void
GCInit_Help(double defaultMinRatio, double defaultMaxRatio,
int defaultMinRatioSize, int defaultMaxRatioSize)
{
MinHeapByte = Min(MinHeapByte, MaxHeapByte);
init_double(&MinRatio, defaultMinRatio);
init_double(&MaxRatio, defaultMaxRatio);
init_int(&MinRatioSize, defaultMinRatioSize);
init_int(&MaxRatioSize, defaultMaxRatioSize);
fromSpace = Heap_Alloc(MinHeapByte, MaxHeapByte);
toSpace = Heap_Alloc(MinHeapByte, MaxHeapByte);
Heap_Resize(fromSpace, (MinHeapByte + MaxHeapByte) / 2, 1);
Heap_Resize(toSpace, (MinHeapByte + MaxHeapByte) / 2, 1);
}
void hardware_init(){
init_timer1();
init_timer0();
init_external();
init_int();
LS1=0xFF;
}
/**
Genera e inizializza una nuova struttura di tipo inotify_t
\return da notare che, se ci sono stati errori, lo si potrà sapere
analizzando il valore di new_inotify_t().instance == -1
*/
inotify_t new_inotify_t(void) {
inotify_t r;
init_int(&r.watch_fds);
init_str(&r.files);
r.instance = inotify_init();
return r;
}
void
memobj_init(void)
{
unsigned long min_bytes, max_bytes;
unsigned long mem_bytes = GetPhysicalPages() * 0.90 * TILT_PAGESIZE;
unsigned long cache_bytes = GetBcacheSize() * 2;
min_bytes = 2048 * 1024;
min_bytes = Max(min_bytes, cache_bytes);
max_bytes = (unsigned long)INT_MAX;
max_bytes = Min(max_bytes, mem_bytes);
max_bytes = Min(max_bytes, rlimit(RLIMIT_DATA));
max_bytes = Min(max_bytes, rlimit(RLIMIT_AS));
#ifdef RLIMIT_VMEM
max_bytes = Min(max_bytes, rlimit(RLIMIT_VMEM));
#endif
init_int(&MinHeapByte, min_bytes);
init_int(&MaxHeapByte, 0.40 * max_bytes);
assert(MinHeapByte <= MaxHeapByte);
#ifdef sparc
assert(TILT_PAGESIZE == sysconf(_SC_PAGESIZE));
#else
assert(TILT_PAGESIZE == sysconf(_SC_PAGE_SIZE));
#endif
StackInitialize();
HeapInitialize();
GuardStackletSize = TILT_PAGESIZE / kilobyte;
stackletOffset = (GuardStackletSize + MLStackletSize + CStackletSize) *
kilobyte;
primaryStackletOffset = 0;
replicaStackletOffset = stackletOffset;
/* So we don't pay mmap for first thread - general case? XXXX */
{
int i;
Stacklet_t *temp[5];
for (i=0; i<5; i++)
temp[i] = Stacklet_Alloc(NULL);
for (i=0; i<5; i++)
Stacklet_Dealloc(temp[i]);
}
}
int main(int argc,char ** argv){
int * visitado,otimo;
Tour pop[TAMPOP], * melhor;
struct tms before,after;
if(argc != 3){
printf("USO : %s 'instancia' 'otimo' \n\n",argv[0]);
return 1;
}
otimo = atoi(argv[2]);
times(&before);
read(argv[1],d,n);
visitado = new_int(n);
init_int(visitado,n);
pop[0] = rand_tour();
pop[1] = rand_tour();
createSet();
LinKernighan(pop[0]);
LinKernighan(pop[1]);
pop[2] = new_tour(); pop[2]->c = new_int(n); pop[2]->pos = new_int(n);
pop[3] = new_tour(); pop[3]->c = new_int(n); pop[3]->pos = new_int(n);
PMX(pop[2],pop[3],pop[0],pop[1]);
LinKernighan(pop[2]);
LinKernighan(pop[3]);
printf("PAI 1 : \n");
print_tour(pop[0]);
printf("PAI 2 : \n");
print_tour(pop[1]);
printf("FILHO 1 : \n");
print_tour(pop[2]);
printf("FILHO 2 : \n");
print_tour(pop[3]);
melhor = &pop[0];
//print_tour(melhor);
times(&after);
double tempo = (double)(after.tms_utime - before.tms_utime)/(double)100;
double gap = ((double)((*(melhor))->cost-otimo)/(double) otimo) * 100.0;
printf("%s\t%.2lfs\t%d\t%d\t%.3lf\n",argv[1],tempo,otimo,(*(melhor))->cost,gap);
