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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur f�r 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 f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, 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 f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
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 ver�ffentlicht, |
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 m�ssen 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 ver�ffentlicht 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 Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit 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 �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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 zul�ssig |
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 | 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 "controlMixer.h" |
66 | #include "controlMixer.h" |
67 | #include "rc.h" |
67 | #include "rc.h" |
68 | #include "analog.h" |
68 | #include "analog.h" |
69 | #include "configuration.h" |
69 | #include "configuration.h" |
70 | #include "printf_P.h" |
70 | #include "printf_P.h" |
71 | #include "twimaster.h" |
71 | #include "twimaster.h" |
72 | #ifdef USE_NAVICTRL |
72 | #ifdef USE_NAVICTRL |
73 | #include "spi.h" |
73 | #include "spi.h" |
74 | #endif |
74 | #endif |
75 | #ifdef USE_MK3MAG |
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 | // PPM_in[CH_THROTTLE] = 0; |
95 | // PPM_in[CH_THROTTLE] = 0; |
96 | // Why??? They are already initialized to 0. |
96 | // Why??? They are already initialized to 0. |
97 | // stickPitch = stickRoll = stickYaw = 0; |
97 | // stickPitch = stickRoll = stickYaw = 0; |
98 | 98 | ||
99 | RED_OFF; |
99 | RED_OFF; |
100 | 100 | ||
101 | // initalize modules |
101 | // initalize modules |
102 | output_init(); |
102 | output_init(); |
103 | timer0_init(); |
103 | timer0_init(); |
104 | timer2_init(); |
104 | timer2_init(); |
105 | usart0_Init(); |
105 | usart0_Init(); |
106 | if (CPUType == ATMEGA644P) |
106 | if (CPUType == ATMEGA644P) |
107 | usart1_Init(); |
107 | usart1_Init(); |
108 | RC_Init(); |
108 | RC_Init(); |
109 | analog_init(); |
109 | analog_init(); |
110 | I2C_init(); |
110 | I2C_init(); |
111 | #ifdef USE_NAVICTRL |
111 | #ifdef USE_NAVICTRL |
112 | SPI_MasterInit(); |
112 | SPI_MasterInit(); |
113 | #endif |
113 | #endif |
114 | #ifdef USE_MK3MAG |
114 | #ifdef USE_MK3MAG |
115 | MK3MAG_Init(); |
115 | MK3MAG_Init(); |
116 | #endif |
116 | #endif |
117 | 117 | ||
118 | // enable interrupts global |
118 | // enable interrupts global |
119 | sei(); |
119 | sei(); |
120 | 120 | ||
121 | printf("\n\r==================================="); |
121 | printf("\n\r==================================="); |
122 | printf("\n\rFlightControl"); |
122 | printf("\n\rFlightControl"); |
123 | printf("\n\rHardware: Custom"); |
123 | printf("\n\rHardware: Custom"); |
124 | printf("\r\n CPU: Atmega644"); |
124 | printf("\r\n CPU: Atmega644"); |
125 | if (CPUType == ATMEGA644P) |
125 | if (CPUType == ATMEGA644P) |
126 | printf("p"); |
126 | printf("p"); |
127 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
127 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
128 | printf("\n\r==================================="); |
128 | printf("\n\r==================================="); |
129 | 129 | ||
130 | // Parameter Set handling |
130 | // Parameter Set handling |
131 | ParamSet_Init(); |
131 | ParamSet_Init(); |
132 | 132 | ||
133 | // Wait for a short time (otherwise the RC channel check won't work below) |
133 | // Wait for a short time (otherwise the RC channel check won't work below) |
134 | // timer = SetDelay(500); |
134 | // timer = SetDelay(500); |
135 | // while(!CheckDelay(timer)); |
135 | // while(!CheckDelay(timer)); |
136 | 136 | ||
137 | // Instead, while away the time by flashing the 2 outputs: |
137 | // Instead, while away the time by flashing the 2 outputs: |
138 | // First J16, then J17. Makes it easier to see which is which. |
138 | // First J16, then J17. Makes it easier to see which is which. |
139 | timer = SetDelay(200); |
139 | timer = SetDelay(250); |
140 | OUTPUT_SET(0,1); |
140 | OUTPUT_SET(0,1); |
141 | GRN_OFF; |
141 | GRN_OFF; |
142 | RED_ON; |
142 | RED_ON; |
143 | while (!CheckDelay(timer)) |
143 | while (!CheckDelay(timer)) |
144 | ; |
144 | ; |
145 | - | ||
146 | timer = SetDelay(200); |
145 | |
- | 146 | OUTPUT_SET(0,0); |
|
- | 147 | timer = SetDelay(250); |
