Subversion Repositories FlightCtrl

#include <avr/boot.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#include "timer0.h"

#include "timer2.h"

#include "uart0.h"

#include "output.h"

#include "attitude.h"

#include "commands.h"

#include "flight.h"

#include "rc.h"

#include "analog.h"

#include "configuration.h"

#include "controlMixer.h"

#include "eeprom.h"

#include "printf_P.h"

int16_t main(void) {

  uint16_t timer;

  static uint8_t profileTimer;

  // disable interrupts global

  cli();

  // analyze hardware environment

  setCPUType();

  setBoardRelease();

  // disable watchdog

  MCUSR &= ~(1 << WDRF);

  WDTCSR |= (1 << WDCE) | (1 << WDE);

  WDTCSR = 0;

// 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();

  // initalize modules

  output_init();

  timer0_init();

  timer2_init();

  usart0_init();

  //if (CPUType == ATMEGA644P);// usart1_Init();

  RC_Init();

  analog_init();

  // Parameter Set handling

  IMUConfig_readOrDefault();

  channelMap_readOrDefault();

  rcTrim_readOrDefault();

  paramSet_readOrDefault();

  // enable interrupts global

  sei();

  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);

  while (1) {

    if (runFlightControl) { // control interval

      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0

      if (!analogDataReady) {

        // Analog data should have been ready but is not!!

        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;

      } else {

        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;

          }

        // This is probably the correct order:

        // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)

        // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.

        // Flight control uses results from both.

#ifdef DO_PROFILE

      startProfileTimer(ATTITUDE);

#endif

      calculateFlightAttitude();

#ifdef DO_PROFILE

      stopProfileTimer(ATTITUDE);

#endif

#ifdef DO_PROFILE

      startProfileTimer(CONTROLMIXER);

#endif

      controlMixer_periodicTask();

#ifdef DO_PROFILE

      stopProfileTimer(CONTROLMIXER);

#endif

#ifdef DO_PROFILE

      startProfileTimer(COMMANDS);

#endif

      commands_handleCommands();

#ifdef DO_PROFILE

      stopProfileTimer(COMMANDS);

#endif

#ifdef DO_PROFILE

      startProfileTimer(FLIGHT);

#endif

      flight_control();

#ifdef DO_PROFILE

      stopProfileTimer(FLIGHT);

#endif

        // Allow Serial Data Transmit if motors must not updated or motors are not running

        if (!runFlightControl || !isFlying) {

          usart0_transmitTxData();

        }

        usart0_processRxData();

        static uint8_t aboveWarningLimitVoltageSeen = 0;

        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

        }

        output_update();

        if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error.

          debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;

        } else {

          debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;

        }

      }

  }

  return (1);

}