Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur f�r den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zul�ssig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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(250);
        OUTPUT_SET(0,1);
        GRN_OFF;
        RED_ON;
        while (!CheckDelay(timer))
                ;

        OUTPUT_SET(0,0);
        timer = SetDelay(250);
        while (!CheckDelay(timer))
                ;

        timer = SetDelay(250);
        OUTPUT_SET(1,1);
        RED_OFF;
        GRN_ON;
        while (!CheckDelay(timer))
                ;

        timer = SetDelay(250);
        while (!CheckDelay(timer))
                ;
        OUTPUT_SET(1,0);

        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);
}