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()
