WebSVN - FlightCtrl - Diff - Rev 1868 and 1869 - /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 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 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 "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);
   OUTPUT_SET(0,1);
   GRN_OFF;
   RED_ON;
   while (!CheckDelay(timer))
+    ;
   timer = SetDelay(200);
   OUTPUT_SET(0,0);
   OUTPUT_SET(1,1);
   RED_OFF;
   GRN_ON;
   while (!CheckDelay(timer))
+    ;
   timer = SetDelay(200);
   while (!CheckDelay(timer))
+    ;
   OUTPUT_SET(1,0);
   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();
   // 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
+    if (runFlightControl) { // control interval
       runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
-      //J4HIGH;
-      flight_control();
-      //J4LOW;
-      /*
-       * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit
-       * the throttle vector just computed. Otherwise, if motor test is engaged, transmit
-       * the test throttle vector. If no testing, stop all motors.
-       */
-      // Obsoleted.
-      // transmitMotorThrottleData();
-      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) {
+      DebugOut.Digital[0] &= ~DEBUG_MAINLOOP_TIMER;
-       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;
+      DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
+      if (analogDataReady) {
+        J4HIGH;
+        flight_control();
+        J4LOW;
-      }
+        /*
-      // Allow Serial Data Transmit if motors must not updated or motors are not running
+         * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit
-      if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
+         * the throttle vector just computed. Otherwise, if motor test is engaged, transmit
+         * the test throttle vector. If no testing, stop all motors.
+         */
+        // Obsoleted.
+        // transmitMotorThrottleData();
+        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
+         */
-        usart0_TransmitTxData();
+        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout
+          RED_ON;
+          if (!I2CTimeout) {
+            I2C_Reset();
+            I2CTimeout = 5;
+          }
-      }
-      usart0_ProcessRxData();
+        } else {
+          RED_OFF;
-      if (CheckDelay(timer)) {
+        }
-        if (UBat <= UBAT_AT_5V) {
+        // Allow Serial Data Transmit if motors must not updated or motors are not running
-          // Do nothing. The voltage on the input side of the regulator is <5V;
+        if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
+          usart0_TransmitTxData();
+        } else {
+          DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER;
+        }
+        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.
+            // we must be running off USB power. Keep it quiet.
-        } else if (UBat < staticParams.LowVoltageWarning) {
+          } else if (UBat < staticParams.LowVoltageWarning) {
-          beepBatteryAlarm();
+            beepBatteryAlarm();
+          }
+#ifdef USE_NAVICTRL
+          SPI_StartTransmitPacket();
-#ifdef USE_NAVICTRL
+          SendSPI = 4;
-        SPI_StartTransmitPacket();
-        SendSPI = 4;
 #endif
-        timer = SetDelay(20); // every 20 ms
+          timer = SetDelay(20); // every 20 ms
-      }
+        }
-      output_update();
+        output_update();
-    }
+      }
 #ifdef USE_NAVICTRL
-    if(!SendSPI) {
+      if(!SendSPI) {
-      // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
+        // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
+        // within the SPI_TransmitByte() routine the value is set to 4.
-      // 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,
-      // 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.
-      // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
+        SPI_TransmitByte();
       SPI_TransmitByte();
 #endif
 #endif
+  }
   return (1);
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/main.c @ 1871 - Rev 1868 → 1869