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| Rev 1849 | Rev 1864 | ||
|---|---|---|---|
| Line 76... | Line 76... | ||
| 76 | #include "mk3mag.h" |
76 | #include "mk3mag.h" |
| 77 | #endif |
77 | #endif |
| 78 | #include "eeprom.h" |
78 | #include "eeprom.h" |
| Line 79... | Line 79... | ||
| 79 | 79 | ||
| 80 | int16_t main(void) { |
80 | int16_t main(void) { |
| Line 81... | Line 81... | ||
| 81 | uint16_t timer; |
81 | uint16_t timer; |
| 82 | 82 | ||
| Line 83... | Line 83... | ||
| 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 |
| Line 114... | Line 114... | ||
| 114 | #ifdef USE_MK3MAG |
114 | #ifdef USE_MK3MAG |
| 115 | MK3MAG_Init(); |
115 | MK3MAG_Init(); |
| Line 116... | Line 116... | ||
| 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(250); |
139 | timer = SetDelay(200); |
| 140 | OUTPUT_SET(0,1); |
140 | OUTPUT_SET(0,1); |
| 141 | GRN_OFF; |
- | |
| 142 | RED_ON; |
141 | GRN_OFF; |
| 143 | while (!CheckDelay(timer)) |
- | |
| 144 | ; |
- | |
| 145 | - | ||
| 146 | OUTPUT_SET(0,0); |
142 | RED_ON; |
| 147 | timer = SetDelay(250); |
143 | while (!CheckDelay(timer)) |
| 148 | while (!CheckDelay(timer)) |
144 | ; |
| 149 | ; |
145 | |
| 150 | 146 | timer = SetDelay(200); |
|
| 151 | timer = SetDelay(250); |
147 | OUTPUT_SET(0,0); |
| 152 | OUTPUT_SET(1,1); |
148 | OUTPUT_SET(1,1); |
| 153 | RED_OFF; |
149 | RED_OFF; |
| 154 | GRN_ON; |
150 | GRN_ON; |
| 155 | while (!CheckDelay(timer)) |
151 | while (!CheckDelay(timer)) |
| 156 | ; |
152 | ; |
| 157 | 153 | ||
| 158 | timer = SetDelay(250); |
154 | timer = SetDelay(200); |
| 159 | while (!CheckDelay(timer)) |
155 | while (!CheckDelay(timer)) |
| 160 | ; |
156 | ; |
| 161 | OUTPUT_SET(1,0); |
157 | OUTPUT_SET(1,0); |
| 162 | 158 | ||
| 163 | twi_diagnostics(); |
159 | twi_diagnostics(); |
| 164 | 160 | ||
| 165 | printf("\n\r==================================="); |
161 | printf("\n\r==================================="); |
| 166 | 162 | ||
| 167 | /* |
163 | /* |
| 168 | if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) |
164 | if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) |
| 169 | { |
165 | { |
| 170 | printf("\n\rCalibrating air pressure sensor.."); |
166 | printf("\n\rCalibrating air pressure sensor.."); |
| 171 | timer = SetDelay(1000); |
167 | timer = SetDelay(1000); |
| Line 172... | Line 168... | ||
| 172 | SearchAirPressureOffset(); |
168 | SearchAirPressureOffset(); |
| 173 | while (!CheckDelay(timer)); |
169 | while (!CheckDelay(timer)); |
| 174 | printf("OK\n\r"); |
170 | printf("OK\n\r"); |
| 175 | } |
171 | } |
| 176 | */ |
172 | */ |
| 177 | 173 | ||
| 178 | #ifdef USE_NAVICTRL |
174 | #ifdef USE_NAVICTRL |
| 179 | printf("\n\rSupport for NaviCtrl"); |
175 | printf("\n\rSupport for NaviCtrl"); |
| 180 | #ifdef USE_RC_DSL |
176 | #ifdef USE_RC_DSL |
| Line 181... | Line 177... | ||
| 181 | printf("\r\nSupport for DSL RC at 2nd UART"); |
177 | printf("\r\nSupport for DSL RC at 2nd UART"); |
| 182 | #endif |
178 | #endif |
| 183 | #ifdef USE_RC_SPECTRUM |
179 | #ifdef USE_RC_SPECTRUM |
| Line 184... | Line 180... | ||
| 184 | printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
180 | printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
| 185 | #endif |
181 | #endif |
| 186 | #endif |
182 | #endif |
| 187 | 183 | ||
