WebSVN - FlightCtrl - Diff - Rev 1805 and 1821 - /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 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 <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) {
+int16_t main(void) {
-  uint16_t timer;
+        uint16_t timer;
-  // disable interrupts global
+        // disable interrupts global
-  cli();
+        cli();
-  // analyze hardware environment
+        // analyze hardware environment
-  CPUType = getCPUType();
+        CPUType = getCPUType();
-  BoardRelease = getBoardRelease();
+        BoardRelease = getBoardRelease();
-  // disable watchdog
+        // disable watchdog
-  MCUSR &=~(1<<WDRF);
+        MCUSR &= ~(1 << WDRF);
-  WDTCSR |= (1<<WDCE)|(1<<WDE);
+        WDTCSR |= (1 << WDCE) | (1 << WDE);
-  WDTCSR = 0;
+        WDTCSR = 0;
-  // PPM_in[CH_THROTTLE] = 0;
+        // PPM_in[CH_THROTTLE] = 0;
-  // Why??? They are already initialized to 0.
+        // Why??? They are already initialized to 0.
-  // stickPitch = stickRoll = stickYaw = 0;
+        // stickPitch = stickRoll = stickYaw = 0;
-  RED_OFF;
+        RED_OFF;
-  // initalize modules
+        // initalize modules
-  output_init();
+        output_init();
-  timer0_init();
+        timer0_init();
+        timer2_init();
-  timer2_init();
+        usart0_Init();
-  usart0_Init();
+        if (CPUType == ATMEGA644P)
-  if(CPUType == ATMEGA644P) usart1_Init();
+                usart1_Init();
-  RC_Init();
+        RC_Init();
-  analog_init();
+        analog_init();
-  I2C_init();
+        I2C_init();
 #ifdef USE_NAVICTRL
-  SPI_MasterInit();
+        SPI_MasterInit();
 #endif
 #ifdef USE_MK3MAG
-  MK3MAG_Init();
+        MK3MAG_Init();
 #endif
-  // enable interrupts global
+        // enable interrupts global
-  sei();
+        sei();
-  printf("\n\r===================================");
+        printf("\n\r===================================");
-  printf("\n\rFlightControl");
+        printf("\n\rFlightControl");
-  printf("\n\rHardware: Custom");
+        printf("\n\rHardware: Custom");
-  printf("\r\n     CPU: Atmega644");
+        printf("\r\n     CPU: Atmega644");
-  if(CPUType == ATMEGA644P)
+        if (CPUType == ATMEGA644P)
-    printf("p");
+                printf("p");
-  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
+        printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
-  printf("\n\r===================================");
+        printf("\n\r===================================");
-  // Parameter Set handling
+        // Parameter Set handling
-  ParamSet_Init();
+        ParamSet_Init();
-  // Wait for a short time (otherwise the RC channel check won't work below)
+        // Wait for a short time (otherwise the RC channel check won't work below)
-  // timer = SetDelay(500);
+        // timer = SetDelay(500);
-  // while(!CheckDelay(timer));
+        // while(!CheckDelay(timer));
-  // Instead, while away the time by flashing the 2 outputs:
+        // Instead, while away the time by flashing the 2 outputs:
-  // First J16, then J17. Makes it easier to see which is which.
+        // First J16, then J17. Makes it easier to see which is which.
-  timer = SetDelay(200);
+        timer = SetDelay(200);
-  OUTPUT_SET(0,1);
+        OUTPUT_SET(0,1);
+        GRN_OFF;
-  GRN_OFF;
+        RED_ON;
-  RED_ON;
+        while (!CheckDelay(timer))
-  while(!CheckDelay(timer));
+                ;
-  timer = SetDelay(200);
+        timer = SetDelay(200);
-  OUTPUT_SET(0,0);
+        OUTPUT_SET(0,0);
-  OUTPUT_SET(1,1);
+        OUTPUT_SET(1,1);
+        RED_OFF;
-  RED_OFF;
+        GRN_ON;
-  GRN_ON;
+        while (!CheckDelay(timer))
-  while(!CheckDelay(timer));
+                ;
+        timer = SetDelay(200);
-  timer = SetDelay(200);
+        while (!CheckDelay(timer))
-  while(!CheckDelay(timer));
+                ;
-  OUTPUT_SET(1,0);
+        OUTPUT_SET(1,0);
-  twi_diagnostics();
+        twi_diagnostics();
-  printf("\n\r===================================");
+        printf("\n\r===================================");
-  /*
+        /*
-  if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL)
+         if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL)
-    {
+         {
-      printf("\n\rCalibrating air pressure sensor..");
+         printf("\n\rCalibrating air pressure sensor..");
-      timer = SetDelay(1000);
+         timer = SetDelay(1000);
-      SearchAirPressureOffset();
+         SearchAirPressureOffset();
-      while (!CheckDelay(timer));
+         while (!CheckDelay(timer));
-      printf("OK\n\r");
+         printf("OK\n\r");
-    }
+         }
-  */
+         */
 #ifdef USE_NAVICTRL
-  printf("\n\rSupport for NaviCtrl");
+        printf("\n\rSupport for NaviCtrl");
 #ifdef USE_RC_DSL
-  printf("\r\nSupport for DSL RC at 2nd UART");
+        printf("\r\nSupport for DSL RC at 2nd UART");
 #endif
 #ifdef USE_RC_SPECTRUM
-  printf("\r\nSupport for SPECTRUM RC at 2nd UART");
+        printf("\r\nSupport for SPECTRUM RC at 2nd UART");
 #endif
 #endif
 #ifdef USE_MK3MAG
-  printf("\n\rSupport for MK3MAG Compass");
+        printf("\n\rSupport for MK3MAG Compass");
 #endif
 #if (defined (USE_MK3MAG))
-  if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART");
+        if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART");
-  else                      printf("\n\rSupport for GPS at 1st UART");
+        else printf("\n\rSupport for GPS at 1st UART");
 #endif
-  controlMixer_setNeutral();
+        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
+                        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) {
+                         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;
+                        }
+                        // 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.LowVoltageWarning) {
-  // 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
-      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) {
-        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;
-      }
-      // 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.LowVoltageWarning) {
-          beepBatteryAlarm();
+                                        beepBatteryAlarm();
-        }
+                                }
 #ifdef USE_NAVICTRL
-        SPI_StartTransmitPacket();
+                                SPI_StartTransmitPacket();
-        SendSPI = 4;
+                                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
+        }
-  return (1);
+        return (1);
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/main.c @ 2052 - Rev 1805 → 1821