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 "commands.h"
#include "flight.h"
#include "rc.h"
#include "analog.h"
#include "configuration.h"
#include "controlMixer.h"
#include "eeprom.h"
#include "printf_P.h"

int16_t main(void) {
  uint16_t timer;
  static uint8_t profileTimer;

  // disable interrupts global
  cli();

  // analyze hardware environment
  setCPUType();
  setBoardRelease();

  // 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();

  // Parameter Set handling
  IMUConfig_readOrDefault();
  channelMap_readOrDefault();
  rcTrim_readOrDefault();
  paramSet_readOrDefault();

  // enable interrupts global
  sei();

  controlMixer_setNeutral();

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

  // Init flight parameters
  // flight_setNeutral();

  // This is not a busy-wait operation and should be OK.
  beep(2000);

  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;
          }
        // 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.
#ifdef DO_PROFILE
      startProfileTimer(ATTITUDE);
#endif
      calculateFlightAttitude();
#ifdef DO_PROFILE
      stopProfileTimer(ATTITUDE);
#endif

#ifdef DO_PROFILE
      startProfileTimer(CONTROLMIXER);
#endif
      controlMixer_periodicTask();
#ifdef DO_PROFILE
      stopProfileTimer(CONTROLMIXER);
#endif

#ifdef DO_PROFILE
      startProfileTimer(COMMANDS);
#endif
      commands_handleCommands();
#ifdef DO_PROFILE
      stopProfileTimer(COMMANDS);
#endif

#ifdef DO_PROFILE
      startProfileTimer(FLIGHT);
#endif
      flight_control();
#ifdef DO_PROFILE
      stopProfileTimer(FLIGHT);
#endif

        // Allow Serial Data Transmit if motors must not updated or motors are not running
        if (!runFlightControl || !isFlying) {
          usart0_transmitTxData();
        }

        usart0_processRxData();

        static uint8_t aboveWarningLimitVoltageSeen = 0;

        if (checkDelay(timer)) {
          if (UBat >= staticParams.batteryWarningVoltage) {
            aboveWarningLimitVoltageSeen = 1;
          } else { // If we are above USB voltage, or if we have once been above warning voltage
            if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) {
              beepBatteryAlarm();
            }
          }
          calculateFeaturedServoValues();
          timer = setDelay(20); // every 20 ms
        }

        output_update();

        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);
}