WebSVN - FlightCtrl - Diff - Rev 911 and 951 - /branches/V0.69k Code Redesign killagreg/main.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "main.h"
#include "timer0.h"
#include "timer2.h"
#include "uart.h"
#if defined (__AVR_ATmega644P__)
#include "uart1.h"
#endif
#include "led.h"
#include "menu.h"
#include "fc.h"
#include "rc.h"
#include "analog.h"
#include "printf_P.h"
#ifdef USE_KILLAGREG
#include "mm3.h"
#endif
#ifdef USE_NAVICTRL
#include "spi.h"
#endif
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif
#include "twimaster.h"
#include "eeprom.h"
#include "_Settings.h"
 
 
uint8_t BoardRelease = 10;
 
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer;
 
        // disable interrupts global
        cli();
 
        // get board release
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // make some delay
    if(PINB & (1<<PINB0)) BoardRelease = 11;
    else BoardRelease = 10;
 
        // set LED ports as output
        DDRB |= (1<<DDB1)|(1<<DDB0);
        ROT_ON;
        GRN_OFF;
 
        // disable watchdog
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    BeepTime = 2000;
 
        PPM_in[CH_GAS] = 0;
        StickYaw = 0;
        StickRoll = 0;
        StickNick = 0;
 
    ROT_OFF;
 
        // initalize modules
        LED_Init();
    TIMER0_Init();
    TIMER2_Init();
        USART0_Init();
 
        #if defined (__AVR_ATmega644P__)
        if (BoardRelease == 11) USART1_Init();
        #endif
 
    RC_Init();
        ADC_Init();
        I2C_Init();
 
 
        #ifdef USE_NAVICTRL
        SPI_MasterInit();
        #endif
        #ifdef USE_KILLAGREG
        MM3_Init();
        #endif
        #ifdef USE_MK3MAG
        MK3MAG_Init();
        #endif
 
 
        // enable interrupts global
        sei();
 
    VersionInfo.Major = VERSION_MAJOR;
    VersionInfo.Minor = VERSION_MINOR;
    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
 
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');
        printf("\n\r==============================");
        GRN_ON;
 
        // Parameter set handling
        ParamSet_Init();
 
    if(GetParamWord(PID_ACC_NICK) > 1023)
     {
       printf("\n\rACC not calibrated!");
     }
 
        //wait for a short time (otherwise the RC channel check won't work below)
        timer = SetDelay(500);
        while(!CheckDelay(timer));
 
 
        if(ParamSet.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");
        #endif
 
        #ifdef USE_KILLAGREG
        printf("\n\rSupport for MicroMag3 Compass");
        #endif
        #ifdef USE_MK3MAG
        printf("\n\rSupport for MK3MAG Compass");
        #endif
 
 
 
        #if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
        #if defined (__AVR_ATmega644P__)
        if(BoardRelease == 10)
        {
                printf("\n\rSupport for GPS at 1st UART");
        }
        else
        {
                printf("\n\rSupport for GPS at 2nd UART");
        }
        #else // (__AVR_ATmega644__)
        printf("\n\rSupport for GPS at 1st UART");
        #endif
        #endif
 
 
 
        SetNeutral();
 
        ROT_OFF;
 
    BeepTime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        printf("\n\rControl: ");
        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Neutral");
 
        printf("\n\n\r");
 
    LCD_Clear();
 
    I2CTimeout = 5000;
 
        while (1)
        {
        if(UpdateMotor)      // control interval
        {
                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
                        //PORTD |= (1<<PORTD4);
            MotorControl();
                        //PORTD &= ~(1<<PORTD4);
 
                        SendMotorData();
 
            ROT_OFF;
 
            if(PcAccess) PcAccess--;
            else
            {
               DubWiseKeys[0] = 0;
               DubWiseKeys[1] = 0;
                           ExternControl.Config = 0;
               ExternStickNick= 0;
               ExternStickRoll = 0;
               ExternStickYaw = 0;
            }
 
            if(!I2CTimeout)
            {
                                I2CTimeout = 5;
                                I2C_Reset();
                                if((BeepModulation == 0xFFFF) && MotorsOn)
                                {
                                        BeepTime = 10000; // 1 second
                                        BeepModulation = 0x0080;
                                }
                        }
                        else
                        {
                                I2CTimeout--;
                                ROT_OFF;
                        }
 
                        if(SIO_DEBUG && (!UpdateMotor || !MotorsOn))
                        {
                                USART0_TransmitTxData();
                                USART0_ProcessRxData();
                        }
                        else USART0_ProcessRxData();
 
