void Display_status(void)
{
int16_t temp, range, scale;
uint16_t vbat_temp;
int8_t pos1, pos2, pos3;
mugui_size16_t size;
clear_buffer(buffer);
// Display text
LCD_Display_Text(4,(const unsigned char*)Verdana8,0,0); // Preset
LCD_Display_Text(3,(const unsigned char*)Verdana8,0,11); // Version text
LCD_Display_Text(138,(const unsigned char*)Verdana8,0,22); // RX sync
LCD_Display_Text(139,(const unsigned char*)Verdana8,0,33); // RX sync
LCD_Display_Text(6,(const unsigned char*)Verdana8,0,44); // Profile
// Display menu and markers
LCD_Display_Text(9, (const unsigned char*)Wingdings, 0, 59);// Down
LCD_Display_Text(14,(const unsigned char*)Verdana8,10,55); // Menu
// Display values
print_menu_text(0, 1, (22 + Config.MixMode), 45, 0);
print_menu_text(0, 1, (48 + Config.RxModeIn), 45, 22);
print_menu_text(0, 1, (48 + Config.RxModeOut), 45, 33);
mugui_lcd_puts(itoa((Config.Flight + 1),pBuffer,10),(const unsigned char*)Verdana8,45,44);
// Draw battery
drawrect(buffer, 100,4, 28, 50, 1); // Battery body
drawrect(buffer, 110,0, 8, 5, 1); // Battery terminal
vbat_temp = GetVbat();
// Calculate battery voltage limits
range = SystemVoltage - Config.PowerTriggerActual;
scale = range / 50;
// Look out for that divide-by-zero... :)
if ((vbat_temp >= Config.PowerTriggerActual) && (scale > 0))
{
temp = (vbat_temp - Config.PowerTriggerActual) / scale;
}
else
{
temp = 0;
}
if (temp > 50) temp = 50;
fillrect(buffer, 100,54-temp, 28, temp, 1); // Battery filler (max is 60)
// Display voltage
uint8_t x_loc = 102; // X location of voltage display
uint8_t y_loc = 55; // Y location of voltage display
temp = vbat_temp/100; // Display whole decimal part first
mugui_text_sizestring(itoa(temp,pBuffer,10), (const unsigned char*)Verdana8, &size);
mugui_lcd_puts(itoa(temp,pBuffer,10),(const unsigned char*)Verdana8,x_loc,y_loc);
pos1 = size.x;
vbat_temp = vbat_temp - (temp * 100); // Now display the parts to the right of the decimal point
LCD_Display_Text(7,(const unsigned char*)Verdana8,(x_loc + pos1),y_loc);
mugui_text_sizestring(".", (const unsigned char*)Verdana8, &size);
pos3 = size.x;
mugui_text_sizestring("0", (const unsigned char*)Verdana8, &size);
pos2 = size.x;
if (vbat_temp >= 10)
{
mugui_lcd_puts(itoa(vbat_temp,pBuffer,10),(const unsigned char*)Verdana8,(x_loc + pos1 + pos3),y_loc);
}
else
{
LCD_Display_Text(8,(const unsigned char*)Verdana8,(x_loc + pos1 + pos3),y_loc);
mugui_lcd_puts(itoa(vbat_temp,pBuffer,10),(const unsigned char*)Verdana8,(x_loc + pos1 + pos2 + pos3),y_loc);
}
// Draw error messages, if any
if ((General_error != 0) || (Flight_flags & (1 << FailsafeFlag)))
{
// Create message box
fillrect(buffer, 14,8, 96, 48, 0); // White box
drawrect(buffer, 14,8, 96, 48, 1); // Outline
// Prioritise error from top to bottom
if (General_error & (1 << LVA_ALARM))
{
LCD_Display_Text(134,(const unsigned char*)Verdana14,33,14); // Battery
LCD_Display_Text(119,(const unsigned char*)Verdana14,46,34); // Low
}
else if (Flight_flags & (1 << FailsafeFlag))
{
LCD_Display_Text(75,(const unsigned char*)Verdana14,51,13); // No
LCD_Display_Text(76,(const unsigned char*)Verdana14,39,33); // Signal
}
