0,0 → 1,295 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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 für 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 excample: 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 "controlMixer.h" |
#include "rc.h" |
#include "analog.h" |
#include "configuration.h" |
#include "printf_P.h" |
#include "twimaster.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; |
|
// PPM_in[CH_THROTTLE] = 0; |
// Why??? They are already initialized to 0. |
// stickPitch = stickRoll = stickYaw = 0; |
|
RED_OFF; |
|
// 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 |
|
// enable interrupts global |
sei(); |
|
printf("\n\r==================================="); |
printf("\n\rFlightControl"); |
printf("\n\rHardware: Custom"); |
printf("\r\n CPU: Atmega644"); |
if(CPUType == ATMEGA644P) |
printf("p"); |
printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
printf("\n\r==================================="); |
|
// Parameter Set handling |
ParamSet_Init(); |
|
// 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); |
J16_ON; |
GRN_OFF; |
RED_ON; |
while(!CheckDelay(timer)); |
|
timer = SetDelay(200); |
J16_OFF; |
RED_OFF; |
GRN_ON; |
J17_ON; |
while(!CheckDelay(timer)); |
|
timer = SetDelay(200); |
while(!CheckDelay(timer)); |
J17_OFF; |
|
twi_diagnostics(); |
printf("\n\r==================================="); |
|
/* |
if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) |
{ |
printf("\n\rCalibrating air pressure sensor.."); |
timer = SetDelay(1000); |
SearchAirPressureOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
*/ |
|
#ifdef USE_NAVICTRL |
printf("\n\rSupport for NaviCtrl"); |
#ifdef USE_RC_DSL |
printf("\r\nSupport for DSL RC at 2nd UART"); |
#endif |
#ifdef USE_RC_SPECTRUM |
printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
#endif |
#endif |
|
#ifdef USE_MK3MAG |
printf("\n\rSupport for MK3MAG Compass"); |
#endif |
|
#if (defined (USE_MK3MAG)) |
if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
else printf("\n\rSupport for GPS at 1st UART"); |
#endif |
|
controlMixer_setNeutral(0); |
|
// Cal. attitude sensors and reset integrals. |
attitude_setNeutral(); |
|
Servo_On(); |
|
// Init flight parameters |
flight_setNeutral(); |
|
RED_OFF; |
|
beep(2000); |
|
printf("\n\rControl: "); |
if (staticParams.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
else printf("Neutral (ACC-Mode)"); |
|
printf("\n\n\r"); |
|
LCD_Clear(); |
|
I2CTimeout = 5000; |
|
while (1) { |
if(runFlightControl && analogDataReady) { // control interval |
runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
|
J4HIGH; |
flight_control(); |
J4LOW; |
|
sendMotorData(); // the flight control code |
|
RED_OFF; |
|
/* |
Does not belong here. Instead, external control should be ignored in |
controlMixer if there was no new data from there for some time. |
if(externalControlActive) externalControlActive--; |
else { |
externalControl.config = 0; |
externalStickPitch = 0; |
externalStickRoll = 0; |
externalStickYaw = 0; |
} |
*/ |
|
/* |
Does not belong here. |
if(RC_Quality) RC_Quality--; |
*/ |
|
/* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
#ifdef USE_NAVICTRL |
if(NCDataOkay) { |
if(--NCDataOkay == 0) // no data from NC |
{ // set gps control sticks neutral |
GPSStickPitch = 0; |
GPSStickRoll = 0; |
NCSerialDataOkay = 0; |
} |
} |
#endif |
*/ |
if(!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
RED_ON; |
if(!I2CTimeout) { |
I2C_Reset(); |
I2CTimeout = 5; |
} |
} else { |
RED_OFF; |
} |
|
// allow Serial Data Transmit if motors must not updated or motors are not running |
// Why only when that??? |
if( !runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
USART0_TransmitTxData(); |
} |
|
USART0_ProcessRxData(); |
|
if(CheckDelay(timer)) { |
if(UBat < staticParams.LowVoltageWarning) { |
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 |
} |
return (1); |
} |