                        if(CheckDelay(timer))
                        {
                if(UBat < ParamSet.LowVoltageWarning)
                {
                                        BeepModulation == 0x0300;
                                        if(!BeepTime)
                                        {
                                                BeepTime = 6000; // 0.6 seconds
 
                                        }
                }
                                #ifdef USE_NAVICTRL
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
                                #endif
                                timer = SetDelay(20); // every 20 ms
            }
                }
 
                #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);
}
 
 

Rev 911	Rev 951
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 für den privaten und nicht-kommerziellen Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für 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 excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: 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	#include <avr/boot.h>	52	#include <avr/boot.h>
53		53
54	#include <avr/io.h>	54	#include <avr/io.h>
55	#include <avr/interrupt.h>	55	#include <avr/interrupt.h>
56		56
57	#include "main.h"	57	#include "main.h"
58	#include "timer0.h"	58	#include "timer0.h"
59	#include "timer2.h"	59	#include "timer2.h"
60	#include "uart.h"	60	#include "uart.h"
61	#if defined (__AVR_ATmega644P__)	61	#if defined (__AVR_ATmega644P__)
62	#include "uart1.h"	62	#include "uart1.h"
63	#endif	63	#endif
64	#include "led.h"	64	#include "led.h"
65	#include "menu.h"	65	#include "menu.h"
66	#include "fc.h"	66	#include "fc.h"
67	#include "rc.h"	67	#include "rc.h"
68	#include "analog.h"	68	#include "analog.h"
69	#include "printf_P.h"	69	#include "printf_P.h"
70	#ifdef USE_KILLAGREG	70	#ifdef USE_KILLAGREG
71	#include "mm3.h"	71	#include "mm3.h"
72	#endif	72	#endif
73	#ifdef USE_NAVICTRL	73	#ifdef USE_NAVICTRL
74	#include "spi.h"	74	#include "spi.h"
75	#endif	75	#endif
76	#ifdef USE_MK3MAG	76	#ifdef USE_MK3MAG
77	#include "mk3mag.h"	77	#include "mk3mag.h"
78	#endif	78	#endif
79	#include "twimaster.h"	79	#include "twimaster.h"
80	#include "eeprom.h"	80	#include "eeprom.h"
81	#include "_Settings.h"	81	#include "_Settings.h"
82		82
83		83
84	uint8_t BoardRelease = 10;	84	uint8_t BoardRelease = 10;
85		85
86		86
87	//############################################################################	87	//############################################################################
88	//Hauptprogramm	88	//Hauptprogramm
89	int main (void)	89	int main (void)
90	//############################################################################	90	//############################################################################
91	{	91	{
92	unsigned int timer;	92	unsigned int timer;
93		93
94	// disable interrupts global	94	// disable interrupts global
95	cli();	95	cli();
96		96
97	// get board release	97	// get board release
98	DDRB = 0x00;	98	DDRB = 0x00;
99	PORTB = 0x00;	99	PORTB = 0x00;
100	for(timer = 0; timer < 1000; timer++); // make some delay	100	for(timer = 0; timer < 1000; timer++); // make some delay
101	if(PINB & (1<<PINB0)) BoardRelease = 11;	101	if(PINB & (1<<PINB0)) BoardRelease = 11;
102	else BoardRelease = 10;	102	else BoardRelease = 10;
103		103
104	// set LED ports as output	104	// set LED ports as output
105	DDRB \|= (1<<DDB1)\|(1<<DDB0);	105	DDRB \|= (1<<DDB1)\|(1<<DDB0);
106	ROT_ON;	106	ROT_ON;
107	GRN_OFF;	107	GRN_OFF;
108		108
109	// disable watchdog	109	// disable watchdog
110	MCUSR &=~(1<<WDRF);	110	MCUSR &=~(1<<WDRF);
111	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	111	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
112	WDTCSR = 0;	112	WDTCSR = 0;
113		113
114	BeepTime = 2000;	114	BeepTime = 2000;
115		115
116	PPM_in[CH_GAS] = 0;	116	PPM_in[CH_GAS] = 0;