else if (General_error & (1 << THROTTLE_HIGH))
{
LCD_Display_Text(105,(const unsigned char*)Verdana14,28,14); // Throttle
LCD_Display_Text(121,(const unsigned char*)Verdana14,46,34); // High
}
}
// Write buffer to complete
write_buffer(buffer);
clear_buffer(buffer);
}
void Display_status(void)
{
int16_t temp;
uint16_t vbat_temp;
int8_t pos1, pos2, pos3;
mugui_size16_t size;
clear_buffer(buffer);
// Display text
LCD_Display_Text(3,(const unsigned char*)Verdana8,0,0); // Version text
LCD_Display_Text(5,(const unsigned char*)Verdana8,0,16); // RX sync
LCD_Display_Text(6,(const unsigned char*)Verdana8,0,27); // Profile
LCD_Display_Text(23,(const unsigned char*)Verdana8,88,27); // Pos
LCD_Display_Text(133,(const unsigned char*)Verdana8,0,38); // Battery
// Display menu and markers
LCD_Display_Text(9, (const unsigned char*)Wingdings, 0, 59); // Down
LCD_Display_Text(14,(const unsigned char*)Verdana8,10,55); // Menu
// Display values
print_menu_text(0, 1, (62 + Config.RxMode), 45, 16); // Rx mode
mugui_lcd_puts(itoa(transition,pBuffer,10),(const unsigned char*)Verdana8,110,27); // Raw transition value
if (Config.RxMode == PWM)
{
LCD_Display_Text(24,(const unsigned char*)Verdana8,77,38); // Interrupt counter text
mugui_lcd_puts(itoa(InterruptCount,pBuffer,10),(const unsigned char*)Verdana8,110,38); // Interrupt counter
}
// Display transition point
if (transition <= 0)
{
LCD_Display_Text(48,(const unsigned char*)Verdana8,45,27);
}
else if (transition >= 100)
{
LCD_Display_Text(50,(const unsigned char*)Verdana8,45,27);
}
else if (transition == Config.Transition_P1n)
{
LCD_Display_Text(49,(const unsigned char*)Verdana8,45,27);
}
else if (transition < Config.Transition_P1n)
{
LCD_Display_Text(51,(const unsigned char*)Verdana8,45,27);
}
else if (transition > Config.Transition_P1n)
{
LCD_Display_Text(52,(const unsigned char*)Verdana8,45,27);
}
// Display voltage
uint8_t x_loc = 45; // X location of voltage display
uint8_t y_loc = 38; // Y location of voltage display
vbat_temp = GetVbat();
temp = vbat_temp/100; // Display whole decimal part first
mugui_text_sizestring(itoa(temp,pBuffer,10), (const unsigned char*)Verdana8, &size);
mugui_lcd_puts(itoa(temp,pBuffer,10),(const unsigned char*)Verdana8,x_loc,y_loc);
pos1 = size.x;
vbat_temp = vbat_temp - (temp * 100); // Now display the parts to the right of the decimal point
LCD_Display_Text(7,(const unsigned char*)Verdana8,(x_loc + pos1),y_loc);
mugui_text_sizestring(".", (const unsigned char*)Verdana8, &size);
pos3 = size.x;
mugui_text_sizestring("0", (const unsigned char*)Verdana8, &size);
pos2 = size.x;
if (vbat_temp >= 10)
{
mugui_lcd_puts(itoa(vbat_temp,pBuffer,10),(const unsigned char*)Verdana8,(x_loc + pos1 + pos3),y_loc);
}
else
{
LCD_Display_Text(8,(const unsigned char*)Verdana8,(x_loc + pos1 + pos3),y_loc);
mugui_lcd_puts(itoa(vbat_temp,pBuffer,10),(const unsigned char*)Verdana8,(x_loc + pos1 + pos2 + pos3),y_loc);
}
// Display error messages
if (General_error != 0)
{
// Create message box
fillrect(buffer, 14,8, 96, 48, 0); // White box
drawrect(buffer, 14,8, 96, 48, 1); // Outline
// Prioritise error from top to bottom
