| 0,0 → 1,170 |
|---|
| #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 "output.h" |
| #include "attitude.h" |
| #include "commands.h" |
| #include "flight.h" |
| #include "rc.h" |
| #include "analog.h" |
| #include "configuration.h" |
| #include "controlMixer.h" |
| #include "eeprom.h" |
| #include "printf_P.h" |
| |
| int16_t main(void) { |
| uint16_t timer; |
| |
| // disable interrupts global |
| cli(); |
| |
| // 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(); |
| RC_Init(); |
| analog_init(); |
| |
| // Parameter Set handling |
| IMUConfig_readOrDefault(); |
| channelMap_readOrDefault(); |
| paramSet_readOrDefault(); |
| |
| // enable interrupts global |
| sei(); |
| |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl"); |
| printf("\n\rHardware: Custom"); |
| printf("\n\r CPU: Atmega328"); |
| 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; |
| |
| 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\n\r"); |
| |
| while (1) { |
| if (runFlightControl) { // control interval |
| runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| if (sensorDataReady != ALL_DATA_READY) { |
| // 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(); |
| commands_handleCommands(); |
| flight_control(); |
| J4LOW; |
| |
| // Allow Serial Data Transmit if motors must not updated or motors are not running |
| if (!runFlightControl || !isFlying) { |
| 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 |
| calculateFeaturedServoValues(); |
| |
| 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); |
| } |