117	StickYaw = 0;	117	StickYaw = 0;
118	StickRoll = 0;	118	StickRoll = 0;
119	StickNick = 0;	119	StickNick = 0;
120		120
121	ROT_OFF;	121	ROT_OFF;
122		122
123	// initalize modules	123	// initalize modules
124	LED_Init();	124	LED_Init();
125	TIMER0_Init();	125	TIMER0_Init();
126	TIMER2_Init();	126	TIMER2_Init();
127	USART0_Init();	127	USART0_Init();
128		128
129	#if defined (__AVR_ATmega644P__)	129	#if defined (__AVR_ATmega644P__)
130	if (BoardRelease == 11) USART1_Init();	130	if (BoardRelease == 11) USART1_Init();
131	#endif	131	#endif
132		132
133	RC_Init();	133	RC_Init();
134	ADC_Init();	134	ADC_Init();
135	I2C_Init();	135	I2C_Init();
136		136
137		137
138	#ifdef USE_NAVICTRL	138	#ifdef USE_NAVICTRL
139	SPI_MasterInit();	139	SPI_MasterInit();
140	#endif	140	#endif
141	#ifdef USE_KILLAGREG	141	#ifdef USE_KILLAGREG
142	MM3_Init();	142	MM3_Init();
143	#endif	143	#endif
144	#ifdef USE_MK3MAG	144	#ifdef USE_MK3MAG
145	MK3MAG_Init();	145	MK3MAG_Init();
146	#endif	146	#endif
147		147
148		148
149	// enable interrupts global	149	// enable interrupts global
150	sei();	150	sei();
151		151
152	VersionInfo.Major = VERSION_MAJOR;	152	VersionInfo.Major = VERSION_MAJOR;
153	VersionInfo.Minor = VERSION_MINOR;	153	VersionInfo.Minor = VERSION_MINOR;
154	VersionInfo.PCCompatible = VERSION_COMPATIBLE;	154	VersionInfo.PCCompatible = VERSION_COMPATIBLE;
155		155
156	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');	156	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');
157	printf("\n\r==============================");	157	printf("\n\r==============================");
158	GRN_ON;	158	GRN_ON;
159		159
160	// Parameter set handling	160	// Parameter set handling
161	ParamSet_Init();	161	ParamSet_Init();
162		162
163	if(GetParamWord(PID_ACC_NICK) > 1023)	163	if(GetParamWord(PID_ACC_NICK) > 1023)
164	{	164	{
165	printf("\n\rACC not calibrated!");	165	printf("\n\rACC not calibrated!");
166	}	166	}
167		167
168	//wait for a short time (otherwise the RC channel check won't work below)	168	//wait for a short time (otherwise the RC channel check won't work below)
169	timer = SetDelay(500);	169	timer = SetDelay(500);
170	while(!CheckDelay(timer));	170	while(!CheckDelay(timer));
171		171
172		172
173	if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)	173	if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
174	{	174	{
175	printf("\n\rCalibrating air pressure sensor..");	175	printf("\n\rCalibrating air pressure sensor..");
176	timer = SetDelay(1000);	176	timer = SetDelay(1000);
177	SearchAirPressureOffset();	177	SearchAirPressureOffset();
178	while (!CheckDelay(timer));	178	while (!CheckDelay(timer));
179	printf("OK\n\r");	179	printf("OK\n\r");
180	}	180	}
181		181
182	#ifdef USE_NAVICTRL	182	#ifdef USE_NAVICTRL
183	printf("\n\rSupport for NaviCtrl");	183	printf("\n\rSupport for NaviCtrl");
184	#endif	184	#endif
185		185
186	#ifdef USE_KILLAGREG	186	#ifdef USE_KILLAGREG
187	printf("\n\rSupport for MicroMag3 Compass");	187	printf("\n\rSupport for MicroMag3 Compass");
188	#endif	188	#endif
189	#ifdef USE_MK3MAG	189	#ifdef USE_MK3MAG
190	printf("\n\rSupport for MK3MAG Compass");	190	printf("\n\rSupport for MK3MAG Compass");
191	#endif	191	#endif
192		192
193		193
194		194
195	#if defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG)	195	#if defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG)
196	#if defined (__AVR_ATmega644P__)	196	#if defined (__AVR_ATmega644P__)
197	if(BoardRelease == 10)	197	if(BoardRelease == 10)
198	{	198	{
199	printf("\n\rSupport for GPS at 1st UART");	199	printf("\n\rSupport for GPS at 1st UART");
200	}	200	}
201	else	201	else
202	{	202	{
203	printf("\n\rSupport for GPS at 2nd UART");	203	printf("\n\rSupport for GPS at 2nd UART");
204	}	204	}
205	#else // (__AVR_ATmega644__)	205	#else // (__AVR_ATmega644__)
206	printf("\n\rSupport for GPS at 1st UART");	206	printf("\n\rSupport for GPS at 1st UART");
207	#endif	207	#endif
