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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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1868 | - | 3 | // + Nur für den privaten Gebrauch |
1612 | dongfang | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1868 | - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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1612 | dongfang | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1868 | - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
1612 | dongfang | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1868 | - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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1612 | dongfang | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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1868 | - | 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
1612 | dongfang | 18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1868 | - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
1868 | - | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
1612 | dongfang | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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1868 | - | 25 | // + mit unserer Zustimmung zulässig |
1612 | dongfang | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1623 | - | 52 | |
1612 | dongfang | 53 | #include <avr/boot.h> |
54 | #include <avr/io.h> |
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55 | #include <avr/interrupt.h> |
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56 | #include <util/delay.h> |
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57 | |||
58 | #include "timer0.h" |
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59 | #include "timer2.h" |
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60 | #include "uart0.h" |
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61 | #include "uart1.h" |
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62 | #include "output.h" |
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63 | #include "menu.h" |
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64 | #include "attitude.h" |
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65 | #include "flight.h" |
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66 | #include "controlMixer.h" |
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67 | #include "rc.h" |
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68 | #include "analog.h" |
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69 | #include "configuration.h" |
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70 | #include "printf_P.h" |
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71 | #include "twimaster.h" |
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72 | #ifdef USE_NAVICTRL |
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73 | #include "spi.h" |
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74 | #endif |
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75 | #ifdef USE_MK3MAG |
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76 | #include "mk3mag.h" |
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77 | #endif |
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78 | #include "eeprom.h" |
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79 | |||
1821 | - | 80 | int16_t main(void) { |
1864 | - | 81 | uint16_t timer; |
1612 | dongfang | 82 | |
1864 | - | 83 | // disable interrupts global |
84 | cli(); |
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1612 | dongfang | 85 | |
1864 | - | 86 | // analyze hardware environment |
87 | CPUType = getCPUType(); |
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1960 | - | 88 | boardRelease = getBoardRelease(); |
1612 | dongfang | 89 | |
1864 | - | 90 | // disable watchdog |
91 | MCUSR &= ~(1 << WDRF); |
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92 | WDTCSR |= (1 << WDCE) | (1 << WDE); |
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93 | WDTCSR = 0; |
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1612 | dongfang | 94 | |
1864 | - | 95 | // PPM_in[CH_THROTTLE] = 0; |
96 | // Why??? They are already initialized to 0. |
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97 | // stickPitch = stickRoll = stickYaw = 0; |
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1612 | dongfang | 98 | |
1864 | - | 99 | RED_OFF; |
1612 | dongfang | 100 | |
1864 | - | 101 | // initalize modules |
102 | output_init(); |
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103 | timer0_init(); |
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104 | timer2_init(); |
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105 | usart0_Init(); |
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1961 | - | 106 | if (CPUType == ATMEGA644P);// usart1_Init(); |
1864 | - | 107 | RC_Init(); |
108 | analog_init(); |
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109 | I2C_init(); |
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1612 | dongfang | 110 | #ifdef USE_NAVICTRL |
1864 | - | 111 | SPI_MasterInit(); |
1612 | dongfang | 112 | #endif |
113 | #ifdef USE_MK3MAG |
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1864 | - | 114 | MK3MAG_Init(); |
1612 | dongfang | 115 | #endif |
116 | |||
1864 | - | 117 | // enable interrupts global |
118 | sei(); |
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1612 | dongfang | 119 | |
1864 | - | 120 | printf("\n\r==================================="); |
121 | printf("\n\rFlightControl"); |
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122 | printf("\n\rHardware: Custom"); |
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123 | printf("\r\n CPU: Atmega644"); |
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124 | if (CPUType == ATMEGA644P) |
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125 | printf("p"); |
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126 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
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127 | printf("\n\r==================================="); |
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1612 | dongfang | 128 | |
1864 | - | 129 | // Parameter Set handling |
1960 | - | 130 | channelMap_readOrDefault(); |
131 | paramSet_readOrDefault(); |
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1634 | - | 132 | |
1864 | - | 133 | // Wait for a short time (otherwise the RC channel check won't work below) |
134 | // timer = SetDelay(500); |
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135 | // while(!CheckDelay(timer)); |
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1612 | dongfang | 136 | |
