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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 | } |