| Line 188... | Line 184... | ||
| 188 | #ifdef USE_MK3MAG |
184 | #ifdef USE_MK3MAG |
| Line 189... | Line 185... | ||
| 189 | printf("\n\rSupport for MK3MAG Compass"); |
185 | printf("\n\rSupport for MK3MAG Compass"); |
| 190 | #endif |
186 | #endif |
| Line 191... | Line 187... | ||
| 191 | 187 | ||
| 192 | #if (defined (USE_MK3MAG)) |
188 | #if (defined (USE_MK3MAG)) |
| 193 | if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
189 | if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
| 194 | else printf("\n\rSupport for GPS at 1st UART"); |
190 | else printf("\n\rSupport for GPS at 1st UART"); |
| 195 | #endif |
191 | #endif |
| 196 | 192 | ||
| 197 | controlMixer_setNeutral(); |
193 | controlMixer_setNeutral(); |
| 198 | 194 | ||
| 199 | // Cal. attitude sensors and reset integrals. |
195 | // Cal. attitude sensors and reset integrals. |
| 200 | attitude_setNeutral(); |
196 | attitude_setNeutral(); |
| 201 | 197 | ||
| 202 | Servo_On(); |
198 | Servo_On(); |
| 203 | 199 | ||
| 204 | // Init flight parameters |
200 | // Init flight parameters |
| 205 | flight_setNeutral(); |
201 | flight_setNeutral(); |
| 206 | 202 | ||
| 207 | // RED_OFF; |
203 | // RED_OFF; |
| 208 | 204 | ||
| 209 | beep(2000); |
205 | beep(2000); |
| 210 | 206 | ||
| 211 | printf("\n\rControl: "); |
207 | printf("\n\rControl: "); |
| 212 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) |
208 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) |
| 213 | printf("HeadingHold"); |
209 | printf("HeadingHold"); |
| 214 | else printf("Neutral (ACC-Mode)"); |
210 | else printf("Neutral (ACC-Mode)"); |
| 215 | 211 | ||
| 216 | printf("\n\n\r"); |
212 | printf("\n\n\r"); |
| 217 | 213 | ||
| 218 | LCD_Clear(); |
214 | LCD_Clear(); |
| 219 | 215 | ||
| 220 | I2CTimeout = 5000; |
216 | I2CTimeout = 5000; |
| 221 | 217 | ||
| 222 | while (1) { |
218 | while (1) { |
| 223 | if (runFlightControl && analogDataReady) { // control interval |
219 | if (runFlightControl && analogDataReady) { // control interval |
| 224 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
220 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| 225 | 221 | ||
| 226 | J4HIGH; |
222 | //J4HIGH; |
| 227 | flight_control(); |
223 | flight_control(); |
| 228 | J4LOW; |
224 | //J4LOW; |
| 229 | 225 | ||
| 230 | /* |
226 | /* |
| 231 | * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
227 | * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
| 232 | * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
228 | * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
| 233 | * the test throttle vector. If no testing, stop all motors. |
229 | * the test throttle vector. If no testing, stop all motors. |
| 234 | */ |
230 | */ |
| 235 | // Obsoleted. |
231 | // Obsoleted. |
| 236 | // transmitMotorThrottleData(); |
232 | // transmitMotorThrottleData(); |
| 237 | 233 | ||
| 238 | RED_OFF; |
234 | RED_OFF; |
| 239 | 235 | ||
| 240 | /* |
236 | /* |
| 241 | Does not belong here. Instead, external control should be ignored in |
237 | Does not belong here. Instead, external control should be ignored in |
| 242 | controlMixer if there was no new data from there for some time. |
238 | controlMixer if there was no new data from there for some time. |
| 243 | if(externalControlActive) externalControlActive--; |
