Subversion Repositories FlightCtrl

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/branches/dongfang_FC_rewrite/main.c
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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);
}