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Line 1... Line 1...
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#include <avr/boot.h>
1
#include <avr/boot.h>
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#include <avr/io.h>
2
#include <avr/io.h>
3
#include <avr/interrupt.h>
3
#include <avr/interrupt.h>
4
#include <util/delay.h>
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#include <util/delay.h>
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5
#include <stdio.h>
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6
 
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#include "timer0.h"
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#include "timer0.h"
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#include "timer2.h"
8
#include "timer2.h"
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#include "uart0.h"
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#include "uart0.h"
9
#include "uart1.h"
10
//#include "uart1.h"
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#include "output.h"
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11
#include "menu.h"
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#include "output.h"
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#include "attitude.h"
12
#include "attitude.h"
13
#include "commands.h"
13
//#include "commands.h"
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14
//#include "flight.h"
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#include "flight.h"
15
//#include "profiler.h"
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#include "rc.h"
16
#include "rc.h"
16
#include "analog.h"
17
#include "analog.h"
17
#include "configuration.h"
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18
#include "printf_P.h"
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#include "configuration.h"
19
#include "twimaster.h"
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#include "twimaster.h"
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#include "controlMixer.h"
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#include "controlMixer.h"
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#ifdef USE_NAVICTRL
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#include "eeprom.h"
22
#include "spi.h"
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23
#endif
22
#include "beeper.h"
24
#ifdef USE_MK3MAG
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#ifdef USE_MK3MAG
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#include "mk3mag.h"
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#include "mk3mag.h"
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#endif
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#include "eeprom.h"
25
#endif
28
 
26
 
Line 29... Line 27...
29
int16_t main(void) {
27
int16_t main(void) {
30
  uint16_t timer;
28
        uint16_t timer;
Line 31... Line 29...
31
 
29
 
32
  // disable interrupts global
30
        // disable interrupts global
33
  cli();
31
        cli();
-
 
32
 
-
 
33
        // analyze hardware environment
34
 
34
        setCPUType();
35
  // analyze hardware environment
35
        setBoardRelease();
36
  setCPUType();
36
 
37
  setBoardRelease();
37
        fdevopen(uart_putchar, NULL);
38
 
38
 
39
  // disable watchdog
-
 
40
  MCUSR &= ~(1 << WDRF);
-
 
41
  WDTCSR |= (1 << WDCE) | (1 << WDE);
-
 
42
  WDTCSR = 0;
-
 
43
 
39
        // disable watchdog
44
// This is strange: It should NOT be necessarty to do. But the call of the same,
40
        MCUSR &= ~(1 << WDRF);
45
// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
41
        WDTCSR |= (1 << WDCE) | (1 << WDE);
46
channelMap_default();
42
        WDTCSR = 0;
47
 
43
 
48
  // initalize modules
44
        // initalize modules
49
  output_init();
45
        output_init();
50
  timer0_init();
46
        timer0_init();
51
  timer2_init();
-
 
52
  usart0_init();
47
        // timer2_init();
53
  //if (CPUType == ATMEGA644P);// usart1_Init();
-
 
54
  RC_Init();
48
        usart0_init();
55
  analog_init();
-
 
56
  I2C_init();
49
        //if (CPUType == ATMEGA644P);// usart1_Init();
57
#ifdef USE_NAVICTRL
50
        RC_Init();
58
  SPI_MasterInit();
51
        I2C_init();
59
#endif
52
        analog_init();
60
#ifdef USE_MK3MAG
53
#ifdef USE_MK3MAG
61
  MK3MAG_init();
54
        MK3MAG_init();
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62
#endif
55
#endif
63
#ifdef USE_DIRECT_GPS
56
#ifdef USE_DIRECT_GPS
64
  usart1_init();
57
        usart1_init();
65
#endif
58
#endif
66
 
