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#include <avr/boot.h>
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#include <avr/boot.h>
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include <util/delay.h>
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 5 
#include <stdio.h>
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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"
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#include "uart1.h"
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//#include "uart1.h"
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#include "output.h"
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#include "menu.h"
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#include "output.h"
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#include "attitude.h"
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#include "attitude.h"
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#include "commands.h"
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//#include "commands.h"
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//#include "flight.h"
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#include "flight.h"
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//#include "profiler.h"
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#include "rc.h"
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#include "rc.h"
16 
#include "analog.h"
 17 
#include "analog.h"
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#include "configuration.h"
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18 
#include "printf_P.h"
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#include "configuration.h"
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#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"
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#include "spi.h"
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#endif
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#include "beeper.h"
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#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"
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#endif
28 
 
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int16_t main(void) {
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int16_t main(void) {
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 32 
 
35 
  // analyze hardware environment
 33 
        // analyze hardware environment
36 
  setCPUType();
 34 
        setCPUType();
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 35 
        setBoardRelease();
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 36 
 
37 
  setBoardRelease();
 37 
        fdevopen(uart_putchar, NULL);
38 
 
 38 
 
39 
  // disable watchdog
 39 
        // disable watchdog
40 
  MCUSR &= ~(1 << WDRF);
 40 
        MCUSR &= ~(1 << WDRF);
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41 
  WDTCSR |= (1 << WDCE) | (1 << WDE);
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42 
  WDTCSR = 0;
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43 
 
 - 
 
44 
// This is strange: It should NOT be necessarty to do. But the call of the same,
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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();
 47 
        // timer2_init();
52 
  usart0_init();
 - 
 
53 
  //if (CPUType == ATMEGA644P);// usart1_Init();
 48 
        usart0_init();
54 
  RC_Init();
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55 
  analog_init();
 49 
        //if (CPUType == ATMEGA644P);// usart1_Init();
56 
  I2C_init();
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57 
#ifdef USE_NAVICTRL
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        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();
62 
#endif
 55 
#endif
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#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
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68 
  IMUConfig_readOrDefault();
 61 
        IMUConfig_readOrDefault();
69 
  channelMap_readOrDefault();
 62 
        channelMap_readOrDefault();
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77 
  printf("\n\rFlightControl");
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        printf("\n\rFlightControl");
78 
  printf("\n\rHardware: Custom");
 71 
        printf("\n\rHardware: Custom");
79 
  printf("\n\r     CPU: Atmega644");
 72 
        printf("\n\r     CPU: Atmega644");
80 
  if (CPUType == ATMEGA644P)
 73 
        if (CPUType == ATMEGA644P)
81 
    printf("p");
 74 
                printf("p");
82 
  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
 75 
        printf("\n\rSoftware: V%d.%d%c", VERSION_MAJOR, VERSION_MINOR,
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                        VERSION_PATCH + 'a');
83 
  printf("\n\r===================================");
 77 
        printf("\n\r===================================");
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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);
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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;
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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;
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102 
  GRN_ON;
 96 
        GRN_ON;
103 
  while (!checkDelay(timer))
 97 
        while (!checkDelay(timer))
104 
    ;
 98 
                ;
105 
 
 99 
 
106 
  timer = setDelay(200);
 100 
        timer = setDelay(200);
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  while (!checkDelay(timer))
 101 
        while (!checkDelay(timer))
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    ;
 102 
                ;
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  printf("\n\rDirect (no NaviCtrl) navigation");
 115 
        printf("\n\rDirect (no NaviCtrl) navigation");
122 
#endif
 116 
#endif
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 117 
 
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 118 
        controlMixer_setNeutral();
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 119 
 
124 
  controlMixer_setNeutral();
 120 
        I2CTimeout = 5000;
125 
 
 121 
 
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126 
  // Cal. attitude sensors and reset integrals.
 122 
        // Cal. attitude sensors and reset integrals.
127 
  attitude_setNeutral();
 123 
        attitude_setNeutral();
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 124 
 
129 
  // Init flight parameters
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130 
  // flight_setNeutral();
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131 
 
 - 
 
132 
  beep(2000);
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133 
 
 - 
 
134 
  printf("\n\rControl: ");
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135 
  if (staticParams.bitConfig & CFG_HEADING_HOLD)
 125 
        // Init flight parameters
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    printf("Heading Hold");
 126 
        // flight_setNeutral();
137 
    else printf("RTL Mode");
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138 
 
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 127 
 
- 
 
 128 
        beep(2000);
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 129 
        printf("\n\n\r");
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 130 
 
139 
  printf("\n\n\r");
 131 
        timer2_init();
140 
 
 - 
 
141 
  LCD_clear();
 - 
 
142 
 
 132 
       
143 
  I2CTimeout = 5000;
 - 
 
144 
 
 - 
 
145 
  while (1) {
 - 
 
146 
    if (runFlightControl) { // control interval
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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!!
 133 
        /*
150 
        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
 - 
 
151 
      } else {
 - 
 
152 
        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
 134 
         * Main loop updates attitude and does some nonessential tasks
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 
          }
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170 
          beepI2CAlarm();
 - 
 
171 
        }
 - 
 
172 
       
 - 
 
173 
      // Allow serial data transmission if there is still time, or if we are not flying anyway.
 135 
         * like beeping alarms and computing servo values.
174 
      if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
 136 
         */
175 
          usart0_transmitTxData();
 137 
        while (1) {
176 
        }
 - 
 
177 
 
 - 
 
178 
        usart0_processRxData();
 - 
 
179 
 
 - 
 
180 
        if (checkDelay(timer)) {
 - 
 
181 
          if (UBat <= UBAT_AT_5V) {
 138 
                attitude_update();
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();
 - 
 
195 
      }
 - 
 
196 
 
 - 
 
197 
#ifdef USE_NAVICTRL
 - 
 
198 
      if(!SendSPI) {
 - 
 
199 
        // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
 - 
 
200 
        // within the SPI_TransmitByte() routine the value is set to 4.
 - 
 
201 
        // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
 - 
 
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();
206 
 
 142 
 
207 
          calculateServoValues();
 143 
                if (UBat <= UBAT_AT_5V || UBat >= staticParams.batteryVoltageWarning) {
208 
         
 144 
                        // Do nothing. The voltage on the input side of the regulator is <5V;
209 
          if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error.
 145 
                        // we must be running off USB power. Keep it quiet.