//printf("System time: %ld seconds\n", after.tms_stime - before.tms_stime);
return 0;
}
void
GCInit(void)
{
init_int(&minOffRequest, 1 * TILT_PAGESIZE);
init_int(&maxOffRequest, 8 * TILT_PAGESIZE);
init_int(&minOnRequest, 1 * TILT_PAGESIZE);
init_int(©PageSize, TILT_PAGESIZE / 2);
init_int(©CheckSize, TILT_PAGESIZE / 2);
init_int(©ChunkSize, 256);
minOffRequest = RoundUp(minOffRequest, TILT_PAGESIZE);
minOnRequest = RoundUp(minOnRequest, TILT_PAGESIZE);
reset_statistic(&minorSurvivalStatistic);
reset_statistic(&heapSizeStatistic);
reset_statistic(&majorSurvivalStatistic);
switch (collector_type) {
case Semispace:
GCFun = GC_Semi;
GCReleaseFun = GCRelease_Semi;
GCPollFun = NULL;
GCInit_Semi();
break;
case Generational:
GCFun = GC_Gen;
GCReleaseFun = GCRelease_Gen;
GCPollFun = NULL;
GCInit_Gen();
break;
case SemispaceParallel:
GCFun = GC_SemiPara;
GCReleaseFun = GCRelease_SemiPara;
GCPollFun = GCPoll_SemiPara;
GCInit_SemiPara();
break;
case GenerationalParallel:
GCFun = GC_GenPara;
GCReleaseFun = GCRelease_GenPara;
GCPollFun = GCPoll_GenPara;
GCInit_GenPara();
break;
case SemispaceConcurrent:
GCFun = GC_SemiConc;
GCReleaseFun = GCRelease_SemiConc;
GCPollFun = GCPoll_SemiConc;
GCInit_SemiConc();
break;
case GenerationalConcurrent:
GCFun = GC_GenConc;
GCReleaseFun = GCRelease_GenConc;
GCPollFun = GCPoll_GenConc;
GCInit_GenConc();
break;
default:
DIE("bad collector type");
}
if (forceMirrorArray)
mirrorArray = 1;
}
void Display_rcinput(void)
{
// Re-enable interrupts. High speed mode may have left them off
init_int();
while(BUTTON1 != 0)
{
if (BUTTON4 == 0)
{
CenterSticks();
}
if (BUTTON3 == 0)
{
SetFailsafe();
}
RxGetChannels();
LCD_Display_Text(19,(const unsigned char*)Verdana8,0,0);
LCD_Display_Text(32,(const unsigned char*)Verdana8,0,10);
LCD_Display_Text(20,(const unsigned char*)Verdana8,0,20);
LCD_Display_Text(35,(const unsigned char*)Verdana8,0,30);
LCD_Display_Text(109,(const unsigned char*)Verdana8,70,0);
LCD_Display_Text(110,(const unsigned char*)Verdana8,70,10);
LCD_Display_Text(111,(const unsigned char*)Verdana8,70,20);
LCD_Display_Text(112,(const unsigned char*)Verdana8,70,30);
mugui_lcd_puts(itoa(MonopolarThrottle,pBuffer,10),(const unsigned char*)Verdana8,37,0);
mugui_lcd_puts(itoa(RCinputs[AILERON],pBuffer,10),(const unsigned char*)Verdana8,37,10);
mugui_lcd_puts(itoa(RCinputs[ELEVATOR],pBuffer,10),(const unsigned char*)Verdana8,37,20);
mugui_lcd_puts(itoa(RCinputs[RUDDER],pBuffer,10),(const unsigned char*)Verdana8,37,30);
mugui_lcd_puts(itoa(RCinputs[GEAR],pBuffer,10),(const unsigned char*)Verdana8,100,0);
mugui_lcd_puts(itoa(RCinputs[AUX1],pBuffer,10),(const unsigned char*)Verdana8,100,10);
mugui_lcd_puts(itoa(RCinputs[AUX2],pBuffer,10),(const unsigned char*)Verdana8,100,20);
mugui_lcd_puts(itoa(RCinputs[AUX3],pBuffer,10),(const unsigned char*)Verdana8,100,30);
// Print bottom text and markers
LCD_Display_Text(12, (const unsigned char*)Wingdings, 0, 57); // Left
LCD_Display_Text(21, (const unsigned char*)Verdana8, 40, 55); // Failsafe
LCD_Display_Text(9, (const unsigned char*)Wingdings, 80, 59); // Down
LCD_Display_Text(60, (const unsigned char*)Verdana8, 100, 55); // Cal.