1864 | - | 137 | // Instead, while away the time by flashing the 2 outputs: |
138 | // First J16, then J17. Makes it easier to see which is which. |
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1887 | - | 139 | timer = setDelay(200); |
1864 | - | 140 | OUTPUT_SET(0,1); |
141 | GRN_OFF; |
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142 | RED_ON; |
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1887 | - | 143 | while (!checkDelay(timer)) |
1864 | - | 144 | ; |
1612 | dongfang | 145 | |
1887 | - | 146 | timer = setDelay(200); |
1864 | - | 147 | OUTPUT_SET(0,0); |
148 | OUTPUT_SET(1,1); |
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149 | RED_OFF; |
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150 | GRN_ON; |
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1887 | - | 151 | while (!checkDelay(timer)) |
1864 | - | 152 | ; |
1849 | - | 153 | |
1887 | - | 154 | timer = setDelay(200); |
155 | while (!checkDelay(timer)) |
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1864 | - | 156 | ; |
157 | OUTPUT_SET(1,0); |
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1612 | dongfang | 158 | |
1864 | - | 159 | twi_diagnostics(); |
1634 | - | 160 | |
1864 | - | 161 | printf("\n\r==================================="); |
1612 | dongfang | 162 | |
163 | #ifdef USE_NAVICTRL |
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1864 | - | 164 | printf("\n\rSupport for NaviCtrl"); |
1612 | dongfang | 165 | #ifdef USE_RC_DSL |
1864 | - | 166 | printf("\r\nSupport for DSL RC at 2nd UART"); |
1612 | dongfang | 167 | #endif |
168 | #ifdef USE_RC_SPECTRUM |
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1864 | - | 169 | printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
1612 | dongfang | 170 | #endif |
171 | #endif |
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172 | |||
173 | #ifdef USE_MK3MAG |
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1864 | - | 174 | printf("\n\rSupport for MK3MAG Compass"); |
1612 | dongfang | 175 | #endif |
176 | |||
177 | #if (defined (USE_MK3MAG)) |
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1887 | - | 178 | if(CPUType == ATMEGA644P) printf("\n\r2 UART"); |
179 | else printf("\n\r1 UART"); |
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1612 | dongfang | 180 | #endif |
181 | |||
1864 | - | 182 | controlMixer_setNeutral(); |
1612 | dongfang | 183 | |
1864 | - | 184 | // Cal. attitude sensors and reset integrals. |
185 | attitude_setNeutral(); |
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1612 | dongfang | 186 | |
1864 | - | 187 | Servo_On(); |
1612 | dongfang | 188 | |
1864 | - | 189 | // Init flight parameters |
190 | flight_setNeutral(); |
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1612 | dongfang | 191 | |
1864 | - | 192 | // RED_OFF; |
1612 | dongfang | 193 | |
1864 | - | 194 | beep(2000); |
1612 | dongfang | 195 | |
1864 | - | 196 | printf("\n\rControl: "); |
1960 | - | 197 | if (staticParams.bitConfig & CFG_HEADING_HOLD) |
1864 | - | 198 | printf("HeadingHold"); |
199 | else printf("Neutral (ACC-Mode)"); |
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1612 | dongfang | 200 | |
1864 | - | 201 | printf("\n\n\r"); |
1612 | dongfang | 202 | |
1864 | - | 203 | LCD_Clear(); |
1612 | dongfang | 204 | |
1864 | - | 205 | I2CTimeout = 5000; |
1821 | - | 206 | |
1864 | - | 207 | while (1) { |
1869 | - | 208 | if (runFlightControl) { // control interval |
1864 | - | 209 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
1872 | - | 210 | if (!analogDataReady) { |
1955 | - | 211 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
1872 | - | 212 | } else { |
1955 | - | 213 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
1821 | - | 214 | |
1872 | - | 215 | J4HIGH; |
1869 | - | 216 | flight_control(); |
1872 | - | 217 | J4LOW; |
1821 | - | 218 | |
1872 | - | 219 | if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout |
1869 | - | 220 | RED_ON; |
221 | if (!I2CTimeout) { |
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222 | I2C_Reset(); |
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223 | I2CTimeout = 5; |
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224 | } |
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225 | } else { |
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226 | RED_OFF; |
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1864 | - | 227 | } |
1821 | - | 228 | |
1869 | - | 229 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
230 | if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
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231 | usart0_TransmitTxData(); |
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232 | } |
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1821 | - | 233 | |
1869 | - | 234 | usart0_ProcessRxData(); |
1821 | - | 235 | |
1887 | - | 236 | if (checkDelay(timer)) { |
1869 | - | 237 | if (UBat <= UBAT_AT_5V) { |
238 | // Do nothing. The voltage on the input side of the regulator is <5V; |
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239 | // we must be running off USB power. Keep it quiet. |
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1960 | - | 240 | } else if (UBat < staticParams.batteryVoltageWarning) { |
1869 | - | 241 | beepBatteryAlarm(); |
242 | } |
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1821 | - | 243 | |
1612 | dongfang | 244 | #ifdef USE_NAVICTRL |
1869 | - | 245 | SPI_StartTransmitPacket(); |
246 | SendSPI = 4; |
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1612 | dongfang | 247 | #endif |
1887 | - | 248 | timer = setDelay(20); // every 20 ms |
1869 | - | 249 | } |
250 | output_update(); |
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1864 | - | 251 | } |
1821 | - | 252 | |
1612 | dongfang | 253 | #ifdef USE_NAVICTRL |
1869 | - | 254 | if(!SendSPI) { |
255 | // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
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256 | // within the SPI_TransmitByte() routine the value is set to 4. |
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257 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
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258 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
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259 | SPI_TransmitByte(); |
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260 | } |
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261 | #endif |
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1864 | - | 262 | } |
263 | } |
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264 | return (1); |
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1612 | dongfang | 265 | } |