WebSVN - FlightCtrl - Diff - Rev 2049 and 2052 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 fï¿½r 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 example: 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 "rc.h"
#include "analog.h"
#include "configuration.h"
#include "printf_P.h"
#include "twimaster.h"
#include "controlMixer.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;
 
// 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();
  if (CPUType == ATMEGA644P);// usart1_Init();
  RC_Init();
  analog_init();
  I2C_init();
#ifdef USE_NAVICTRL
  SPI_MasterInit();
#endif
#ifdef USE_MK3MAG
  MK3MAG_init();
#endif
#ifdef USE_DIRECT_GPS
  usart1_init();
#endif
 
  // Parameter Set handling
  channelMap_readOrDefault();
  mixerMatrix_readOrDefault();
  paramSet_readOrDefault();
 
  // enable interrupts global
  sei();
 
  printf("\n\r===================================");
  printf("\n\rFlightControl");
  printf("\n\rHardware: Custom");
  printf("\n\r     CPU: Atmega644");
  if (CPUType == ATMEGA644P)
    printf("p");
  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;
 
  twi_diagnostics();
 
  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\rControl: ");
  if (staticParams.bitConfig & CFG_HEADING_HOLD)
    printf("Heading Hold");
    else printf("RTL Mode");
 
  printf("\n\n\r");
 
  LCD_clear();
 
  I2CTimeout = 5000;
 
  while (1) {
    if (runFlightControl) { // control interval
      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
      if (!analogDataReady) {
        // 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();
        flight_control();
        J4LOW;
 
        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout
          if (!I2CTimeout) {
            I2C_Reset();
            I2CTimeout = 5;
          }
          beepI2CAlarm();
        }
       
        // Allow Serial Data Transmit if motors must not updated or motors are not running
        if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
          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
 
          calculateServoValues();
         