LCD_Display_Text(9, (const unsigned char*)Wingdings, 119, 59); // Down
// Update buffer
write_buffer(buffer);
clear_buffer(buffer);
}
}
/* Initialize all kernel subsystems and run system */
int main(void) {
printa("In main %x\n", (unsigned)main);
init_int();
init_page_alloc();
init_pipes();
init_scheduler();
add_task(&init_systems);
while (1) {
schedule();
}
return 0;
}
/*
* init_config() - Get the system parameter values from the
* configuration file and create run-time variables.
*/
static void
init_config()
{
/*
* Determine which memory integral to use.
*/
MEMINT = init_int(MEMORY_INTEGRAL, 1, TRUE);
/*
* Initialize variables needed for multitasking and pacct sbus.
*/
init_pacct_sbu();
return;
}
int main(int argc, char** argv) {
stack_int pile;
init_int(&pile);
push_int(&pile,12);
push_int(&pile,24);
if(empty_int(&pile) == 0)
{
printf("Top : %d \n",top_int(&pile));
pop_int(&pile);
printf("Top : %d \n",top_int(&pile));
}
return (EXIT_SUCCESS);
}
void GCInit_GenConc(void)
{
int cache_size = GetBcacheSize();
double nurseryFraction = 1.2 * NumProc;
if (ordering == DefaultOrder)
ordering = StackOrder;
if (ordering == HybridOrder)
grayAsReplica = 1;
GCInit_Help(0.2, 0.8, 512, 50 * 1024);
if (relaxed) {
reducedTenuredSize = Heap_GetSize(fromSpace);
expandedTenuredSize = reducedToExpanded(reducedTenuredSize, CollectionRate, doAgressive ? 2 : 1);
}
else {
expandedTenuredSize = Heap_GetSize(fromSpace);
reducedTenuredSize = expandedToReduced(expandedTenuredSize, CollectionRate, doAgressive ? 2 : 1);
Heap_Resize(fromSpace, reducedTenuredSize, 0);
Heap_Resize(toSpace, reducedTenuredSize, 0);
}
init_int(&NurseryByte, (int)(nurseryFraction * cache_size));
assert(MinHeapByte >= 1.2*NurseryByte);
reducedNurserySize = NurseryByte;
expandedNurserySize = reducedToExpanded(reducedNurserySize, CollectionRate, doAgressive ? 2 : 1);
maximumNurserySize = 2 * expandedNurserySize;
nursery = Heap_Alloc(maximumNurserySize, maximumNurserySize);
Heap_Resize(nursery, reducedNurserySize, 0);
gc_large_init();
workStack = SharedStack_Alloc(1, 100, 16 * 1024, 12 * 1024, 96 * 1024, 16 * 1024, 2048, 256 * 1024);
barriers = createBarriers(NumProc, 14);
arraySegmentSize = 2 * 1024;
mirrorGlobal = 1;
mirrorArray = 1;
pauseWarningThreshold = 10.0;
addOldStackletOnUnderflow = 1;
}
void menu_rc_setup(uint8_t section)
{
int8_t *value_ptr;
menu_range_t range;
uint8_t text_link;
uint8_t i = 0;
uint8_t mult = 1; // Multiplier
uint8_t offset; // Index into channel structure
uint8_t items; // Items in group
// If submenu item has changed, reset submenu positions
if (menu_flag)
{
sub_top = RCSTART;
menu_flag = 0;
}
while(button != BACK)
{
// Get menu offsets and load values from eeprom
// 1 = RC, 2 = Failsafe, 3 = General
switch(section)
{
case 1: // RC setup menu
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxModeIn;
mult = 1;
break;
case 2: // Failsafe menu
offset = RCITEMS;
items = FSITEMS;
value_ptr = &Config.FailsafeType;
mult = 1;
break;
case 3: // General menu
offset = RCITEMS + FSITEMS;
items = GENERALITEMS;
value_ptr = &Config.MixMode;
mult = 1;
break;
default:
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxModeIn;
mult = 1;
break;
}
// Save pre-edited values
int8_t temp_type = Config.MixMode;
int8_t temp_flapchan = Config.FlapChan;
int8_t temp_RxModeIn = Config.RxModeIn;
// Print menu
print_menu_items(sub_top + offset, RCSTART + offset, value_ptr, mult, (const unsigned char*)rc_menu_ranges[section - 1], 0, RCOFFSET, (const unsigned char*)RCMenuText[section - 1], cursor);
