess--;	249	if(PcAccess) PcAccess--;
249	else	250	else
250	{	251	{
251	DubWiseKeys[0] = 0;	252	DubWiseKeys[0] = 0;
252	DubWiseKeys[1] = 0;	253	DubWiseKeys[1] = 0;
253	ExternControl.Config = 0;	254	ExternControl.Config = 0;
254	ExternStickNick= 0;	255	ExternStickNick= 0;
255	ExternStickRoll = 0;	256	ExternStickRoll = 0;
256	ExternStickYaw = 0;	257	ExternStickYaw = 0;
257	}	258	}
258		259
259	if(!I2CTimeout)	260	if(!I2CTimeout)
260	{	261	{
261	I2CTimeout = 5;	262	I2CTimeout = 5;
262	I2C_Reset();	263	I2C_Reset();
263	if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) )	264	if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) )
264	{	265	{
265	BeepTime = 10000; // 1 second	266	BeepTime = 10000; // 1 second
266	BeepModulation = 0x0080;	267	BeepModulation = 0x0080;
267	}	268	}
268	}	269	}
269	else	270	else
270	{	271	{
271	I2CTimeout--;	272	I2CTimeout--;
272	RED_OFF;	273	RED_OFF;
273	}	274	}
274		275
275	if(SIO_DEBUG && (!UpdateMotor \|\| !(MKFlags & MKFLAG_MOTOR_RUN) ))	276	if(SIO_DEBUG && (!UpdateMotor \|\| !(MKFlags & MKFLAG_MOTOR_RUN) ))
276	{	277	{
277	USART0_TransmitTxData();	278	USART0_TransmitTxData();
278	USART0_ProcessRxData();	279	USART0_ProcessRxData();
279	}	280	}
280	else USART0_ProcessRxData();	281	else USART0_ProcessRxData();
281		282
282	if(CheckDelay(timer))	283	if(CheckDelay(timer))
283	{	284	{
284	if(UBat < ParamSet.LowVoltageWarning)	285	if(UBat < ParamSet.LowVoltageWarning)
285	{	286	{
286	if(BeepModulation == 0xFFFF)	287	BeepModulation = 0x0300;
-		288	if(!BeepTime )
287	{	289	{
288	BeepTime = 6000; // 0.6 seconds	290	BeepTime = 6000; // 0.6 seconds
289	BeepModulation = 0x0300;	-
290	}	291	}
291	}	292	}
292	#ifdef USE_NAVICTRL	293	#ifdef USE_NAVICTRL
293	SPI_StartTransmitPacket();	294	SPI_StartTransmitPacket();
294	SendSPI = 4;	295	SendSPI = 4;
295	#endif	296	#endif
296	timer = SetDelay(20); // every 20 ms	297	timer = SetDelay(20); // every 20 ms
297	}	298	}
298		299
299	LED_Update();	300	LED_Update();
300	}	301	}
301		302
302	#ifdef USE_NAVICTRL	303	#ifdef USE_NAVICTRL
303	if(!SendSPI)	304	if(!SendSPI)
304	{ // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.	305	{ // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
305	// within the SPI_TransmitByte() routine the value is set to 4.	306	// within the SPI_TransmitByte() routine the value is set to 4.
306	// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,	307	// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
307	// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.	308	// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
308	SPI_TransmitByte();	309	SPI_TransmitByte();
309	}	310	}
310	#endif	311	#endif
311	}	312	}
312	return (1);	313	return (1);
313	}	314	}
314		315
315		316

Subversion Repositories FlightCtrl

(root)/branches/V0.70d CRK HexaLotte/main.c @ 2307 - Rev 950 → 957