if((General_error & (1 << LVA_ALARM)) != 0)
{
LCD_Display_Text(134,(const unsigned char*)Verdana14,33,14); // Battery
LCD_Display_Text(73,(const unsigned char*)Verdana14,46,34); // Low
}
else if((General_error & (1 << NO_SIGNAL)) != 0)
{
LCD_Display_Text(75,(const unsigned char*)Verdana14,51,13); // No
LCD_Display_Text(76,(const unsigned char*)Verdana14,39,33); // Signal
}
else if((General_error & (1 << THROTTLE_HIGH)) != 0)
{
LCD_Display_Text(105,(const unsigned char*)Verdana14,28,14); // Throttle
LCD_Display_Text(55,(const unsigned char*)Verdana14,46,34); // High
}
else if((General_error & (1 << DISARMED)) != 0)
{
LCD_Display_Text(18,(const unsigned char*)Verdana14,25,24); // Disarmed
}
}
// Write buffer to complete
write_buffer(buffer,1);
clear_buffer(buffer);
}
void Display_status(void)
{
int16_t temp;
uint16_t vbat_temp;
int8_t pos1, pos2, pos3;
mugui_size16_t size;
clear_buffer(buffer);
// Display text
LCD_Display_Text(264,(const unsigned char*)Verdana8,0,0); // Version text
LCD_Display_Text(266,(const unsigned char*)Verdana8,0,12); // RX sync
LCD_Display_Text(267,(const unsigned char*)Verdana8,0,24); // Profile
LCD_Display_Text(23,(const unsigned char*)Verdana8,88,24); // Pos
// Display menu and markers
LCD_Display_Text(9, (const unsigned char*)Wingdings, 0, 59);// Down
LCD_Display_Text(14,(const unsigned char*)Verdana8,10,55); // Menu
// Display values
print_menu_text(0, 1, (62 + Config.RxMode), 45, 12); // Rx mode
mugui_lcd_puts(itoa(transition,pBuffer,10),(const unsigned char*)Verdana8,110,24); // Raw transition value
if (Config.RxMode == PWM)
{
LCD_Display_Text(24,(const unsigned char*)Verdana8,77,12); // Interrupt counter text
mugui_lcd_puts(itoa(InterruptCount,pBuffer,10),(const unsigned char*)Verdana8,110,12); // Interrupt counter
}
// Display transition point
if (transition <= 0)
{
LCD_Display_Text(48,(const unsigned char*)Verdana8,45,24);
}
else if (transition >= 100)
{
LCD_Display_Text(50,(const unsigned char*)Verdana8,45,24);
}
else if (transition == Config.Transition_P1n)
{
LCD_Display_Text(49,(const unsigned char*)Verdana8,45,24);
}
else if (transition < Config.Transition_P1n)
{
LCD_Display_Text(51,(const unsigned char*)Verdana8,45,24);
}
else
{
LCD_Display_Text(52,(const unsigned char*)Verdana8,45,24);
}
// Don't display battery text if there are error messages
if (General_error == 0)
{
// Display voltage
uint8_t x_loc = 45; // X location of voltage display
uint8_t y_loc = 36; // Y location of voltage display
LCD_Display_Text(289,(const unsigned char*)Verdana8,0,36); // Battery
vbat_temp = GetVbat();
temp = vbat_temp/100; // Display whole decimal part first
mugui_text_sizestring(itoa(temp,pBuffer,10), (const unsigned char*)Verdana8, &size);
mugui_lcd_puts(itoa(temp,pBuffer,10),(const unsigned char*)Verdana8,x_loc,y_loc);
pos1 = size.x;
vbat_temp = vbat_temp - (temp * 100); // Now display the parts to the right of the decimal point
LCD_Display_Text(268,(const unsigned char*)Verdana8,(x_loc + pos1),y_loc);
mugui_text_sizestring(".", (const unsigned char*)Verdana8, &size);
pos3 = size.x;
mugui_text_sizestring("0", (const unsigned char*)Verdana8, &size);
pos2 = size.x;
