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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 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 f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r 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_DIRECT_GPS |
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_DIRECT_GPS |
112 | MK3MAG_init(); |
112 | MK3MAG_init(); |
113 | usart1_init(); |
113 | usart1_init(); |
114 | #endif |
114 | #endif |
115 | 115 | ||
116 | // Parameter Set handling |
116 | // Parameter Set handling |
117 | channelMap_readOrDefault(); |
117 | channelMap_readOrDefault(); |
118 | mixerMatrix_readOrDefault(); |
118 | mixerMatrix_readOrDefault(); |
119 | paramSet_readOrDefault(); |
119 | paramSet_readOrDefault(); |
120 | 120 | ||
121 | // enable interrupts global |
121 | // enable interrupts global |
122 | sei(); |
122 | sei(); |
123 | 123 | ||
124 | printf("\n\r==================================="); |
124 | printf("\n\r==================================="); |
125 | printf("\n\rFlightControl"); |
125 | printf("\n\rFlightControl"); |
126 | printf("\n\rHardware: Custom"); |
126 | printf("\n\rHardware: Custom"); |
127 | printf("\n\r CPU: Atmega644"); |
127 | printf("\n\r CPU: Atmega644"); |
128 | if (CPUType == ATMEGA644P) |
128 | if (CPUType == ATMEGA644P) |
129 | printf("p"); |
129 | printf("p"); |
130 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
130 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
131 | printf("\n\r==================================="); |
131 | printf("\n\r==================================="); |
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(200); |
140 | outputSet(0,1); |
140 | outputSet(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 | 145 | ||
146 | timer = setDelay(200); |
146 | timer = setDelay(200); |
147 | outputSet(0,0); |
147 | outputSet(0,0); |
148 | outputSet(1,1); |
148 | outputSet(1,1); |
149 | RED_OFF; |
149 | RED_OFF; |
150 | GRN_ON; |
150 | GRN_ON; |
151 | while (!checkDelay(timer)) |
151 | while (!checkDelay(timer)) |
152 | ; |
152 | ; |
153 | 153 | ||
154 | timer = setDelay(200); |
154 | timer = setDelay(200); |
155 | while (!checkDelay(timer)) |
155 | while (!checkDelay(timer)) |
156 | ; |
156 | ; |
157 | outputSet(1,0); |
157 | outputSet(1,0); |
158 | GRN_OFF; |
158 | GRN_OFF; |
159 | 159 | ||
160 | twi_diagnostics(); |
160 | twi_diagnostics(); |
161 | 161 | ||
162 | printf("\n\r==================================="); |
162 | printf("\n\r==================================="); |
163 | 163 | ||
164 | #ifdef USE_NAVICTRL |
164 | #ifdef USE_NAVICTRL |
165 | printf("\n\rSupport for NaviCtrl"); |
165 | printf("\n\rSupport for NaviCtrl"); |
166 | #endif |
166 | #endif |
167 | 167 | ||
168 | #ifdef USE_DIRECT_GPS |
168 | #ifdef USE_DIRECT_GPS |
169 | printf("\n\rDirect (no NaviCtrl) navigation"); |
169 | printf("\n\rDirect (no NaviCtrl) navigation"); |
170 | #endif |
170 | #endif |
171 | 171 | ||
172 | controlMixer_setNeutral(); |
172 | controlMixer_setNeutral(); |
173 | 173 | ||
174 | // Cal. attitude sensors and reset integrals. |
174 | // Cal. attitude sensors and reset integrals. |
175 | attitude_setNeutral(); |
175 | attitude_setNeutral(); |
176 | 176 | ||
177 | // Init flight parameters |
177 | // Init flight parameters |
178 | flight_setNeutral(); |
178 | flight_setNeutral(); |
179 | 179 | ||
180 | beep(2000); |
180 | beep(2000); |
181 | 181 | ||
182 | printf("\n\rControl: "); |
182 | printf("\n\rControl: "); |
183 | if (staticParams.bitConfig & CFG_HEADING_HOLD) |
183 | if (staticParams.bitConfig & CFG_HEADING_HOLD) |
184 | printf("Heading Hold"); |
184 | printf("Heading Hold"); |
185 | else printf("RTL Mode"); |
185 | else printf("RTL Mode"); |
186 | 186 | ||
187 | printf("\n\n\r"); |
187 | printf("\n\n\r"); |
188 | 188 | ||
189 | LCD_clear(); |
189 | LCD_clear(); |
190 | 190 | ||
191 | I2CTimeout = 5000; |
191 | I2CTimeout = 5000; |
192 | 192 | ||
193 | while (1) { |
193 | while (1) { |
194 | if (runFlightControl) { // control interval |
194 | if (runFlightControl) { // control interval |
195 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
