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Rev | Author | Line No. | Line |
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2108 | - | 1 | #include <avr/boot.h> |
2 | #include <avr/io.h> |
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3 | #include <avr/interrupt.h> |
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4 | #include <util/delay.h> |
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5 | |||
6 | #include "timer0.h" |
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7 | #include "timer2.h" |
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8 | #include "uart0.h" |
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9 | #include "output.h" |
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10 | #include "attitude.h" |
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11 | #include "commands.h" |
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12 | #include "flight.h" |
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13 | #include "rc.h" |
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14 | #include "analog.h" |
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15 | #include "configuration.h" |
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16 | #include "controlMixer.h" |
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17 | #include "eeprom.h" |
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18 | #include "printf_P.h" |
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19 | |||
20 | int16_t main(void) { |
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21 | uint16_t timer; |
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22 | |||
23 | // disable interrupts global |
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24 | cli(); |
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25 | |||
26 | // disable watchdog |
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27 | MCUSR &= ~(1 << WDRF); |
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28 | WDTCSR |= (1 << WDCE) | (1 << WDE); |
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29 | WDTCSR = 0; |
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30 | |||
31 | // This is strange: It should NOT be necessarty to do. But the call of the same, |
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32 | // in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,.... |
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2109 | - | 33 | channelMap_default(); |
2108 | - | 34 | |
35 | // initalize modules |
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36 | output_init(); |
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37 | timer0_init(); |
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38 | timer2_init(); |
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39 | usart0_init(); |
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40 | RC_Init(); |
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41 | analog_init(); |
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42 | |||
43 | // Parameter Set handling |
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44 | IMUConfig_readOrDefault(); |
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45 | channelMap_readOrDefault(); |
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46 | paramSet_readOrDefault(); |
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47 | |||
48 | // enable interrupts global |
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49 | sei(); |
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50 | |||
51 | printf("\n\r==================================="); |
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52 | printf("\n\rFlightControl"); |
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53 | printf("\n\rHardware: Custom"); |
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54 | printf("\n\r CPU: Atmega328"); |
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2109 | - | 55 | printf("\n\rSoftware: V%d.%d%c", |
56 | VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
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2108 | - | 57 | printf("\n\r==================================="); |
58 | |||
59 | // Wait for a short time (otherwise the RC channel check won't work below) |
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60 | // timer = SetDelay(500); |
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61 | // while(!CheckDelay(timer)); |
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62 | |||
63 | // Instead, while away the time by flashing the 2 outputs: |
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64 | // First J16, then J17. Makes it easier to see which is which. |
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65 | timer = setDelay(200); |
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2109 | - | 66 | outputSet(0, 1); |
2108 | - | 67 | GRN_OFF; |
68 | RED_ON; |
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69 | while (!checkDelay(timer)) |
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70 | ; |
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71 | |||
72 | timer = setDelay(200); |
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2109 | - | 73 | outputSet(0, 0); |
74 | outputSet(1, 1); |
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2108 | - | 75 | RED_OFF; |
76 | GRN_ON; |
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77 | while (!checkDelay(timer)) |
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78 | ; |
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79 | |||
80 | timer = setDelay(200); |
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81 | while (!checkDelay(timer)) |
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82 | ; |
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2109 | - | 83 | outputSet(1, 0); |
2108 | - | 84 | GRN_OFF; |
85 | |||
2109 | - | 86 | printf("\n\r==================================="); |
2108 | - | 87 | |
88 | #ifdef USE_NAVICTRL |
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89 | printf("\n\rSupport for NaviCtrl"); |
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90 | #endif |
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91 | |||
92 | #ifdef USE_DIRECT_GPS |
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93 | printf("\n\rDirect (no NaviCtrl) navigation"); |
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94 | #endif |
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95 | |||
96 | controlMixer_setNeutral(); |
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97 | |||
98 | // Cal. attitude sensors and reset integrals. |
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99 | attitude_setNeutral(); |
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100 | |||
101 | // Init flight parameters |
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102 | // flight_setNeutral(); |
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103 | |||
104 | beep(2000); |
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105 | |||
106 | printf("\n\n\r"); |
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107 | |||
2109 | - | 108 | while (1) { |
2108 | - | 109 | if (runFlightControl) { // control interval |
110 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
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111 | if (sensorDataReady != ALL_DATA_READY) { |
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112 | // Analog data should have been ready but is not!! |
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113 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
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114 | } else { |
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115 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
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2109 | - | 116 | } |
117 | J4HIGH; |
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118 | // This is probably the correct order: |
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119 | // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level) |
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120 | // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc. |
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121 | // Flight control uses results from both. |
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122 | calculateFlightAttitude(); |
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123 | controlMixer_periodicTask(); |
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124 | commands_handleCommands(); |
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125 | flight_control(); |
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126 | J4LOW; |
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2108 | - | 127 | |
2109 | - | 128 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
129 | if (!runFlightControl || !isFlying) { |
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130 | usart0_transmitTxData(); |
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131 | } |
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2108 | - | 132 | |
2109 | - | 133 | usart0_processRxData(); |
2108 | - | 134 | |
2109 | - | 135 | if (checkDelay(timer)) { |
136 | // Do nothing. The voltage on the input side of the regulator is <5V; |
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137 | // we must be running off USB power. Keep it quiet. |
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138 | } else if (UBat < staticParams.batteryVoltageWarning && UBat > UBAT_AT_5V) { |
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139 | beepBatteryAlarm(); |
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2108 | - | 140 | } |
141 | |||
2109 | - | 142 | timer = setDelay(20); // every 20 ms |
143 | output_update(); |
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144 | } |
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2108 | - | 145 | |
2109 | - | 146 | calculateFeaturedServoValues(); |
147 | |||
148 | if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
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149 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
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150 | } else { |
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151 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
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2108 | - | 152 | } |
153 | } |
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154 | return (1); |
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155 | } |