if (vbat_temp >= 10)
{
mugui_lcd_puts(itoa(vbat_temp,pBuffer,10),(const unsigned char*)Verdana8,(x_loc + pos1 + pos3),y_loc);
}
else
{
LCD_Display_Text(269,(const unsigned char*)Verdana8,(x_loc + pos1 + pos3),y_loc);
mugui_lcd_puts(itoa(vbat_temp,pBuffer,10),(const unsigned char*)Verdana8,(x_loc + pos1 + pos2 + pos3),y_loc);
}
// Display vibration info is set to "ON"
if (Config.Vibration == ON)
{
// Create message box
fillrect(buffer, 29,11, 70, 42, 0); // White box
drawrect(buffer, 29,11, 70, 42, 1); // Outline
// Display vibration data
temp = (int16_t)GyroAvgNoise;
// Work out pixel size of number to display
mugui_text_sizestring(itoa(temp,pBuffer,10), (const unsigned char*)Verdana22, &size);
// Center the number in the box automatically
mugui_lcd_puts(itoa(temp,pBuffer,10),(const unsigned char*)Verdana22,64 - (size.x / 2),20);
} // if (Config.Vibration == ON)
}
// Display error messages
else
{
// Prioritise error from top to bottom
if(General_error & (1 << LVA_ALARM))
{
LCD_Display_Text(134,(const unsigned char*)Verdana14,15,37); // Battery
LCD_Display_Text(271,(const unsigned char*)Verdana14,79,37); // low
}
else if(General_error & (1 << NO_SIGNAL))
{
LCD_Display_Text(75,(const unsigned char*)Verdana14,30,37); // No
LCD_Display_Text(272,(const unsigned char*)Verdana14,55,37); // signal
}
else if(General_error & (1 << THROTTLE_HIGH))
{
LCD_Display_Text(105,(const unsigned char*)Verdana14,11,37); // Throttle
LCD_Display_Text(270,(const unsigned char*)Verdana14,82,37); // high
}
else if(General_error & (1 << DISARMED))
{
LCD_Display_Text(18,(const unsigned char*)Verdana14,25,37); // Disarmed
}
}
// Write buffer to complete
write_buffer(buffer);
clear_buffer(buffer);
}
void Display_status(void)
{
int16_t temp, min, max, range, scale;
int8_t pos1, pos2, pos3;
mugui_size16_t size;
clear_buffer(buffer);
// Display text
LCD_Display_Text(4,(prog_uchar*)Verdana8,0,0); // Mode
LCD_Display_Text(3,(prog_uchar*)Verdana8,0,11); // Version text
LCD_Display_Text(5,(prog_uchar*)Verdana8,0,22); // Input
LCD_Display_Text(46,(prog_uchar*)Verdana8,0,33); // Stability
LCD_Display_Text(47,(prog_uchar*)Verdana8,0,44); // Autolevel
// Display menu and markers
LCD_Display_Text(9, (prog_uchar*)Wingdings, 0, 59); // Down
LCD_Display_Text(14,(prog_uchar*)Verdana8,10,55); // Menu
// Display values
print_menu_text(0, 1, (18 + Config.RxMode), 50, 22);
LCD_Display_Text(0,(prog_uchar*)Verdana8,50,11);
print_menu_text(0, 1, (22 + Config.MixMode), 33, 0);
print_menu_text(0, 1, (101 + Stability), 50, 44);
print_menu_text(0, 1, (101 + AutoLevel), 50, 33);
// Draw battery
drawrect(buffer, 100,4, 28, 50, 1); // Battery body
drawrect(buffer, 110,0, 8, 4, 1); // Battery terminal
GetVbat();
min = Config.MinVoltage * Config.BatteryCells; // Calculate battery voltage limits
max = Config.MaxVoltage * Config.BatteryCells;
range = max - min;
scale = range / 50;
if (vBat >= min)
{
temp =(vBat - min) / scale;
}
else
{
temp = 0;
}
if (temp <= 0) temp = 0;
if (temp > 50) temp = 50;
fillrect(buffer, 100,54-temp, 28, temp, 1); // Battery filler (max is 60)
// Display voltage
uint8_t x_loc = 102; // X location of voltage display