|
- | 148 | while (!CheckDelay(timer)) |
|
- | 149 | ; |
|
- | 150 | ||
147 | OUTPUT_SET(0,0); |
151 | timer = SetDelay(250); |
148 | OUTPUT_SET(1,1); |
152 | OUTPUT_SET(1,1); |
149 | RED_OFF; |
153 | RED_OFF; |
150 | GRN_ON; |
154 | GRN_ON; |
151 | while (!CheckDelay(timer)) |
155 | while (!CheckDelay(timer)) |
152 | ; |
156 | ; |
153 | 157 | ||
154 | timer = SetDelay(200); |
158 | timer = SetDelay(250); |
155 | while (!CheckDelay(timer)) |
159 | while (!CheckDelay(timer)) |
156 | ; |
160 | ; |
157 | OUTPUT_SET(1,0); |
161 | OUTPUT_SET(1,0); |
158 | 162 | ||
159 | twi_diagnostics(); |
163 | twi_diagnostics(); |
160 | 164 | ||
161 | printf("\n\r==================================="); |
165 | printf("\n\r==================================="); |
162 | 166 | ||
163 | /* |
167 | /* |
164 | if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) |
168 | if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) |
165 | { |
169 | { |
166 | printf("\n\rCalibrating air pressure sensor.."); |
170 | printf("\n\rCalibrating air pressure sensor.."); |
167 | timer = SetDelay(1000); |
171 | timer = SetDelay(1000); |
168 | SearchAirPressureOffset(); |
172 | SearchAirPressureOffset(); |
169 | while (!CheckDelay(timer)); |
173 | while (!CheckDelay(timer)); |
170 | printf("OK\n\r"); |
174 | printf("OK\n\r"); |
171 | } |
175 | } |
172 | */ |
176 | */ |
173 | 177 | ||
174 | #ifdef USE_NAVICTRL |
178 | #ifdef USE_NAVICTRL |
175 | printf("\n\rSupport for NaviCtrl"); |
179 | printf("\n\rSupport for NaviCtrl"); |
176 | #ifdef USE_RC_DSL |
180 | #ifdef USE_RC_DSL |
177 | printf("\r\nSupport for DSL RC at 2nd UART"); |
181 | printf("\r\nSupport for DSL RC at 2nd UART"); |
178 | #endif |
182 | #endif |
179 | #ifdef USE_RC_SPECTRUM |
183 | #ifdef USE_RC_SPECTRUM |
180 | printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
184 | printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
181 | #endif |
185 | #endif |
182 | #endif |
186 | #endif |
183 | 187 | ||
184 | #ifdef USE_MK3MAG |
188 | #ifdef USE_MK3MAG |
185 | printf("\n\rSupport for MK3MAG Compass"); |
189 | printf("\n\rSupport for MK3MAG Compass"); |
186 | #endif |
190 | #endif |
187 | 191 | ||
188 | #if (defined (USE_MK3MAG)) |
192 | #if (defined (USE_MK3MAG)) |
189 | if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
193 | if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
190 | else printf("\n\rSupport for GPS at 1st UART"); |
194 | else printf("\n\rSupport for GPS at 1st UART"); |
191 | #endif |
195 | #endif |
192 | 196 | ||
193 | controlMixer_setNeutral(); |
197 | controlMixer_setNeutral(); |
194 | 198 | ||
195 | // Cal. attitude sensors and reset integrals. |
199 | // Cal. attitude sensors and reset integrals. |
196 | attitude_setNeutral(); |
200 | attitude_setNeutral(); |
197 | 201 | ||
198 | Servo_On(); |
202 | Servo_On(); |
199 | 203 | ||
200 | // Init flight parameters |
204 | // Init flight parameters |
201 | flight_setNeutral(); |
205 | flight_setNeutral(); |
202 | 206 | ||
203 | // RED_OFF; |
207 | // RED_OFF; |
204 | 208 | ||
205 | beep(2000); |
209 | beep(2000); |
206 | 210 | ||
207 | printf("\n\rControl: "); |
211 | printf("\n\rControl: "); |
208 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) |
212 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) |
209 | printf("HeadingHold"); |
213 | printf("HeadingHold"); |
210 | else printf("Neutral (ACC-Mode)"); |
214 | else printf("Neutral (ACC-Mode)"); |
211 | 215 | ||
212 | printf("\n\n\r"); |
216 | printf("\n\n\r"); |
213 | 217 | ||
214 | LCD_Clear(); |
218 | LCD_Clear(); |
215 | 219 | ||
216 | I2CTimeout = 5000; |
220 | I2CTimeout = 5000; |
217 | 221 | ||
218 | while (1) { |
222 | while (1) { |
219 | if (runFlightControl && analogDataReady) { // control interval |
223 | if (runFlightControl && analogDataReady) { // control interval |
220 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
224 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
221 | 225 | ||
222 | J4HIGH; |
226 | J4HIGH; |
223 | flight_control(); |
227 | flight_control(); |
224 | J4LOW; |
228 | J4LOW; |
225 | 229 | ||
226 | /* |
230 | /* |
227 | * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
231 | * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
228 | * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
232 | * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
229 | * the test throttle vector. If no testing, stop all motors. |
233 | * the test throttle vector. If no testing, stop all motors. |
230 | */ |