208	#endif	208	#endif
209		209
210		210
211		211
212	SetNeutral();	212	SetNeutral();
213		213
214	ROT_OFF;	214	ROT_OFF;
215		215
216	BeepTime = 2000;	216	BeepTime = 2000;
217	ExternControl.Digital[0] = 0x55;	217	ExternControl.Digital[0] = 0x55;
218		218
219		219
220	printf("\n\rControl: ");	220	printf("\n\rControl: ");
221	if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	221	if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
222	else printf("Neutral");	222	else printf("Neutral");
223		223
224	printf("\n\n\r");	224	printf("\n\n\r");
225		225
226	LCD_Clear();	226	LCD_Clear();
227		227
228	I2CTimeout = 5000;	228	I2CTimeout = 5000;
229		229
230	while (1)	230	while (1)
231	{	231	{
232	if(UpdateMotor) // control interval	232	if(UpdateMotor) // control interval
233	{	233	{
234	UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0	234	UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
235	//PORTD \|= (1<<PORTD4);	235	//PORTD \|= (1<<PORTD4);
236	MotorControl();	236	MotorControl();
237	//PORTD &= ~(1<<PORTD4);	237	//PORTD &= ~(1<<PORTD4);
238		238
239	SendMotorData();	239	SendMotorData();
240		240
241	ROT_OFF;	241	ROT_OFF;
242		242
243	if(PcAccess) PcAccess--;	243	if(PcAccess) PcAccess--;
244	else	244	else
245	{	245	{
246	DubWiseKeys[0] = 0;	246	DubWiseKeys[0] = 0;
247	DubWiseKeys[1] = 0;	247	DubWiseKeys[1] = 0;
248	ExternControl.Config = 0;	248	ExternControl.Config = 0;
249	ExternStickNick= 0;	249	ExternStickNick= 0;
250	ExternStickRoll = 0;	250	ExternStickRoll = 0;
251	ExternStickYaw = 0;	251	ExternStickYaw = 0;
252	}	252	}
253		253
254	if(!I2CTimeout)	254	if(!I2CTimeout)
255	{	255	{
256	I2CTimeout = 5;	256	I2CTimeout = 5;
257	I2C_Reset();	257	I2C_Reset();
258	if((BeepModulation == 0xFFFF) && MotorsOn)	258	if((BeepModulation == 0xFFFF) && MotorsOn)
259	{	259	{
260	BeepTime = 10000; // 1 second	260	BeepTime = 10000; // 1 second
261	BeepModulation = 0x0080;	261	BeepModulation = 0x0080;
262	}	262	}
263	}	263	}
264	else	264	else
265	{	265	{
266	I2CTimeout--;	266	I2CTimeout--;
267	ROT_OFF;	267	ROT_OFF;
268	}	268	}
269		269
270	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorsOn))	270	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorsOn))
271	{	271	{
272	USART0_TransmitTxData();	272	USART0_TransmitTxData();
273	USART0_ProcessRxData();	273	USART0_ProcessRxData();
274	}	274	}
275	else USART0_ProcessRxData();	275	else USART0_ProcessRxData();
276		276
277	if(CheckDelay(timer))	277	if(CheckDelay(timer))
278	{	278	{
279	if(UBat < ParamSet.LowVoltageWarning)	279	if(UBat < ParamSet.LowVoltageWarning)
280	{	280	{
281	if(BeepModulation == 0xFFFF)	281	BeepModulation == 0x0300;
-		282	if(!BeepTime)
282	{	283	{
283	BeepTime = 6000; // 0.6 seconds	284	BeepTime = 6000; // 0.6 seconds
284	BeepModulation = 0x0300;	-
285	}	285	}
286	}	286	}
287	#ifdef USE_NAVICTRL	287	#ifdef USE_NAVICTRL
288	SPI_StartTransmitPacket();	288	SPI_StartTransmitPacket();
289	SendSPI = 4;	289	SendSPI = 4;
290	#endif	290	#endif
291	timer = SetDelay(20); // every 20 ms	291	timer = SetDelay(20); // every 20 ms
292	}	292	}
293	}	293	}
294		294
295	#ifdef USE_NAVICTRL	295	#ifdef USE_NAVICTRL
296	if(!SendSPI)	296	if(!SendSPI)
297	{ // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.	297	{ // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
298	// within the SPI_TransmitByte() routine the value is set to 4.	298	// within the SPI_TransmitByte() routine the value is set to 4.
299	// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,	299	// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
300	// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.	300	// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
301	SPI_TransmitByte();	301	SPI_TransmitByte();
302	}	302	}
303	#endif	303	#endif
304	}	304	}
305	return (1);	305	return (1);
306	}	306	}
307		307
308		308

Subversion Repositories FlightCtrl

(root)/branches/V0.69k Code Redesign killagreg/main.c - Rev 911 → 951