239 | if(externalControlActive) externalControlActive--; |
| 244 | else { |
240 | else { |
| 245 | externalControl.config = 0; |
241 | externalControl.config = 0; |
| 246 | externalStickPitch = 0; |
242 | externalStickPitch = 0; |
| 247 | externalStickRoll = 0; |
243 | externalStickRoll = 0; |
| 248 | externalStickYaw = 0; |
244 | externalStickYaw = 0; |
| 249 | } |
245 | } |
| 250 | */ |
246 | */ |
| 251 | 247 | ||
| 252 | /* |
248 | /* |
| 253 | Does not belong here. |
249 | Does not belong here. |
| 254 | if(RC_Quality) RC_Quality--; |
250 | if(RC_Quality) RC_Quality--; |
| 255 | */ |
251 | */ |
| 256 | 252 | ||
| 257 | /* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
253 | /* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
| 258 | #ifdef USE_NAVICTRL |
254 | #ifdef USE_NAVICTRL |
| 259 | if(NCDataOkay) { |
255 | if(NCDataOkay) { |
| 260 | if(--NCDataOkay == 0) // no data from NC |
256 | if(--NCDataOkay == 0) // no data from NC |
| 261 | { // set gps control sticks neutral |
257 | { // set gps control sticks neutral |
| 262 | GPSStickPitch = 0; |
258 | GPSStickPitch = 0; |
| 263 | GPSStickRoll = 0; |
259 | GPSStickRoll = 0; |
| 264 | NCSerialDataOkay = 0; |
260 | NCSerialDataOkay = 0; |
| 265 | } |
261 | } |
| 266 | } |
262 | } |
| 267 | #endif |
263 | #endif |
| 268 | */ |
264 | */ |
| 269 | if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
265 | if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
| 270 | RED_ON; |
266 | RED_ON; |
| 271 | if (!I2CTimeout) { |
267 | if (!I2CTimeout) { |
| 272 | I2C_Reset(); |
268 | I2C_Reset(); |
| 273 | I2CTimeout = 5; |
269 | I2CTimeout = 5; |
| 274 | } |
270 | } |
| 275 | } else { |
271 | } else { |
| 276 | RED_OFF; |
272 | RED_OFF; |
| 277 | } |
273 | } |
| 278 | 274 | ||
| 279 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
275 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
| 280 | if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
276 | if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 281 | usart0_TransmitTxData(); |
277 | usart0_TransmitTxData(); |
| Line 282... | Line 278... | ||
| 282 | } |
278 | } |
| 283 | 279 | ||
| 284 | usart0_ProcessRxData(); |
280 | usart0_ProcessRxData(); |
| 285 | 281 | ||
| 286 | if (CheckDelay(timer)) { |
282 | if (CheckDelay(timer)) { |
| 287 | if (UBat <= UBAT_AT_5V) { |
283 | if (UBat <= UBAT_AT_5V) { |
| 288 | // Do nothing. The voltage on the input side of the regulator is <5V; |
284 | // Do nothing. The voltage on the input side of the regulator is <5V; |
| 289 | // we must be running off USB power. Keep it quiet. |
285 | // we must be running off USB power. Keep it quiet. |
| Line 290... | Line 286... | ||
| 290 | } else if (UBat < staticParams.LowVoltageWarning) { |
286 | } else if (UBat < staticParams.LowVoltageWarning) { |
| 291 | beepBatteryAlarm(); |
287 | beepBatteryAlarm(); |
| 292 | } |
288 | } |
| 293 | 289 | ||
| 294 | #ifdef USE_NAVICTRL |
290 | #ifdef USE_NAVICTRL |
| 295 | SPI_StartTransmitPacket(); |
291 | SPI_StartTransmitPacket(); |
| 296 | SendSPI = 4; |
292 | SendSPI = 4; |
| 297 | #endif |
293 | #endif |
| 298 | timer = SetDelay(20); // every 20 ms |
294 | timer = SetDelay(20); // every 20 ms |
| 299 | } |
295 | } |
| 300 | output_update(); |
296 | output_update(); |
| 301 | } |
297 | } |