59
 
67
  // Parameter Set handling
60
        // Parameter Set handling
68
  IMUConfig_readOrDefault();
61
        IMUConfig_readOrDefault();
69
  channelMap_readOrDefault();
62
        channelMap_readOrDefault();
70
  motorMixer_readOrDefault();
63
        outputMixer_readOrDefault();
71
  paramSet_readOrDefault();
64
        paramSet_readOrDefault();
72
 
65
 
73
  // enable interrupts global
66
        // enable interrupts global
74
  sei();
67
        sei();
75
 
68
 
76
  printf("\n\r===================================");
69
        printf("\n\r===================================");
77
  printf("\n\rFlightControl");
70
        printf("\n\rFlightControl");
-
 
71
        printf("\n\rHardware: Custom");
78
  printf("\n\rHardware: Custom");
72
        printf("\n\r     CPU: Atmega644");
79
  printf("\n\r     CPU: Atmega644");
73
        if (CPUType == ATMEGA644P)
80
  if (CPUType == ATMEGA644P)
74
                printf("p");
81
    printf("p");
75
        printf("\n\rSoftware: V%d.%d%c", VERSION_MAJOR, VERSION_MINOR,
82
  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
76
                        VERSION_PATCH + 'a');
83
  printf("\n\r===================================");
77
        printf("\n\r===================================");
84
 
78
 
85
  // Wait for a short time (otherwise the RC channel check won't work below)
79
        // Wait for a short time (otherwise the RC channel check won't work below)
86
  // timer = SetDelay(500);
80
        // timer = SetDelay(500);
87
  // while(!CheckDelay(timer));
81
        // while(!CheckDelay(timer));
88
 
82
 
89
  // Instead, while away the time by flashing the 2 outputs:
83
        // Instead, while away the time by flashing the 2 outputs:
90
  // First J16, then J17. Makes it easier to see which is which.
84
        // First J16, then J17. Makes it easier to see which is which.
91
  timer = setDelay(200);
85
        timer = setDelay(200);
92
  outputSet(0,1);
86
        output_setLED(0, 1);
93
  GRN_OFF;
87
        GRN_OFF;
94
  RED_ON;
88
        RED_ON;
95
  while (!checkDelay(timer))
89
        while (!checkDelay(timer))
96
    ;
90
                ;
97
 
91
 
98
  timer = setDelay(200);
92
        timer = setDelay(200);
99
  outputSet(0,0);
93
        output_setLED(0, 0);
100
  outputSet(1,1);
94
        output_setLED(1, 1);
101
  RED_OFF;
95
        RED_OFF;
102
  GRN_ON;
96
        GRN_ON;
103
  while (!checkDelay(timer))
97
        while (!checkDelay(timer))
104
    ;
98
                ;
105
 
99
 
Line 106... Line 100...
106
  timer = setDelay(200);
100
        timer = setDelay(200);
Line 107... Line 101...
107
  while (!checkDelay(timer))
101
        while (!checkDelay(timer))
Line 108... Line 102...
108
    ;
102
                ;
109
  outputSet(1,0);
103
        output_setLED(1, 0);
110
  GRN_OFF;
104
        GRN_OFF;
Line 111... Line 105...
111
 
105
 
112
  twi_diagnostics();
106
        twi_diagnostics();
113
 
107
 
Line 114... Line 108...
114
  printf("\n\r===================================");
108
        printf("\n\r===================================");
115
 
-
 
116
#ifdef USE_NAVICTRL
-
 
117
  printf("\n\rSupport for NaviCtrl");
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118
#endif
-
 