uint8_t y_loc = 55; // Y location of voltage display
temp = vBat/100; // Display whole decimal part first
mugui_text_sizestring(itoa(temp,pBuffer,10), (prog_uchar*)Verdana8, &size);
mugui_lcd_puts(itoa(temp,pBuffer,10),(prog_uchar*)Verdana8,x_loc,y_loc);
pos1 = size.x;
vBat = vBat - (temp * 100); // Now display the parts to the right of the decimal point
LCD_Display_Text(7,(prog_uchar*)Verdana8,(x_loc + pos1),y_loc);
mugui_text_sizestring(".", (prog_uchar*)Verdana8, &size);
pos3 = size.x;
mugui_text_sizestring("0", (prog_uchar*)Verdana8, &size);
pos2 = size.x;
if (vBat >= 10)
{
mugui_lcd_puts(itoa(vBat,pBuffer,10),(prog_uchar*)Verdana8,(x_loc + pos1 + pos3),y_loc);
}
else
{
LCD_Display_Text(8,(prog_uchar*)Verdana8,(x_loc + pos1 + pos3),y_loc);
mugui_lcd_puts(itoa(vBat,pBuffer,10),(prog_uchar*)Verdana8,(x_loc + pos1 + pos2 + pos3),y_loc);
}
// Draw error messages, if any
if (General_error != 0)
{
// Create message box
fillrect(buffer, 14,8, 96, 48, 0); // White box
drawrect(buffer, 14,8, 96, 48, 1); // Outline
// Prioritise error from top to bottom
if((General_error & (1 << SENSOR_ERROR)) != 0)
{
LCD_Display_Text(72,(prog_uchar*)Verdana14,35,14); // Sensor
LCD_Display_Text(98,(prog_uchar*)Verdana14,43,34); // Error
menu_beep(9);
}
else if((General_error & (1 << LOW_BATT)) != 0)
{
LCD_Display_Text(82,(prog_uchar*)Verdana14,33,14); // Battery
LCD_Display_Text(119,(prog_uchar*)Verdana14,46,34); // Low
}
else if((General_error & (1 << NO_SIGNAL)) != 0)
{
LCD_Display_Text(75,(prog_uchar*)Verdana14,51,13); // No
LCD_Display_Text(76,(prog_uchar*)Verdana14,39,33); // Signal
menu_beep(3);
}
else if((General_error & (1 << LOST_MODEL)) != 0)
{
LCD_Display_Text(99,(prog_uchar*)Verdana14,45,14); // Lost
LCD_Display_Text(100,(prog_uchar*)Verdana14,40,34);// Model
}
else if((General_error & (1 << THROTTLE_HIGH)) != 0)
{
LCD_Display_Text(105,(prog_uchar*)Verdana14,28,14); // Throttle
LCD_Display_Text(120,(prog_uchar*)Verdana14,46,34); // High
menu_beep(6);
}
}
// Write buffer to complete
write_buffer(buffer,1);
clear_buffer(buffer);
}
void init(void)
{
uint8_t i;
bool updated;
//***********************************************************
// I/O setup
//***********************************************************
// Set port directions
DDRA = 0x30; // Port A
DDRB = 0x0A; // Port B
DDRC = 0xFC; // Port C
DDRD = 0xF2; // Port D
// Hold all PWM outputs low to stop glitches
// M5 and M6 are on PortA for KK2.1
MOTORS = 0;
M5 = 0;
M6 = 0;
// Preset I/O pins
LED1 = 0; // LED1 off
LVA = 0; // LVA alarm OFF
LCD_SCL = 1; // GLCD clock high
// Set/clear pull-ups (1 = set, 0 = clear)
PINB = 0xF5; // Set PB pull-ups
PIND = 0x0C; // Set PD pull-ups (Don't pull up RX yet)
//***********************************************************
// Spektrum receiver binding. Must be done immediately on power-up
//
// 3 low pulses: DSM2 1024/22ms
// 5 low pulses: DSM2 2048/11ms
// 7 low pulses: DSMX 1024/22ms
// 9 low pulses: DSMX 2048/11ms
//***********************************************************
PIND = 0x0C; // Release RX pull up on PD0
_delay_ms(63); // Pause while satellite wakes up
// and pull-ups have time to rise.
