Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "main.h"
#include "timer0.h"
#include "timer2.h"
#include "uart.h"
#include "uart1.h"
#include "menu.h"
#include "ubx.h"
#include "fc.h"
#include "rc.h"
#include "analog.h"
#include "printf_P.h"
//#include "spi.h"
#ifdef USE_MM3
#include "mm3.h"
#endif
#ifdef USE_CMPS03
#include "cmps03.h"
#endif
#include "twimaster.h"
#include "eeprom.h"
#include "_Settings.h"



uint8_t BoardRelease = 10;


//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer;

        // disable interrupts global
        cli();

        // get board release
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // make some delay
    if(PINB & (1<<PINB1)) BoardRelease = 11;
    else BoardRelease = 10;

        // set LED ports as output
        DDRB |= (1<<DDB1)|(1<<DDB0);
        ROT_ON;
        GRN_OFF;

        // set PC2 & PC3 as output (ctrl J16 & J17)
        DDRC |= (1<<DDC2)|(1<<DDC3);
        J16_OFF;
        J17_OFF;

    // disable watchdog
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;

    BeepTime = 2000;

        PPM_in[CH_THRUST] = 0;
        StickYaw = 0;
        StickRoll = 0;
        StickPitch = 0;

    ROT_OFF;

        // initalize modules
    TIMER0_Init();
    TIMER2_Init();
        USART0_Init();

#if defined (__AVR_ATmega644p__)
        if (BoardRelease == 11) USART1_Init();
#endif

    RC_Init();
        ADC_Init();
        I2C_Init();

#ifdef USE_MM3
        MM3_Init();
#endif
#ifdef USE_CMPS03
        CMPS03_Init();
#endif
        //SPI_MasterInit();

        // enable interrupts global
        sei();

    VersionInfo.Major = VERSION_MAJOR;
    VersionInfo.Minor = VERSION_MINOR;
    VersionInfo.PCCompatible = VERSION_COMPATIBLE;

        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');
        printf("\n\r==============================");
        GRN_ON;

        // Parameter set handling
        ParamSet_Init();

    if(GetParamWord(PID_ACC_PITCH) > 1023)
     {
       printf("\n\rACC not calibrated!");
     }

        //wait for a short time (otherwise the RC channel check won't work below)
        timer = SetDelay(500);
        while(!CheckDelay(timer));


#ifdef USE_MM3
        printf("\n\rSupport for Compass Module MM3");
        //Compass calibration?
        if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100)
        {
                printf("\n\rCalibrating Compass");
                MM3_Calibrate();
        }
#endif
#ifdef USE_CMPS03
        printf("\n\rSupport for Compass Module CMPS03");
#endif


        if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
         {
           printf("\n\rCalibrating air pressure sensor..");
           timer = SetDelay(1000);
       SearchAirPressureOffset();
           while (!CheckDelay(timer));
       printf("OK\n\r");
        }

        SetNeutral();

        ROT_OFF;

    BeepTime = 2000;
    ExternControl.Digital[0] = 0x55;


        printf("\n\rControl: ");
        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Neutral");

        printf("\n\n\r");

    LCD_Clear();

    I2CTimeout = 5000;
        while (1)
        {
        if(UpdateMotor)      // control interval
            {
            //SPI_TransmitByte(); //#
                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
//PORTD |= 0x08;
            MotorControl();

//PORTD &= ~0x08;
            SendMotorData();
            ROT_OFF;
            if(PcAccess) PcAccess--;
            else
              {
               DubWiseKeys[0] = 0;
               DubWiseKeys[1] = 0;
                           ExternControl.Config = 0;
               ExternStickPitch= 0;
               ExternStickRoll = 0;
               ExternStickYaw = 0;
              }
              if(SenderOkay)  SenderOkay--;
              if(!I2CTimeout)
                {
                 I2CTimeout = 5;
                 I2C_Reset();
                  if((BeepModulation == 0xFFFF) && MotorsOn)
                   {
                    BeepTime = 10000; // 1 second
                    BeepModulation = 0x0080;
                   }
                }
            else
                {
                 I2CTimeout--;
                 ROT_OFF;
                }
            if(SIO_DEBUG && !UpdateMotor)
              {
               TransmitTxData();
               ProcessRxData();
              }
              else ProcessRxData();
         if(CheckDelay(timer))
            {
            if(UBat < ParamSet.LowVoltageWarning)
                {
                  if(BeepModulation == 0xFFFF)
                   {
                    BeepTime = 6000; // 0.6 seconds
                   }
                }
             //SPI_StartTransmitPacket();//#
                         timer = SetDelay(100);
            }
          }
    }
 return (1);
}