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#include <avr/boot.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "timer0.h"
#include "timer2.h"
#include "uart0.h"
#include "output.h"
#include "attitude.h"
#include "flight.h"
#include "controlMixer.h"
#include "rc.h"
#include "analog.h"
#include "configuration.h"
#include "twimaster.h"
#ifdef USE_NAVICTRL
#include "spi.h"
#endif
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif
#include "eeprom.h"
int16_t main(void) {
uint16_t timer;
// disable interrupts global
cli();
// analyze hardware environment
CPUType = getCPUType();
BoardRelease = getBoardRelease();
// disable watchdog
MCUSR &= ~(1 << WDRF);
WDTCSR |= (1 << WDCE) | (1 << WDE);
WDTCSR = 0;
// PPM_in[CH_THROTTLE] = 0;
// Why??? They are already initialized to 0.
// stickPitch = stickRoll = stickYaw = 0;
RED_OFF;
// initalize modules
output_init();
timer0_init();
usart0_Init();
RC_Init();
analog_init();
I2C_init();
#ifdef USE_NAVICTRL
SPI_MasterInit();
#endif
#ifdef USE_MK3MAG
MK3MAG_Init();
#endif
// enable interrupts global
sei();
// Parameter Set handling
ParamSet_Init();
// Wait for a short time (otherwise the RC channel check won't work below)
// timer = SetDelay(500);
// while(!CheckDelay(timer));
// Instead, while away the time by flashing the 2 outputs:
// First J16, then J17. Makes it easier to see which is which.
timer = setDelay(500);
OUTPUT_SET(0,1);
GRN_OFF;
RED_ON;
while (!checkDelay(timer))
;
OUTPUT_SET(0,0);
timer = setDelay(500);
while (!checkDelay(timer))
;
OUTPUT_SET(1,1);
RED_OFF;
GRN_ON;
timer = setDelay(500);
while (!checkDelay(timer))
;
timer = setDelay(500);
while (!checkDelay(timer))
;
OUTPUT_SET(1,0);
beep(2000);
timer = setDelay(4000);
while (!checkDelay(timer))
;
controlMixer_setNeutral();
// Cal. attitude sensors and reset integrals.
attitude_setNeutral();
// Init flight parameters
flight_setNeutral();
// RED_OFF;
beep(1000);
timer2_init();
I2CTimeout = 5000;
while (1) {
if (runFlightControl) { // control interval
runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
if (!analogDataReady) {
DebugOut.Digital[0] |= DEBUG_MAINLOOP_TIMER;
} else {
DebugOut.Digital[0] &= ~DEBUG_MAINLOOP_TIMER;
J4HIGH;
flight_control();
J4LOW;
// Allow Serial Data Transmit if motors must not updated or motors are not running
if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
usart0_TransmitTxData();
}
usart0_ProcessRxData();
if (checkDelay(timer)) {
if (UBat <= UBAT_AT_5V) {
// Do nothing. The voltage on the input side of the regulator is <5V;
// we must be running off USB power. Keep it quiet.
} else if (UBat < staticParams.LowVoltageWarning) {
beepBatteryAlarm();
}
#ifdef USE_NAVICTRL
SPI_StartTransmitPacket();
SendSPI = 4;
#endif
timer = setDelay(20); // every 20 ms
}
output_update();
}
#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);
}