// Tweak until bind pulses about 68ms after power-up
// Bind as master if any single button pressed.
// NB: Have to wait until the button pull-ups rise before testing for a button press.
// Button 1
if ((PINB & 0xf0) == 0x70)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(3);
}
// Button 2
if ((PINB & 0xf0) == 0xb0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(5);
}
// Button 3
if ((PINB & 0xf0) == 0xd0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(7);
}
// Button 4
if ((PINB & 0xf0) == 0xE0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master(9);
}
DDRD = 0xF2; // Reset Port D directions
PIND = 0x0D; // Set PD pull-ups (now pull up RX as well)
//***********************************************************
// Timers
//***********************************************************
// Timer0 (8bit) - run @ 20MHz / 1024 = 19.531kHz or 51.2us - max 13.1ms
// Slow timer to extend Timer 1
TCCR0A = 0; // Normal operation
TCCR0B = 0x05; // Clk / 1024 = 19.531kHz or 51.2us - max 13.1ms
TIMSK0 |= (1 << TOIE0); // Enable interrupts
TCNT0 = 0; // Reset counter
// Timer1 (16bit) - run @ 2.5MHz (400ns) - max 26.2ms
// Used to measure Rx Signals & control ESC/servo output rate
TCCR1A = 0;
TCCR1B |= (1 << CS11); // Clk/8 = 2.5MHz
// Timer2 8bit - run @ 20MHz / 1024 = 19.531kHz or 51.2us - max 13.1ms
// Used to time arm/disarm intervals
TCCR2A = 0;
TCCR2B = 0x07; // Clk/1024 = 19.531kHz
TIMSK2 = 0;
TIFR2 = 0;
TCNT2 = 0; // Reset counter
//***********************************************************
// Interrupts and pin function setup
//***********************************************************
// Pin change interrupt enables PCINT1, PCINT2 and PCINT3 (Throttle, AUX and CPPM input)
PCICR = 0x0A; // PCINT8 to PCINT15 (PCINT1 group - AUX)
// PCINT24 to PCINT31 (PCINT3 group - THR)
PCIFR = 0x0F; // Clear PCIF0 interrupt flag
// Clear PCIF1 interrupt flag
// Clear PCIF2 interrupt flag
// Clear PCIF3 interrupt flag
// External interrupts INT0 (Elevator) and INT1 (Aileron) and INT2 (Rudder)
EICRA = 0x15; // Any change INT0
// Any change INT1
// Any change INT2
EIFR = 0x07; // Clear INT0 interrupt flag (Elevator)
// Clear INT1 interrupt flag (Aileron)
// Clear INT2 interrupt flag (Rudder/CPPM)
//***********************************************************
// Start up
//***********************************************************
// Preset important flags
Interrupted = false;
// Load EEPROM settings
updated = Initial_EEPROM_Config_Load(); // Config now contains valid values
//***********************************************************
// RX channel defaults for when no RC connected
// Not doing this can result in the FC trying (unsuccessfully) to arm
// and makes entry into the menus very hard
//***********************************************************
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
RxChannel[i] = 3750;
}
RxChannel[THROTTLE] = 2500; // Min throttle
//***********************************************************
// GLCD initialisation
//***********************************************************
// Initialise the GLCD
st7565_init();
// Make sure the LCD is blank without clearing buffer (and so no logo)
clear_screen();
//***********************************************************
// ESC calibration
//***********************************************************
// Calibrate ESCs if ONLY buttons 1 and 4 pressed
if ((PINB & 0xf0) == 0x60)
{
// Display calibrating message
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(59,(const unsigned char*)Verdana14,10,25);
write_buffer(buffer);
clear_buffer(buffer);
// For each output
for (i = 0; i < MAX_OUTPUTS; i++)
{
// Check for motor marker
