0,0 → 1,165 |
#include <avr/boot.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <util/delay.h> |
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#include "timer0.h" |
#include "timer2.h" |
#include "uart0.h" |
#include "output.h" |
#include "attitude.h" |
#include "flight.h" |
#include "controlMixer.h" |
#include "rc.h" |
#include "analog.h" |
#include "configuration.h" |
#include "twimaster.h" |
#ifdef USE_NAVICTRL |
#include "spi.h" |
#endif |
#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
#include "eeprom.h" |
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int16_t main(void) { |
uint16_t timer; |
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// disable interrupts global |
cli(); |
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// analyze hardware environment |
CPUType = getCPUType(); |
BoardRelease = getBoardRelease(); |
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// disable watchdog |
MCUSR &= ~(1 << WDRF); |
WDTCSR |= (1 << WDCE) | (1 << WDE); |
WDTCSR = 0; |
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// PPM_in[CH_THROTTLE] = 0; |
// Why??? They are already initialized to 0. |
// stickPitch = stickRoll = stickYaw = 0; |
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RED_OFF; |
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// initalize modules |
output_init(); |
timer0_init(); |
usart0_Init(); |
RC_Init(); |
analog_init(); |
I2C_init(); |
#ifdef USE_NAVICTRL |
SPI_MasterInit(); |
#endif |
#ifdef USE_MK3MAG |
MK3MAG_Init(); |
#endif |
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// enable interrupts global |
sei(); |
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// Parameter Set handling |
ParamSet_Init(); |
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// Wait for a short time (otherwise the RC channel check won't work below) |
// timer = SetDelay(500); |
// while(!CheckDelay(timer)); |
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// Instead, while away the time by flashing the 2 outputs: |
// First J16, then J17. Makes it easier to see which is which. |
timer = setDelay(500); |
OUTPUT_SET(0,1); |
GRN_OFF; |
RED_ON; |
while (!checkDelay(timer)) |
; |
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OUTPUT_SET(0,0); |
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timer = setDelay(500); |
while (!checkDelay(timer)) |
; |
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OUTPUT_SET(1,1); |
RED_OFF; |
GRN_ON; |
timer = setDelay(500); |
while (!checkDelay(timer)) |
; |
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timer = setDelay(500); |
while (!checkDelay(timer)) |
; |
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OUTPUT_SET(1,0); |
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beep(2000); |
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timer = setDelay(4000); |
while (!checkDelay(timer)) |
; |
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controlMixer_setNeutral(); |
// Cal. attitude sensors and reset integrals. |
attitude_setNeutral(); |
// Init flight parameters |
flight_setNeutral(); |
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// RED_OFF; |
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beep(1000); |
timer2_init(); |
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I2CTimeout = 5000; |
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while (1) { |
if (runFlightControl) { // control interval |
runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
if (!analogDataReady) { |
DebugOut.Digital[0] |= DEBUG_MAINLOOP_TIMER; |
} else { |
DebugOut.Digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
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J4HIGH; |
flight_control(); |
J4LOW; |
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// Allow Serial Data Transmit if motors must not updated or motors are not running |
if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
usart0_TransmitTxData(); |
} |
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usart0_ProcessRxData(); |
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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.LowVoltageWarning) { |
beepBatteryAlarm(); |
} |
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#ifdef USE_NAVICTRL |
SPI_StartTransmitPacket(); |
SendSPI = 4; |
#endif |
timer = setDelay(20); // every 20 ms |
} |
output_update(); |
} |
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#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 |
} |
} |
return (1); |
} |