          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);
}
 

Rev 2049	Rev 2052
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur fï¿½r den privaten und nicht-kommerziellen Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur fï¿½r den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	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	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	18	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52		52
53	#include <avr/boot.h>	53	#include <avr/boot.h>
54	#include <avr/io.h>	54	#include <avr/io.h>
55	#include <avr/interrupt.h>	55	#include <avr/interrupt.h>
56	#include <util/delay.h>	56	#include <util/delay.h>
57		57
58	#include "timer0.h"	58	#include "timer0.h"
59	#include "timer2.h"	59	#include "timer2.h"
60	#include "uart0.h"	60	#include "uart0.h"
61	#include "uart1.h"	61	#include "uart1.h"
62	#include "output.h"	62	#include "output.h"
63	#include "menu.h"	63	#include "menu.h"
64	#include "attitude.h"	64	#include "attitude.h"
65	#include "flight.h"	65	#include "flight.h"
66	#include "rc.h"	66	#include "rc.h"
67	#include "analog.h"	67	#include "analog.h"
68	#include "configuration.h"	68	#include "configuration.h"
69	#include "printf_P.h"	69	#include "printf_P.h"
70	#include "twimaster.h"	70	#include "twimaster.h"
71	#include "controlMixer.h"	71	#include "controlMixer.h"
72	#ifdef USE_NAVICTRL	72	#ifdef USE_NAVICTRL
73	#include "spi.h"	73	#include "spi.h"
74	#endif	74	#endif
75	#ifdef USE_DIRECT_GPS	75	#ifdef USE_MK3MAG
76	#include "mk3mag.h"	76	#include "mk3mag.h"
77	#endif	77	#endif
78	#include "eeprom.h"	78	#include "eeprom.h"
79		79
80	int16_t main(void) {	80	int16_t main(void) {
81	uint16_t timer;	81	uint16_t timer;
82		82
83	// disable interrupts global	83	// disable interrupts global
84	cli();	84	cli();
85		85
86	// analyze hardware environment	86	// analyze hardware environment
87	CPUType = getCPUType();	87	CPUType = getCPUType();
88	boardRelease = getBoardRelease();	88	boardRelease = getBoardRelease();
89		89
90	// disable watchdog	90	// disable watchdog
91	MCUSR &= ~(1 << WDRF);	91	MCUSR &= ~(1 << WDRF);
92	WDTCSR \|= (1 << WDCE) \| (1 << WDE);	92	WDTCSR \|= (1 << WDCE) \| (1 << WDE);
93	WDTCSR = 0;	93	WDTCSR = 0;
94		94
95	// This is strange: It should NOT be necessarty to do. But the call of the same,	95	// This is strange: It should NOT be necessarty to do. But the call of the same,
96	// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....	96	// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
97	channelMap_default();	97	channelMap_default();
98		98
99	// initalize modules	99	// initalize modules
100	output_init();	100	output_init();
101	timer0_init();	101	timer0_init();
102	timer2_init();	102	timer2_init();
103	usart0_init();	103	usart0_init();
104	if (CPUType == ATMEGA644P);// usart1_Init();	104	if (CPUType == ATMEGA644P);// usart1_Init();
105	RC_Init();	105	RC_Init();
106	analog_init();	106	analog_init();
107	I2C_init();	107	I2C_init();
108	#ifdef USE_NAVICTRL	108	#ifdef USE_NAVICTRL
109	SPI_MasterInit();	109	SPI_MasterInit();
110	#endif	110	#endif
111	#ifdef USE_DIRECT_GPS	111	#ifdef USE_MK3MAG
112	MK3MAG_init();	112	MK3MAG_init();
-		113	#endif
-		114	#ifdef USE_DIRECT_GPS
113	usart1_init();	115	usart1_init();
114	#endif	116	#endif
115		117
116	// Parameter Set handling	118	// Parameter Set handling
117	channelMap_readOrDefault();	119	channelMap_readOrDefault();
118	mixerMatrix_readOrDefault();	120	mixerMatrix_readOrDefault();
119	paramSet_readOrDefault();	121	paramSet_readOrDefault();
120		122
121	// enable interrupts global	123	// enable interrupts global
122	sei();	124	sei();
123		125
124	printf("\n\r===================================");	126	printf("\n\r===================================");
125	printf("\n\rFlightControl");	127	printf("\n\rFlightControl");
126	printf("\n\rHardware: Custom");	128	printf("\n\rHardware: Custom");
127	printf("\n\r CPU: Atmega644");	129	printf("\n\r CPU: Atmega644");
128	if (CPUType == ATMEGA644P)	130	if (CPUType == ATMEGA644P)
129	printf("p");	131	printf("p");
130	printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');	132	printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
131	printf("\n\r===================================");	133	printf("\n\r===================================");
132		134
133	// Wait for a short time (otherwise the RC channel check won't work below)	135	// Wait for a short time (otherwise the RC channel check won't work below)
134	// timer = SetDelay(500);	136	// timer = SetDelay(500);
135	// while(!CheckDelay(timer));	137	// while(!CheckDelay(timer));
136		138
137	// Instead, while away the time by flashing the 2 outputs:	139	// Instead, while away the time by flashing the 2 outputs:
138	// First J16, then J17. Makes it easier to see which is which.	140	// First J16, then J17. Makes it easier to see which is which.
139	timer = setDelay(200);	141	timer = setDelay(200);
140	outputSet(0,1);	142	outputSet(0,1);
141	GRN_OFF;	143	GRN_OFF;
142	RED_ON;	144	RED_ON;
143	while (!checkDelay(timer))	145	while (!checkDelay(timer))
144	;	146	;
145		147
146	timer = setDelay(200);	148	timer = setDelay(200);
147	outputSet(0,0);	149	outputSet(0,0);
148	outputSet(1,1);	150	outputSet(1,1);
149	RED_OFF;	151	RED_OFF;
150	GRN_ON;	152	GRN_ON;
151	while (!checkDelay(timer))	153	while (!checkDelay(timer))
152	;	154	;
153		155
154	timer = setDelay(200);	156	timer = setDelay(200);
155	while (!checkDelay(timer))	157	while (!checkDelay(timer))
156	;	158	;
157	outputSet(1,0);	159	outputSet(1,0);
158	GRN_OFF;	160	GRN_OFF;
159		161
160	twi_diagnostics();	162	twi_diagnostics();
161		163
