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 f�r 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 example: 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 "rc.h"
#include "analog.h"
#include "configuration.h"
#include "printf_P.h"
#include "twimaster.h"
#include "controlMixer.h"
#ifdef USE_NAVICTRL
#include "spi.h"
#endif
#ifdef USE_DIRECT_GPS
#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;

// This is strange: It should NOT be necessarty to do. But the call of the same,
// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
channelMap_default();

  // 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_DIRECT_GPS
  MK3MAG_init();
  usart1_init();
#endif

  // Parameter Set handling
  channelMap_readOrDefault();
  mixerMatrix_readOrDefault();
  paramSet_readOrDefault();

  // enable interrupts global
  sei();

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

  // 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);
  outputSet(0,1);
  GRN_OFF;
  RED_ON;
  while (!checkDelay(timer))
    ;

  timer = setDelay(200);
  outputSet(0,0);
  outputSet(1,1);
  RED_OFF;
  GRN_ON;
  while (!checkDelay(timer))
    ;

  timer = setDelay(200);
  while (!checkDelay(timer))
    ;
  outputSet(1,0);
  GRN_OFF;

  twi_diagnostics();

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

#ifdef USE_NAVICTRL
  printf("\n\rSupport for NaviCtrl");
#endif

#ifdef USE_DIRECT_GPS
  printf("\n\rDirect (no NaviCtrl) navigation");
#endif

  controlMixer_setNeutral();

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

  // Init flight parameters
  flight_setNeutral();

  beep(2000);

  printf("\n\rControl: ");
  if (staticParams.bitConfig & CFG_HEADING_HOLD)
    printf("Heading Hold");
    else printf("RTL Mode");

  printf("\n\n\r");

  LCD_clear();

  I2CTimeout = 5000;

  while (1) {
    if (runFlightControl) { // control interval
      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
      if (!analogDataReady) {
        // Analog data should have been ready but is not!!
        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
      } else {
        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;

        J4HIGH;
        // This is probably the correct order:
        // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
        // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
        // Flight control uses results from both.
        calculateFlightAttitude();
        controlMixer_periodicTask();
        flight_control();
        J4LOW;

        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout
          if (!I2CTimeout) {
            I2C_Reset();
            I2CTimeout = 5;
          }
          beepI2CAlarm();
        }
       
        // 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.batteryVoltageWarning) {
            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

          calculateServoValues();
         
          if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error.
        debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
      } else {
        debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
          }      
    }
  }
  return (1);
}