119
 
-
 
120
#ifdef USE_DIRECT_GPS
-
 
121
  printf("\n\rDirect (no NaviCtrl) navigation");
-
 
122
#endif
-
 
123
 
-
 
124
  controlMixer_setNeutral();
-
 
125
 
-
 
126
  // Cal. attitude sensors and reset integrals.
-
 
127
  attitude_setNeutral();
-
 
128
 
-
 
129
  // Init flight parameters
-
 
130
  // flight_setNeutral();
-
 
131
 
-
 
132
  beep(2000);
109
 
133
 
-
 
134
  printf("\n\rControl: ");
-
 
135
  if (staticParams.bitConfig & CFG_HEADING_HOLD)
-
 
136
    printf("Heading Hold");
-
 
137
    else printf("RTL Mode");
-
 
138
 
-
 
139
  printf("\n\n\r");
-
 
140
 
-
 
141
  LCD_clear();
-
 
142
 
-
 
143
  I2CTimeout = 5000;
-
 
144
 
-
 
145
  while (1) {
-
 
146
    if (runFlightControl) { // control interval
-
 
147
      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
-
 
148
      if (!analogDataReady) {
-
 
149
        // Analog data should have been ready but is not!!
-
 
150
        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
-
 
151
      } else {
-
 
152
        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
-
 
153
 
-
 
154
        J4HIGH;
-
 
155
        // This is probably the correct order:
-
 
156
        // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
-
 
157
        // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
-
 
158
        // Flight control uses results from both.
-
 
159
        calculateFlightAttitude();
-
 
160
        controlMixer_periodicTask();
-
 
161
        commands_handleCommands();
-
 
162
        flight_control();
-
 
163
        J4LOW;
-
 
164
 
-
 
165
        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout
-
 
166
          if (!I2CTimeout) {
-
 
167
            I2C_Reset();
-
 
168
            I2CTimeout = 5;
-
 
169
          }
-
 
170
          beepI2CAlarm();
-
 
171
        }
-
 
172
       
-
 
173
      // Allow serial data transmission if there is still time, or if we are not flying anyway.
-
 
174
      if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
-
 
175
          usart0_transmitTxData();
-
 
176
        }
-
 
177
 
-
 
178
        usart0_processRxData();
-
 
179
 
-
 
180
        if (checkDelay(timer)) {
-
 
181
          if (UBat <= UBAT_AT_5V) {
-
 
182
            // Do nothing. The voltage on the input side of the regulator is <5V;
-
 
183
            // we must be running off USB power. Keep it quiet.
-
 
184
          } else if (UBat < staticParams.batteryVoltageWarning) {
-
 
185
            beepBatteryAlarm();
-
 
186
          }
-
 
187
 
-
 
188
#ifdef USE_NAVICTRL
-
 
189
          SPI_StartTransmitPacket();
-
 
190
          SendSPI = 4;
-
 
191
#endif
-
 
192
          timer = setDelay(20); // every 20 ms
-
 
193
        }
-
 
194
        output_update();
-
 
Line -... Line 110...
-
 
110
#ifdef USE_NAVICTRL
-
 
111
        printf("\n\rSupport for NaviCtrl");
-
 
112
#endif
-
 
113
 
-
 
114
#ifdef USE_DIRECT_GPS
-
 
115
        printf("\n\rDirect (no NaviCtrl) navigation");
-
 
116
#endif
-
 
117
 
-
 
118
        controlMixer_setNeutral();
-
 
119
 
-
 
120
        I2CTimeout = 5000;
-
 
121
 
-
 
122
        // Cal. attitude sensors and reset integrals.
-
 
123
        attitude_setNeutral();
-
 
124
 
-
 
125
        // Init flight parameters
-
 
126
        // flight_setNeutral();
-
 
127
 
-
 
128
        beep(2000);
195
      }
129
        printf("\n\n\r");
196
 
130
 
-
 
131
        timer2_init();
197
#ifdef USE_NAVICTRL
132
       
-
 
133
        /*
198
      if(!SendSPI) {
134
         * Main loop updates attitude and does some nonessential tasks
199
        // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
135
         * like beeping alarms and computing servo values.
-
 
136
         */
200
        // within the SPI_TransmitByte() routine the value is set to 4.
137
        while (1) {
201
        // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
138
                attitude_update();
202
        // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
-
 
203
        SPI_TransmitByte();
139
 
204
      }
140
        // This is fair to leave here - servo values only need update after a change in attitude anyway.
205
#endif
141
        // calculateServoValues();