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 <util/delay.h>

#include "timer0.h"
#include "timer2.h"
#include "uart0.h"
#include "uart1.h"
#include "output.h"
#include "menu.h"
#include "attitude.h"
#include "flight.h"
#include "controlMixer.h"
#include "rc.h"
#include "analog.h"
#include "configuration.h"
#include "printf_P.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();
  timer2_init();
  usart0_Init();
  if(CPUType == ATMEGA644P) usart1_Init();
  RC_Init();
  analog_init();
  I2C_init();
#ifdef USE_NAVICTRL
  SPI_MasterInit();
#endif
#ifdef USE_MK3MAG
  MK3MAG_Init();
#endif
 
  // enable interrupts global
  sei();

  printf("\n\r===================================");
  printf("\n\rFlightControl");
  printf("\n\rHardware: Custom");
  printf("\r\n     CPU: Atmega644");
  if(CPUType == ATMEGA644P)
    printf("p");
  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
  printf("\n\r===================================");

  // 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(200);
  OUTPUT_ON(0);
  GRN_OFF;
  RED_ON;
  while(!CheckDelay(timer));

  timer = SetDelay(200);
  OUTPUT_OFF(0);
  OUTPUT_ON(1);
  RED_OFF;
  GRN_ON;
  while(!CheckDelay(timer));

  timer = SetDelay(200);
  while(!CheckDelay(timer));
  OUTPUT_OFF(1);

  twi_diagnostics();

  printf("\n\r===================================");

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

#ifdef USE_NAVICTRL
  printf("\n\rSupport for NaviCtrl");
#ifdef USE_RC_DSL
  printf("\r\nSupport for DSL RC at 2nd UART");
#endif
#ifdef USE_RC_SPECTRUM
  printf("\r\nSupport for SPECTRUM RC at 2nd UART");
#endif
#endif

#ifdef USE_MK3MAG
  printf("\n\rSupport for MK3MAG Compass");
#endif

#if (defined (USE_MK3MAG))
  if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART");
  else                      printf("\n\rSupport for GPS at 1st UART");
#endif

  controlMixer_setNeutral();

  // Cal. attitude sensors and reset integrals.
  attitude_setNeutral();

  Servo_On();

  // Init flight parameters
  flight_setNeutral();

  // RED_OFF;

  beep(2000);
 
  printf("\n\rControl: ");
  if (staticParams.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
  else printf("Neutral (ACC-Mode)");

  printf("\n\n\r");

  LCD_Clear();

  I2CTimeout = 5000;

  while (1) {
    if(runFlightControl && analogDataReady) {      // control interval
      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
     
      J4HIGH;
      flight_control();
      J4LOW;
     
      /*
       * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit
       * the throttle vector just computed. Otherwise, if motor test is engaged, transmit
       * the test throttle vector. If no testing, stop all motors.
       */
      // Obsoleted.
      // transmitMotorThrottleData();
     
      RED_OFF;
     
      /*
        Does not belong here. Instead, external control should be ignored in
        controlMixer if there was no new data from there for some time.
      if(externalControlActive) externalControlActive--;
      else {
        externalControl.config = 0;
        externalStickPitch = 0;
        externalStickRoll = 0;
        externalStickYaw = 0;
      }
      */
     
      /*
        Does not belong here.
        if(RC_Quality)  RC_Quality--;
      */
     
      /* Does not belong here. Well since we are not supporting navi right now anyway, leave out.
#ifdef USE_NAVICTRL
      if(NCDataOkay) {
        if(--NCDataOkay == 0) // no data from NC
          {  // set gps control sticks neutral
            GPSStickPitch = 0;
            GPSStickRoll = 0;
            NCSerialDataOkay = 0;
          }
      }
#endif
      */
      if(!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout
        RED_ON;
        if(!I2CTimeout) {
          I2C_Reset();
          I2CTimeout = 5;
        }
      } else {
        RED_OFF;
      }
     
      // 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);
}