162	printf("\n\r===================================");	164	printf("\n\r===================================");
163		165
164	#ifdef USE_NAVICTRL	166	#ifdef USE_NAVICTRL
165	printf("\n\rSupport for NaviCtrl");	167	printf("\n\rSupport for NaviCtrl");
166	#endif	168	#endif
167		169
168	#ifdef USE_DIRECT_GPS	170	#ifdef USE_DIRECT_GPS
169	printf("\n\rDirect (no NaviCtrl) navigation");	171	printf("\n\rDirect (no NaviCtrl) navigation");
170	#endif	172	#endif
171		173
172	controlMixer_setNeutral();	174	controlMixer_setNeutral();
173		175
174	// Cal. attitude sensors and reset integrals.	176	// Cal. attitude sensors and reset integrals.
175	attitude_setNeutral();	177	attitude_setNeutral();
176		178
177	// Init flight parameters	179	// Init flight parameters
178	flight_setNeutral();	180	flight_setNeutral();
179		181
180	beep(2000);	182	beep(2000);
181		183
182	printf("\n\rControl: ");	184	printf("\n\rControl: ");
183	if (staticParams.bitConfig & CFG_HEADING_HOLD)	185	if (staticParams.bitConfig & CFG_HEADING_HOLD)
184	printf("Heading Hold");	186	printf("Heading Hold");
185	else printf("RTL Mode");	187	else printf("RTL Mode");
186		188
187	printf("\n\n\r");	189	printf("\n\n\r");
188		190
189	LCD_clear();	191	LCD_clear();
190		192
191	I2CTimeout = 5000;	193	I2CTimeout = 5000;
192		194
193	while (1) {	195	while (1) {
194	if (runFlightControl) { // control interval	196	if (runFlightControl) { // control interval
195	runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0	197	runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
196	if (!analogDataReady) {	198	if (!analogDataReady) {
197	// Analog data should have been ready but is not!!	199	// Analog data should have been ready but is not!!
198	debugOut.digital[0] \|= DEBUG_MAINLOOP_TIMER;	200	debugOut.digital[0] \|= DEBUG_MAINLOOP_TIMER;
199	} else {	201	} else {
200	debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;	202	debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
201		203
202	J4HIGH;	204	J4HIGH;
203	// This is probably the correct order:	205	// This is probably the correct order:
204	// The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)	206	// The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
205	// The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.	207	// The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
206	// Flight control uses results from both.	208	// Flight control uses results from both.
207	calculateFlightAttitude();	209	calculateFlightAttitude();
208	controlMixer_periodicTask();	210	controlMixer_periodicTask();
209	flight_control();	211	flight_control();
210	J4LOW;	212	J4LOW;
211		213
212	if (!--I2CTimeout \|\| missingMotor) { // try to reset the i2c if motor is missing or timeout	214	if (!--I2CTimeout \|\| missingMotor) { // try to reset the i2c if motor is missing or timeout
213	if (!I2CTimeout) {	215	if (!I2CTimeout) {
214	I2C_Reset();	216	I2C_Reset();
215	I2CTimeout = 5;	217	I2CTimeout = 5;
216	}	218	}
217	beepI2CAlarm();	219	beepI2CAlarm();
218	}	220	}
219		221
220	// Allow Serial Data Transmit if motors must not updated or motors are not running	222	// Allow Serial Data Transmit if motors must not updated or motors are not running
221	if (!runFlightControl \|\| !(MKFlags & MKFLAG_MOTOR_RUN)) {	223	if (!runFlightControl \|\| !(MKFlags & MKFLAG_MOTOR_RUN)) {
222	usart0_transmitTxData();	224	usart0_transmitTxData();
223	}	225	}
224		226
225	usart0_processRxData();	227	usart0_processRxData();
226		228
227	if (checkDelay(timer)) {	229	if (checkDelay(timer)) {
228	if (UBat <= UBAT_AT_5V) {	230	if (UBat <= UBAT_AT_5V) {
229	// Do nothing. The voltage on the input side of the regulator is <5V;	231	// Do nothing. The voltage on the input side of the regulator is <5V;
230	// we must be running off USB power. Keep it quiet.	232	// we must be running off USB power. Keep it quiet.
231	} else if (UBat < staticParams.batteryVoltageWarning) {	233	} else if (UBat < staticParams.batteryVoltageWarning) {
232	beepBatteryAlarm();	234	beepBatteryAlarm();
233	}	235	}
234		236
235	#ifdef USE_NAVICTRL	237	#ifdef USE_NAVICTRL
236	SPI_StartTransmitPacket();	238	SPI_StartTransmitPacket();
237	SendSPI = 4;	239	SendSPI = 4;
238	#endif	240	#endif
239	timer = setDelay(20); // every 20 ms	241	timer = setDelay(20); // every 20 ms
240	}	242	}
241	output_update();	243	output_update();
242	}	244	}
243		245
244	#ifdef USE_NAVICTRL	246	#ifdef USE_NAVICTRL
245	if(!SendSPI) {	247	if(!SendSPI) {
246	// SendSPI is decremented in timer0.c with a rate of 9.765 kHz.	248	// SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
247	// within the SPI_TransmitByte() routine the value is set to 4.	249	// within the SPI_TransmitByte() routine the value is set to 4.
248	// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,	250	// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
249	// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.	251	// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
250	SPI_TransmitByte();	252	SPI_TransmitByte();
251	}	253	}
252	#endif	254	#endif
253		255
254	calculateServoValues();	256	calculateServoValues();
255		257
256	if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error.	258	if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error.
257	debugOut.digital[1] \|= DEBUG_MAINLOOP_TIMER;	259	debugOut.digital[1] \|= DEBUG_MAINLOOP_TIMER;
258	} else {	260	} else {
259	debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;	261	debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
260	}	262	}
261	}	263	}
262	}	264	}
263	return (1);	265	return (1);
264	}	266	}
265		267

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/main.c @ 1869 - Rev 2049 → 2052