// Handle menu changes
update_menu(items, RCSTART, offset, button, &cursor, &sub_top, &menu_temp);
range = get_menu_range ((const unsigned char*)rc_menu_ranges[section - 1], (menu_temp - RCSTART - offset));
if (button == ENTER)
{
text_link = pgm_read_byte(&RCMenuText[section - 1][menu_temp - RCSTART - offset]);
do_menu_item(menu_temp, value_ptr + (menu_temp - RCSTART - offset), mult, range, 0, text_link, false, 0);
}
if (button == ENTER)
{
// Update Ch5. mixer with source from Config.FlapChan if in Aeroplane mode and source changed
if ((Config.MixMode == AEROPLANE) && (Config.FlapChan != temp_flapchan))
{
Config.Channel[CH5].source_a = Config.FlapChan;
}
// Reset serial in channel masks every time the input type is changed
if (temp_RxModeIn != Config.RxModeIn)
{
Xtreme_Chanmask = 0;
Xtreme_RSS = 0;
Spektrum_Chanmask_0 = 0;
Spektrum_Chanmask_1 = 0;
Spektrum_frameloss = 0;
SBUS_Flags = 0;
// Clear channel data
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
RxChannel[i] = 0;
// Unused Spektrum channels set to NULL
if (Config.RxModeOut == SPEKTRUM)
{
ExtChannel[i] = 0xFFFF;
}
// Unused channels set to mid-way
else if (Config.RxModeOut == SBUS)
{
ExtChannel[i] = 0x400;
}
// Xtreme doesn't care
else
{
ExtChannel[i] = 0;
}
}
}
// If model type has changed, reload preset
if ((section == 3) && (temp_type != Config.MixMode))
{
switch(Config.MixMode) // Load selected mix
{
case AEROPLANE:
get_preset_mix(AEROPLANE_MIX);
break;
case FWING:
get_preset_mix(FLYING_WING_MIX);
break;
case MANUAL:
// Clear all channel info
memset(&Config.Channel[0].value,0,(sizeof(channel_t) * MAX_OUTPUTS));
// Preset important settings
for (i = 0; i < MAX_OUTPUTS; i++)
{
Config.Channel[i].source_a = i; // Set to mirror the inputs
Config.Channel[i].source_a_volume = 100;
Config.Channel[i].source_b = NOCHAN;
Config.Channel[i].output_b = UNUSED;
Config.Channel[i].output_c = UNUSED;
}
break;
default:
break;
}
}
init_int(); // In case RC type has changed, reinitialise interrupts
init_uart(); // and UART
UpdateLimits(); // Update I-term limits and triggers based on percentages
#ifdef KK21
// Update MPU6050 LPF
writeI2Cbyte(MPU60X0_DEFAULT_ADDRESS, MPU60X0_RA_CONFIG, (6 - Config.MPU6050_LPF));
#endif
// Update channel sequence
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
if (Config.TxSeq == FUTABASEQ)
{
Config.ChannelOrder[i] = pgm_read_byte(&FUTABA[i]);
}
else
{
Config.ChannelOrder[i] = pgm_read_byte(&JR[i]);
}
}
Save_Config_to_EEPROM(); // Save value and return
Wait_BUTTON4(); // Wait for user's finger off the button
}
}
}
void menu_rc_setup(uint8_t section)
{
static uint8_t rc_top = RCSTART;
int8_t *value_ptr;
menu_range_t range;
uint8_t text_link;
uint8_t i = 0;
uint8_t mult = 1; // Multiplier
uint8_t offset; // Index into channel structure
uint8_t items; // Items in group
uint16_t temp16_1;
// If submenu item has changed, reset submenu positions
if (menu_flag)
{
rc_top = RCSTART;
menu_flag = 0;
}
while(button != BACK)
{
// Get menu offsets and load values from eeprom
// 1 = RC, 2 = Failsafe, 3 = General, 4 = Battery
switch(section)
{
case 1: // RC setup menu
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxMode;
mult = 1;
break;
case 2: // Failsafe menu
offset = RCITEMS;
items = FSITEMS;
value_ptr = &Config.FailsafeType;
mult = 1;
break;
case 3: // General menu
offset = RCITEMS + FSITEMS;
items = GENERALITEMS;
