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"
#if defined (__AVR_ATmega644P__)
#include "uart1.h"
#endif
#include "led.h"
#include "menu.h"
#include "fc.h"
#include "rc.h"
#include "analog.h"
#include "printf_P.h"
#ifdef USE_KILLAGREG
#include "mm3.h"
#endif
#ifdef USE_NAVICTRL
#include "spi.h"
#endif
#if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)
#include "mk3mag.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<<PINB0)) BoardRelease = 11;
    else BoardRelease = 10;

        // set LED ports as output
        DDRB |= (1<<DDB1)|(1<<DDB0);
        ROT_ON;
        GRN_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
        LED_Init();
    TIMER0_Init();
    TIMER2_Init();
        USART0_Init();

        #if defined (__AVR_ATmega644P__)
        if (BoardRelease == 11) USART1_Init();
        #endif

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

        #ifdef USE_KILLAGREG
        MM3_Init();
        #endif
        #ifdef USE_NAVICTRL
        SPI_MasterInit();
        #endif
        #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)
        MK3MAG_Init();
        #endif


        // 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));


        #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)
        printf("\n\rSupport for MK3MAG Compass");
        #endif


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

        #ifdef USE_KILLAGREG
        printf("\n\rSupport for MicroMag3 Compass");
        #if defined (__AVR_ATmega644P__)
        if(BoardRelease == 10)
        {
                printf("\n\rSupport for GPS at 1st UART");
        }
        else
        {
                printf("\n\rSupport for GPS at 2nd UART");
        }
        #else // (__AVR_ATmega644__)
                printf("\n\rSupport for GPS at 1st UART");
        #endif
        #endif

        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
        {
                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
                        //PORTD |= (1<<PORTD4);
            MotorControl();
                        //PORTD &= ~(1<<PORTD4);

                        SendMotorData();

            ROT_OFF;

            if(PcAccess) PcAccess--;
            else
            {
               DubWiseKeys[0] = 0;
               DubWiseKeys[1] = 0;
                           ExternControl.Config = 0;
               ExternStickPitch= 0;
               ExternStickRoll = 0;
               ExternStickYaw = 0;
            }

            if(!I2CTimeout)
            {
                                I2CTimeout = 5;
                                I2C_Reset();
                                if((BeepModulation == 0xFFFF) && MotorsOn)
                                {
                                        BeepTime = 10000; // 1 second
                                        BeepModulation = 0x0080;
                                }
                        }
                        else
                        {
                                I2CTimeout--;
                                ROT_OFF;
                        }

                        if(SIO_DEBUG && (!UpdateMotor || !MotorsOn))
                        {
                                USART0_TransmitTxData();
                                USART0_ProcessRxData();
                        }
                        else USART0_ProcessRxData();

                        if(CheckDelay(timer))
                        {
                if(UBat < ParamSet.LowVoltageWarning)
                {
                                        if(BeepModulation == 0xFFFF)
                                        {
                                                BeepTime = 6000; // 0.6 seconds
                        BeepModulation = 0x0300;
                                        }
                }
                                #ifdef USE_NAVICTRL
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
                                #endif
                                timer = SetDelay(20); // every 20 ms
            }
                }

                #ifdef USE_NAVICTRL
                if(!SendSPI)
                {       // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
                        // 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,
                        // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
                        SPI_TransmitByte();
                }
                #endif
    }
        return (1);
}