int main(void) {
wdt_enable(WDTO_1S);
odDebugInit();
DBG1(0x00, 0, 0); /* debug output: main starts */
ppmInit();
usbInit();
usbDeviceDisconnect(); /* enforce re-enumeration, do this while interrupts are disabled! */
uchar i = 0;
while(--i){ /* fake USB disconnect for > 250 ms */
wdt_reset();
_delay_ms(1);
}
usbDeviceConnect();
DDRC|=3; // LEDs: Output
sei();
DBG1(0x01, 0, 0); /* debug output: main loop starts */
uchar changed=0;
ppmNewData=1;
for(;;){ /* main event loop */
DBG1(0x02, 0, 0); /* debug output: main loop iterates */
wdt_reset();
usbPoll();
if (ppmNewData) {
ppmNewData=0;
for (i=0;i<sizeof(reportBuffer);i++) {
unsigned char val=ppmGet(i);
if (reportBuffer[i]!=val) {
reportBuffer[i]=val;
changed=1;
}
}
if (changed) {
if(usbInterruptIsReady()){
changed=0;
// called after every poll of the interrupt endpoint
DBG1(0x03, 0, 0); // debug output: interrupt report prepared
usbSetInterrupt((void *)&reportBuffer, sizeof(reportBuffer));
}
}
}
}
}
void ppmInConfig(const timerHardware_t *timerHardwarePtr)
{
ppmInit();
pwmInputPort_t *p = &pwmInputPorts[FIRST_PWM_PORT];
p->mode = INPUT_MODE_PPM;
p->timerHardware = timerHardwarePtr;
pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerConfigure(timerHardwarePtr, PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
configureTimerCaptureCompareInterrupt(timerHardwarePtr, UNUSED_PPM_TIMER_REFERENCE, ppmEdgeCallback, ppmOverflowCallback);
}
void ppmInConfig(const timerHardware_t *timerHardwarePtr)
{
ppmInit();
pwmInputPort_t *self = &pwmInputPorts[FIRST_PWM_PORT];
self->mode = INPUT_MODE_PPM;
self->timerHardware = timerHardwarePtr;
pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerConfigure(timerHardwarePtr, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
timerChCCHandlerInit(&self->edgeCb, ppmEdgeCallback);
timerChOvrHandlerInit(&self->overflowCb, ppmOverflowCallback);
timerChConfigCallbacks(timerHardwarePtr, &self->edgeCb, &self->overflowCb);
}
void ppmInConfig(const timerHardware_t *timerHardwarePtr)
{
ppmInit();
pwmInputPort_t *self = &pwmInputPorts[FIRST_PWM_PORT];
self->mode = INPUT_MODE_PPM;
self->timerHardware = timerHardwarePtr;
IO_t io = IOGetByTag(timerHardwarePtr->tag);
IOInit(io, OWNER_PPMINPUT, RESOURCE_INPUT, 0);
IOConfigGPIO(io, timerHardwarePtr->ioMode);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerConfigure(timerHardwarePtr, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
timerChCCHandlerInit(&self->edgeCb, ppmEdgeCallback);
timerChOvrHandlerInit(&self->overflowCb, ppmOverflowCallback);
timerChConfigCallbacks(timerHardwarePtr, &self->edgeCb, &self->overflowCb);
}
void main()
{
mode = MODE_LEGACY;
//Init the chip ID
initId();
//Init the led and set the leds until the usb is not ready
#ifndef CRPA
ledInit(CR_LED_RED, CR_LED_GREEN);
#else
ledInit(CRPA_LED_RED, CRPA_LED_GREEN);
#endif
ledSet(LED_GREEN | LED_RED, true);
// Initialise the radio
#ifdef CRPA
// Enable LNA (PA RX)
P0DIR &= ~(1<<CRPA_PA_RXEN);
P0 |= (1<<CRPA_PA_RXEN);
#endif
radioInit(RADIO_MODE_PTX);
#ifdef PPM_JOYSTICK
// Initialise the PPM acquisition
ppmInit();
#endif //PPM_JOYSTICK
// Initialise and connect the USB
usbInit();
//Globally activate the interruptions
IEN0 |= 0x80;
//Wait for the USB to be addressed
while (usbGetState() != ADDRESS);
//Reset the LEDs
ledSet(LED_GREEN | LED_RED, false);
//Wait for the USB to be ready
while (usbGetState() != CONFIGURED);
//Activate OUT1
OUT1BC=0xFF;
while(1)
{
if (mode == MODE_LEGACY)
{
// Run legacy mode
legacyRun();
}
else if (mode == MODE_CMD)
{
// Run cmd mode
cmdRun();
}
else if (mode == MODE_PRX)
{
// Run PRX mode
prxRun();
}
//USB vendor setup handling
if(usbIsVendorSetup())
handleUsbVendorSetup();
}
}
/*!
@brief main program of the I2C-slave
Initializes the timer/counters and the I2C.