value_ptr = &Config.MixMode;
mult = 1;
break;
case 4: // Battery menu
offset = RCITEMS + FSITEMS + GENERALITEMS;
items = BATTITEMS;
value_ptr = &Config.BatteryType;
mult = 4;
break;
default:
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxMode;
mult = 1;
break;
}
// Save pre-edited values
int8_t temp_type = Config.MixMode;
int8_t temp_cells = Config.BatteryCells;
int8_t temp_minvoltage = Config.MinVoltage;
int8_t temp_flapchan = Config.FlapChan;
// Print menu
print_menu_items(rc_top + offset, RCSTART + offset, value_ptr, mult, (prog_uchar*)rc_menu_ranges[section - 1], 0, RCOFFSET, (prog_uchar*)RCMenuText[section - 1], cursor);
// Handle menu changes
update_menu(items, RCSTART, offset, button, &cursor, &rc_top, &menu_temp);
range = get_menu_range ((prog_uchar*)rc_menu_ranges[section - 1], (menu_temp - RCSTART - offset));
if (button == ENTER)
{
text_link = pgm_read_byte(&RCMenuText[section - 1][menu_temp - RCSTART - offset]);
do_menu_item(menu_temp, value_ptr + (menu_temp - RCSTART - offset), mult, range, 0, text_link, false, 0);
}
if (button == ENTER)
{
// Update Ch7. mixer with source from Config.FlapChan if in Aeroplane mode and source changed
if ((Config.MixMode == AEROPLANE) && (Config.FlapChan != temp_flapchan))
{
Config.Channel[CH7].source_a = Config.FlapChan;
}
// See if cell number or min_volts has changed
if ((temp_cells != Config.BatteryCells) || (temp_minvoltage != Config.MinVoltage))
{
// Recalculate if more cells
temp16_1 = Config.MinVoltage;
temp16_1 = temp16_1 * Config.BatteryCells;
temp16_1 = temp16_1 / 10;
Config.PowerTrigger = (int8_t)temp16_1;
}
// If model type has changed, reload preset
if ((section == 3) && (temp_type != Config.MixMode))
{
switch(Config.MixMode) // Load selected mix
{
case AEROPLANE:
get_preset_mix(AEROPLANE_MIX);
break;
case FWING:
get_preset_mix(FLYING_WING_MIX);
break;
case CAMSTAB:
get_preset_mix(CAM_STAB);
break;
case MANUAL:
// Clear all channel info
memset(&Config.Channel[0].value,0,(sizeof(channel_t) * PSUEDO_OUTPUTS));
// Preset important settings
for (i = 0; i < PSUEDO_OUTPUTS; i++)
{
Config.Channel[i].source_a = NOCHAN;
Config.Channel[i].source_b = NOCHAN;
Config.Channel[i].output_b = UNUSED;
Config.Channel[i].output_c = UNUSED;
Config.Channel[i].output_d = UNUSED;
}
break;
default:
break;
}
}
init_int(); // In case RC type has changed, reinitialise interrupts
init_uart(); // and UART
UpdateIMUvalues(); // Update IMU variables
UpdateLimits(); // Update I-term limits and triggers based on percentages
#ifdef KK21
// Update MPU6050 LPF
writeI2Cbyte(MPU60X0_DEFAULT_ADDRESS, MPU60X0_RA_CONFIG, Config.MPU6050_LPF);
#endif
// Update channel sequence
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
if (Config.TxSeq == FUTABASEQ)
{
Config.ChannelOrder[i] = (uint8_t)pgm_read_byte(&FUTABA[i]);
}
else
{
Config.ChannelOrder[i] = (uint8_t)pgm_read_byte(&JR[i]);
}
}
Save_Config_to_EEPROM(); // Save value and return
}
}
}
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()
void init(void)
{
//***********************************************************
// I/O setup
//***********************************************************
// Set port directions
// KK2.0 and KK2.1 are different
#ifdef KK21
DDRA = 0x30; // Port A
DDRC = 0xFC; // Port C
#else
DDRA = 0x00; // Port A
DDRC = 0xFF; // Port C
#endif
DDRB = 0x0A; // Port B
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
//***********************************************************
