Subversion Repositories FlightCtrl

#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);
}