234 | */ |
231 | // Obsoleted. |
235 | // Obsoleted. |
232 | // transmitMotorThrottleData(); |
236 | // transmitMotorThrottleData(); |
233 | 237 | ||
234 | RED_OFF; |
238 | RED_OFF; |
235 | 239 | ||
236 | /* |
240 | /* |
237 | Does not belong here. Instead, external control should be ignored in |
241 | Does not belong here. Instead, external control should be ignored in |
238 | controlMixer if there was no new data from there for some time. |
242 | controlMixer if there was no new data from there for some time. |
239 | if(externalControlActive) externalControlActive--; |
243 | if(externalControlActive) externalControlActive--; |
240 | else { |
244 | else { |
241 | externalControl.config = 0; |
245 | externalControl.config = 0; |
242 | externalStickPitch = 0; |
246 | externalStickPitch = 0; |
243 | externalStickRoll = 0; |
247 | externalStickRoll = 0; |
244 | externalStickYaw = 0; |
248 | externalStickYaw = 0; |
245 | } |
249 | } |
246 | */ |
250 | */ |
247 | 251 | ||
248 | /* |
252 | /* |
249 | Does not belong here. |
253 | Does not belong here. |
250 | if(RC_Quality) RC_Quality--; |
254 | if(RC_Quality) RC_Quality--; |
251 | */ |
255 | */ |
252 | 256 | ||
253 | /* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
257 | /* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
254 | #ifdef USE_NAVICTRL |
258 | #ifdef USE_NAVICTRL |
255 | if(NCDataOkay) { |
259 | if(NCDataOkay) { |
256 | if(--NCDataOkay == 0) // no data from NC |
260 | if(--NCDataOkay == 0) // no data from NC |
257 | { // set gps control sticks neutral |
261 | { // set gps control sticks neutral |
258 | GPSStickPitch = 0; |
262 | GPSStickPitch = 0; |
259 | GPSStickRoll = 0; |
263 | GPSStickRoll = 0; |
260 | NCSerialDataOkay = 0; |
264 | NCSerialDataOkay = 0; |
261 | } |
265 | } |
262 | } |
266 | } |
263 | #endif |
267 | #endif |
264 | */ |
268 | */ |
265 | if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
269 | if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
266 | RED_ON; |
270 | RED_ON; |
267 | if (!I2CTimeout) { |
271 | if (!I2CTimeout) { |
268 | I2C_Reset(); |
272 | I2C_Reset(); |
269 | I2CTimeout = 5; |
273 | I2CTimeout = 5; |
270 | } |
274 | } |
271 | } else { |
275 | } else { |
272 | RED_OFF; |
276 | RED_OFF; |
273 | } |
277 | } |
274 | 278 | ||
275 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
279 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
276 | if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
280 | if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
277 | usart0_TransmitTxData(); |
281 | usart0_TransmitTxData(); |
278 | } |
282 | } |
279 | 283 | ||
280 | usart0_ProcessRxData(); |
284 | usart0_ProcessRxData(); |
281 | 285 | ||
282 | if (CheckDelay(timer)) { |
286 | if (CheckDelay(timer)) { |
283 | if (UBat <= UBAT_AT_5V) { |
287 | if (UBat <= UBAT_AT_5V) { |
284 | // Do nothing. The voltage on the input side of the regulator is <5V; |
288 | // Do nothing. The voltage on the input side of the regulator is <5V; |
285 | // we must be running off USB power. Keep it quiet. |
289 | // we must be running off USB power. Keep it quiet. |
286 | } else if (UBat < staticParams.LowVoltageWarning) { |
290 | } else if (UBat < staticParams.LowVoltageWarning) { |
287 | beepBatteryAlarm(); |
291 | beepBatteryAlarm(); |
288 | } |
292 | } |
289 | 293 | ||
290 | #ifdef USE_NAVICTRL |
294 | #ifdef USE_NAVICTRL |
291 | SPI_StartTransmitPacket(); |
295 | SPI_StartTransmitPacket(); |
292 | SendSPI = 4; |
296 | SendSPI = 4; |
293 | #endif |
297 | #endif |
294 | timer = SetDelay(20); // every 20 ms |
298 | timer = SetDelay(20); // every 20 ms |
295 | } |
299 | } |
296 | output_update(); |
300 | output_update(); |
297 | } |
301 | } |
298 | 302 | ||
299 | #ifdef USE_NAVICTRL |
303 | #ifdef USE_NAVICTRL |
300 | if(!SendSPI) { |
304 | if(!SendSPI) { |
301 | // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
305 | // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
302 | // within the SPI_TransmitByte() routine the value is set to 4. |
306 | // within the SPI_TransmitByte() routine the value is set to 4. |
303 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
307 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
304 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
308 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
305 | SPI_TransmitByte(); |
309 | SPI_TransmitByte(); |
306 | } |
310 | } |
307 | #endif |
311 | #endif |
308 | } |
312 | } |
309 | return (1); |
313 | return (1); |
310 | } |
314 | } |
311 | 315 |