_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 ONLY button 4 pressed
if ((PINB & 0xf0) == 0xE0)
{
DDRD = 0xF3; // Switch PD0 to output
bind_master();
}
DDRD = 0xF2; // Reset Port D directions
// Set/clear pull-ups (1 = set, 0 = clear)
PIND = 0x0D; // Set PD pull-ups (now pull up RX as well)
//***********************************************************
// Timers
//***********************************************************
// Timer0 (8bit) - run @ 20MHz (50ns) - max 12.8us
// Fast timer for small, precise interval timing
TCCR0A = 0; // Normal operation
TCCR0B = (1 << CS00); // Clk / 1 = 20MHz = 50ns
TIMSK0 = 0; // No interrupts
// 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)
//***********************************************************
// i2c init for KK2.1
//***********************************************************
#ifdef KK21
i2c_init();
init_i2c_gyros();
init_i2c_accs();
#endif
//***********************************************************
// Start up
//***********************************************************
// Preset important flags
Interrupted = false;
Main_flags |= (1 << FirstTimeIMU);
Main_flags |= (1 << FirstTimeFlightMode);
// Initialise the GLCD
st7565_init();
st7565_command(CMD_DISPLAY_ON);
st7565_command(CMD_SET_ALLPTS_NORMAL);
st7565_set_brightness(0x26);
st7565_command(CMD_SET_COM_REVERSE); // For logo
// Make sure the LCD is blank
clear_screen();
// 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 (or all, for older users)
if (((PINB & 0xf0) == 0x90) || ((PINB & 0xf0) == 0x00))
{
// Display reset message
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(1,(prog_uchar*)Verdana14,40,25);
write_buffer(buffer,1);
clear_buffer(buffer);
Set_EEPROM_Default_Config();
Save_Config_to_EEPROM();
}
// Load "Config" global data structure
else
{
Initial_EEPROM_Config_Load();
}
// Now set contrast to the previously saved value
st7565_set_brightness((uint8_t)Config.Contrast);
#ifdef KK21
// Write logo from buffer
write_buffer(buffer,0);
_delay_ms(500);
#endif
#ifndef KK21
// Display "Hold steady" message for KK2.0
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
clear_buffer(buffer);
LCD_Display_Text(2,(prog_uchar*)Verdana14,18,25);
write_buffer(buffer,1);
clear_buffer(buffer);
#endif
// Do startup tasks
UpdateLimits(); // Update travel limts
UpdateIMUvalues(); // Update IMU factors
Init_ADC();
init_int(); // Intialise interrupts based on RC input mode
// Initialise UART
init_uart();
// Initial gyro calibration
CalibrateGyrosSlow();
// Check to see that gyros are stable
ReadGyros();
if ((gyroADC[ROLL] > GYROS_STABLE) || (gyroADC[ROLL] < -GYROS_STABLE) ||
(gyroADC[PITCH] > GYROS_STABLE) || (gyroADC[PITCH] < -GYROS_STABLE) ||
(gyroADC[YAW] > GYROS_STABLE) || (gyroADC[YAW] < -GYROS_STABLE))
{
General_error |= (1 << SENSOR_ERROR); // Set sensor error bit
}
// Check to see that throttle is low if in serial mode.
// Don't bother if in CamStab mode
_delay_ms(100);
if (
(
(Config.RxMode == CPPM_MODE) ||
(Config.RxMode == XTREME) ||
(Config.RxMode == SBUS) ||
(Config.RxMode == SPEKTRUM)
)
&& (Config.CamStab == OFF)
)
{
RxGetChannels();
if (RCinputs[THROTTLE] > -900)
{
General_error |= (1 << THROTTLE_HIGH); // Set throttle high error bit
}
}
// Flash LED
LED1 = 1;
_delay_ms(150);
LED1 = 0;
// Beep that all sensors have been handled
menu_beep(1);
// Set text display mode back to normal
st7565_command(CMD_SET_COM_NORMAL); // For text (not for logo)
} // init()