Constantly updates the duty cycles of the PPM
@return int
*/
int main(void)
{
int i;
cli(); // Disable interrupts
usiTwiSlaveInit(SLAVE_ADDR_ATTINY); // TWI slave init
//Initialize rxbuffer
rxbuffer[0] = HIGH_BYTE( (dutyCycles[0] - 1*8192) );
rxbuffer[1] = LOW_BYTE( (dutyCycles[0] - 1*8192) );
rxbuffer[2] = HIGH_BYTE( (dutyCycles[1] - 2*8192) );
rxbuffer[3] = LOW_BYTE( (dutyCycles[1] - 2*8192) );
rxbuffer[4] = HIGH_BYTE( (dutyCycles[2] - 3*8192) );
rxbuffer[5] = LOW_BYTE( (dutyCycles[2] - 3*8192) );
rxbuffer[6] = HIGH_BYTE( (dutyCycles[3] - 0*8192) );
rxbuffer[7] = LOW_BYTE( (dutyCycles[3] - 0*8192) );
ppmInit();
sei(); // Re-enable interrupts
while(1)
{
/*
receivedNewValue is updated whenever a new value is written
to the rxbuffer with the corresponding index
As always 2 bytes are used for one dutyCycle the interesting values are 1, 3, 5, 7
Then the corresponding value in the dutyCycle array is updated
The new value for a dutyCycle is calculated first in a temp-variable.
In a previous version it was directly assigned within the atomic block which caused severs problems
that the ucontroller stopped responding to the I2C-master.
Therefore now only the assignment to dutyCycles[x] is done in atomic block
*/
uint16_t temp;
switch (receivedNewValue)
{
case 1: //update dutyCycle for channel 0
receivedNewValue = 0;
temp = uniq(rxbuffer[1], rxbuffer[0]) + 1 * 8192;
ATOMIC_BLOCK(ATOMIC_FORCEON)
{
dutyCycles[0] = temp;
}
txbuffer[0] = rxbuffer[0];
txbuffer[1] = rxbuffer[1];
break;
case 3: //update dutyCycle for channel 1
receivedNewValue = 0;
temp = uniq(rxbuffer[3], rxbuffer[2]) + 2 * 8192;
ATOMIC_BLOCK(ATOMIC_FORCEON)
{
dutyCycles[1] = temp;
}
txbuffer[2] = rxbuffer[2];
txbuffer[3] = rxbuffer[3];
break;
case 5: //update dutyCycle for channel 2
receivedNewValue = 0;
temp = uniq(rxbuffer[5], rxbuffer[4]) + 3 * 8192;
ATOMIC_BLOCK(ATOMIC_FORCEON)
{
dutyCycles[2] = temp;
}
txbuffer[4] = rxbuffer[4];
txbuffer[5] = rxbuffer[5];
break;
case 7: //update dutyCycle for channel 3
receivedNewValue = 0;
temp = uniq(rxbuffer[7], rxbuffer[6]) + 0 * 8192;
ATOMIC_BLOCK(ATOMIC_FORCEON)
{
dutyCycles[3] = temp;
}
txbuffer[6] = rxbuffer[6];
txbuffer[7] = rxbuffer[7];
break;
} //end.switch
} //end.while
} //end.main
void radioInit(void) {
uint16_t radioType = (uint16_t)p[RADIO_TYPE];
int i;
AQ_NOTICE("Radio init\n");
memset((void *)&radioData, 0, sizeof(radioData));
radioData.mode = (radioType>>12) & 0x0f;
for (i = 0; i < RADIO_NUM; i++) {
radioInstance_t *r = &radioData.radioInstances[i];
USART_TypeDef *uart;
// determine UART
switch (i) {
case 0:
uart = RC1_UART;
break;
#ifdef RC2_UART
case 1:
uart = RC2_UART;
break;
#endif
#ifdef RC3_UART
case 2:
uart = RC3_UART;
break;
#endif
default:
uart = 0;
break;
}
r->radioType = (radioType>>(i*4)) & 0x0f;
r->channels = &radioData.allChannels[RADIO_MAX_CHANNELS * i];
utilFilterInit(&r->qualityFilter, (1.0f / 50.0f), 0.75f, 0.0f);
switch (r->radioType) {
case RADIO_TYPE_SPEKTRUM11:
case RADIO_TYPE_SPEKTRUM10:
case RADIO_TYPE_DELTANG:
if (uart) {
spektrumInit(r, uart);
radioRCSelect(i, 0);
AQ_PRINTF("Spektrum on RC port %d\n", i);
}
break;
case RADIO_TYPE_SBUS:
if (uart) {
futabaInit(r, uart);
radioRCSelect(i, 1);
AQ_PRINTF("Futaba on RC port %d\n", i);
}
break;
case RADIO_TYPE_PPM:
ppmInit(r);
AQ_PRINTF("PPM on RC port %d\n", i);
break;
case RADIO_TYPE_SUMD:
if (uart) {
grhottInit(r, uart);
radioRCSelect(i, 0);
AQ_PRINTF("GrHott on RC port %d\n", i);
}
break;
case RADIO_TYPE_MLINK:
if (uart) {
mlinkrxInit(r, uart);
radioRCSelect(i, 0);
AQ_PRINTF("Mlink on RC port %d\n", i);
}
break;
case RADIO_TYPE_NONE:
break;
default:
AQ_NOTICE("WARNING: Invalid radio type!\n");
break;
}
}
switch (radioData.mode) {
case RADIO_MODE_DIVERSITY:
// select first available radio to start with
for (i = 0; i < RADIO_NUM; i++) {
if (radioData.radioInstances[i].radioType > RADIO_TYPE_NONE) {
radioMakeCurrent(&radioData.radioInstances[i]);
break;
}
}
break;
case RADIO_MODE_SPLIT:
radioMakeCurrent(&radioData.radioInstances[0]);
break;
}
// set mode default
radioData.channels[(int)p[RADIO_FLAP_CH]] = -700;
radioTaskStack = aqStackInit(RADIO_STACK_SIZE, "RADIO");
radioData.radioTask = CoCreateTask(radioTaskCode, (void *)0, RADIO_PRIORITY, &radioTaskStack[RADIO_STACK_SIZE-1], RADIO_STACK_SIZE);
}