195 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
196 | if (!analogDataReady) { |
196 | if (!analogDataReady) { |
197 | // Analog data should have been ready but is not!! |
197 | // Analog data should have been ready but is not!! |
198 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
198 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
199 | } else { |
199 | } else { |
200 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
200 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
201 | 201 | ||
202 | J4HIGH; |
202 | J4HIGH; |
- | 203 | // 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) |
|
- | 205 | // 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. |
|
203 | calculateFlightAttitude(); |
207 | calculateFlightAttitude(); |
204 | controlMixer_periodicTask(); |
208 | controlMixer_periodicTask(); |
205 | flight_control(); |
209 | flight_control(); |
206 | J4LOW; |
210 | J4LOW; |
207 | 211 | ||
208 | if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout |
212 | if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout |
209 | if (!I2CTimeout) { |
213 | if (!I2CTimeout) { |
210 | I2C_Reset(); |
214 | I2C_Reset(); |
211 | I2CTimeout = 5; |
215 | I2CTimeout = 5; |
212 | } |
216 | } |
213 | beepI2CAlarm(); |
217 | beepI2CAlarm(); |
214 | } |
218 | } |
215 | 219 | ||
216 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
220 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
217 | if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
221 | if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
218 | usart0_transmitTxData(); |
222 | usart0_transmitTxData(); |
219 | } |
223 | } |
220 | 224 | ||
221 | usart0_processRxData(); |
225 | usart0_processRxData(); |
222 | 226 | ||
223 | if (checkDelay(timer)) { |
227 | if (checkDelay(timer)) { |
224 | if (UBat <= UBAT_AT_5V) { |
228 | if (UBat <= UBAT_AT_5V) { |
225 | // Do nothing. The voltage on the input side of the regulator is <5V; |
229 | // Do nothing. The voltage on the input side of the regulator is <5V; |
226 | // we must be running off USB power. Keep it quiet. |
230 | // we must be running off USB power. Keep it quiet. |
227 | } else if (UBat < staticParams.batteryVoltageWarning) { |
231 | } else if (UBat < staticParams.batteryVoltageWarning) { |
228 | beepBatteryAlarm(); |
232 | beepBatteryAlarm(); |
229 | } |
233 | } |
230 | 234 | ||
231 | #ifdef USE_NAVICTRL |
235 | #ifdef USE_NAVICTRL |
232 | SPI_StartTransmitPacket(); |
236 | SPI_StartTransmitPacket(); |
233 | SendSPI = 4; |
237 | SendSPI = 4; |
234 | #endif |
238 | #endif |
235 | timer = setDelay(20); // every 20 ms |
239 | timer = setDelay(20); // every 20 ms |
236 | } |
240 | } |
237 | output_update(); |
241 | output_update(); |
238 | } |
242 | } |
239 | 243 | ||
240 | #ifdef USE_NAVICTRL |
244 | #ifdef USE_NAVICTRL |
241 | if(!SendSPI) { |
245 | if(!SendSPI) { |
242 | // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
246 | // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
243 | // within the SPI_TransmitByte() routine the value is set to 4. |
247 | // within the SPI_TransmitByte() routine the value is set to 4. |
244 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
248 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
245 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
249 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
246 | SPI_TransmitByte(); |
250 | SPI_TransmitByte(); |
247 | } |
251 | } |
248 | #endif |
252 | #endif |
249 | 253 | ||
250 | calculateServoValues(); |
254 | calculateServoValues(); |
251 | 255 | ||
252 | if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
256 | if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
253 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
257 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
254 | } else { |
258 | } else { |
255 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
259 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
256 | } |
260 | } |
257 | } |
261 | } |
258 | } |
262 | } |
259 | return (1); |
263 | return (1); |
260 | } |
264 | } |
261 | 265 |