if (Config.Channel[i].Motor_marker == MOTOR)
{
// Set output to maximum pulse width
ServoOut[i] = MOTOR_100;
}
else
{
ServoOut[i] = SERVO_CENTER;
}
}
// Output HIGH pulse (1.9ms) until buttons released
while ((PINB & 0xf0) == 0x60)
{
// Pass address of ServoOut array and select all outputs
output_servo_ppm_asm(&ServoOut[0], 0xFF);
// Loop rate = 20ms (50Hz)
_delay_ms(20);
}
// Output LOW pulse (1.1ms) after buttons released
// For each output
for (i = 0; i < MAX_OUTPUTS; i++)
{
// Check for motor marker
if (Config.Channel[i].Motor_marker == MOTOR)
{
// Set output to maximum pulse width
ServoOut[i] = MOTOR_0;
}
}
// Loop forever here
while(1)
{
// Pass address of ServoOut array and select all outputs
output_servo_ppm_asm(&ServoOut[0], 0xFF);
// Loop rate = 20ms (50Hz)
_delay_ms(20);
}
}
//***********************************************************
// Reset EEPROM settings
//***********************************************************
// This delay prevents the GLCD flashing up a ghost image of old data
_delay_ms(300);
// Reload default eeprom settings if middle two buttons are pressed
if ((PINB & 0xf0) == 0x90)
{
// Display reset message
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(262,(const unsigned char*)Verdana14,40,25); // "Reset"
write_buffer(buffer);
clear_buffer(buffer);
// Reset EEPROM settings
Set_EEPROM_Default_Config();
Save_Config_to_EEPROM();
// Set contrast to the default value
st7565_set_brightness(Config.Contrast);
_delay_ms(500); // Save is now too fast to show the "Reset" text long enough
}
// Display message in place of logo when updating eeprom structure
if (updated)
{
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(259,(const unsigned char*)Verdana14,30,13); // "Updating"
LCD_Display_Text(260,(const unsigned char*)Verdana14,33,37); // "settings"
write_buffer(buffer);
clear_buffer(buffer);
_delay_ms(1000);
}
else
{
// Write logo from buffer
write_buffer(buffer);
_delay_ms(1000);
}
clear_buffer(buffer);
write_buffer(buffer);
st7565_init(); // Seems necessary for KK2 mini
//***********************************************************
// i2c init
//***********************************************************
i2c_init();
init_i2c_gyros();
init_i2c_accs();
//***********************************************************
// Remaining init tasks
//***********************************************************
// Display "Hold steady" message
clear_buffer(buffer);
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
LCD_Display_Text(263,(const unsigned char*)Verdana14,18,25); // "Hold steady"
write_buffer(buffer);
clear_buffer(buffer);
// Do startup tasks
Init_ADC();
init_int(); // Initialise interrupts based on RC input mode
init_uart(); // Initialise UART
// Initial gyro calibration
if (!CalibrateGyrosSlow())
{
clear_buffer(buffer);
LCD_Display_Text(61,(const unsigned char*)Verdana14,25,25); // "Cal. failed"
write_buffer(buffer);
_delay_ms(1000);
// Reset
cli();
wdt_enable(WDTO_15MS); // Watchdog on, 15ms
while(1); // Wait for reboot
}
// Update voltage detection
SystemVoltage = GetVbat(); // Check power-up battery voltage
UpdateLimits(); // Update travel and trigger limits
// Disarm on start-up if Armed setting is ARMABLE
if (Config.ArmMode == ARMABLE)
{
General_error |= (1 << DISARMED); // Set disarmed bit
}
// Check to see that throttle is low if RC detected
if (Interrupted)
{
RxGetChannels();
if (MonopolarThrottle > THROTTLEIDLE) // THROTTLEIDLE = 50
{
General_error |= (1 << THROTTLE_HIGH); // Set throttle high error bit
}
}
// Reset IMU
reset_IMU();
// Beep that init is complete
LVA = 1;
_delay_ms(25);
LVA = 0;
#ifdef ERROR_LOG
// Log reboot
add_log(REBOOT);
#endif
} // init()
