Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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 f�r 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 example: 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 <util/delay.h>

#include "timer0.h"

#include "timer2.h"

#include "uart0.h"

#include "uart1.h"

#include "output.h"

#include "menu.h"

#include "attitude.h"

#include "flight.h"

#include "rc.h"

#include "analog.h"

#include "configuration.h"

#include "printf_P.h"

#include "twimaster.h"

#include "controlMixer.h"

#ifdef USE_NAVICTRL

#include "spi.h"

#endif

#ifdef USE_MK3MAG

#include "mk3mag.h"

#endif

#include "eeprom.h"

int16_t main(void) {

  uint16_t timer;

  // disable interrupts global

  cli();

  // analyze hardware environment

  CPUType = getCPUType();

  boardRelease = getBoardRelease();

  // 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();

  I2C_init();

#ifdef USE_NAVICTRL

  SPI_MasterInit();

#endif

#ifdef USE_MK3MAG

  MK3MAG_init();

#endif

#ifdef USE_DIRECT_GPS

  usart1_init();

#endif

  // Parameter Set handling

  channelMap_readOrDefault();

  mixerMatrix_readOrDefault();

  paramSet_readOrDefault();

  // enable interrupts global

  sei();

  printf("\n\r===================================");

  printf("\n\rFlightControl");

  printf("\n\rHardware: Custom");

  printf("\n\r     CPU: Atmega644");

  if (CPUType == ATMEGA644P)

    printf("p");

  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');

  printf("\n\r===================================");

  // Wait for a short time (otherwise the RC channel check won't work below)

  // timer = SetDelay(500);

  // while(!CheckDelay(timer));

  // Instead, while away the time by flashing the 2 outputs:

  // First J16, then J17. Makes it easier to see which is which.

  timer = setDelay(200);

  outputSet(0,1);

  GRN_OFF;

  RED_ON;

  while (!checkDelay(timer))

    ;

  timer = setDelay(200);

  outputSet(0,0);

  outputSet(1,1);

  RED_OFF;

  GRN_ON;

  while (!checkDelay(timer))

    ;

  timer = setDelay(200);

  while (!checkDelay(timer))

    ;

  outputSet(1,0);

  GRN_OFF;

  twi_diagnostics();

  printf("\n\r===================================");

#ifdef USE_NAVICTRL

  printf("\n\rSupport for NaviCtrl");

#endif

#ifdef USE_DIRECT_GPS

  printf("\n\rDirect (no NaviCtrl) navigation");

#endif

  controlMixer_setNeutral();

  // Cal. attitude sensors and reset integrals.

  attitude_setNeutral();

  // Init flight parameters

  flight_setNeutral();

  beep(2000);

  printf("\n\rControl: ");

  if (staticParams.bitConfig & CFG_HEADING_HOLD)

    printf("Heading Hold");

    else printf("RTL Mode");

  printf("\n\n\r");

  LCD_clear();

  I2CTimeout = 5000;

  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;

        J4HIGH;

        // 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.

        calculateFlightAttitude();

        controlMixer_periodicTask();

        flight_control();

        J4LOW;

        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout

          if (!I2CTimeout) {

            I2C_Reset();

            I2CTimeout = 5;

          }

          beepI2CAlarm();

        }

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

        if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {

          usart0_transmitTxData();

        }

        usart0_processRxData();

        if (checkDelay(timer)) {

          if (UBat <= UBAT_AT_5V) {

            // Do nothing. The voltage on the input side of the regulator is <5V;

            // we must be running off USB power. Keep it quiet.

          } else if (UBat < staticParams.batteryVoltageWarning) {

            beepBatteryAlarm();

          }

#ifdef USE_NAVICTRL

          SPI_StartTransmitPacket();

          SendSPI = 4;

#endif

          timer = setDelay(20); // every 20 ms

        }

        output_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

          calculateServoValues();

          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);

}