void motorsThrottleCalibration()
{
// flash LED 3 times
for(uint8_t i = 0;i < 3;i++) {
LED = 1;
_delay_ms(25);
LED = 0;
_delay_ms(25);
}
while(1) {
RxGetChannels();
#ifdef SINGLE_COPTER
MotorOut1 = RxInCollective;
MotorOut2 = 1400; // Center: 140
MotorOut3 = 1400;
MotorOut4 = 1400;
MotorOut5 = 1400;
#elif defined(DUAL_COPTER)
MotorOut1 = RxInCollective;
MotorOut2 = RxInCollective;
MotorOut3 = 500; // Center: 50
MotorOut4 = 500;
#elif defined(TWIN_COPTER)
MotorOut1 = RxInCollective;
MotorOut2 = RxInCollective;
MotorOut3 = 500; // Center: 50
MotorOut4 = 500;
MotorOut5 = 500;
MotorOut6 = 500; // Center: 50, Reverse
#elif defined(TRI_COPTER)
MotorOut1 = RxInCollective;
MotorOut2 = RxInCollective;
MotorOut3 = RxInCollective;
MotorOut4 = 500+RxInYaw*2; // Center: 50
#elif defined(QUAD_COPTER) || defined(QUAD_X_COPTER) || defined(Y4_COPTER)
MotorOut1 = RxInCollective;
MotorOut2 = RxInCollective;
MotorOut3 = RxInCollective;
MotorOut4 = RxInCollective;
#elif defined(HEX_COPTER) || defined(Y6_COPTER)
MotorOut1 = RxInCollective;
MotorOut2 = RxInCollective;
MotorOut3 = RxInCollective;
MotorOut4 = RxInCollective;
MotorOut5 = RxInCollective;
MotorOut6 = RxInCollective;
#else
#error No Copter configuration defined !!!!
#endif
output_motor_ppm(); // this regulates rate at which we output signals
}
}
void Display_rcinput(void)
{
while(BUTTON1 != 0)
{
if (BUTTON4 == 0)
{
//_delay_ms(100);
CenterSticks();
}
if (BUTTON3 == 0)
{
//_delay_ms(100);
SetFailsafe();
}
RxGetChannels();
LCD_Display_Text(241,(prog_uchar*)Verdana8,0,0);
LCD_Display_Text(32,(prog_uchar*)Verdana8,0,10);
LCD_Display_Text(242,(prog_uchar*)Verdana8,0,20);
LCD_Display_Text(35,(prog_uchar*)Verdana8,0,30);
LCD_Display_Text(109,(prog_uchar*)Verdana8,70,0);
LCD_Display_Text(110,(prog_uchar*)Verdana8,70,10);
LCD_Display_Text(111,(prog_uchar*)Verdana8,70,20);
LCD_Display_Text(112,(prog_uchar*)Verdana8,70,30);
mugui_lcd_puts(itoa(RCinputs[THROTTLE],pBuffer,10),(prog_uchar*)Verdana8,37,0);
mugui_lcd_puts(itoa(RCinputs[AILERON],pBuffer,10),(prog_uchar*)Verdana8,37,10);
mugui_lcd_puts(itoa(RCinputs[ELEVATOR],pBuffer,10),(prog_uchar*)Verdana8,37,20);
mugui_lcd_puts(itoa(RCinputs[RUDDER],pBuffer,10),(prog_uchar*)Verdana8,37,30);
mugui_lcd_puts(itoa(RCinputs[GEAR],pBuffer,10),(prog_uchar*)Verdana8,100,0);
mugui_lcd_puts(itoa(RCinputs[AUX1],pBuffer,10),(prog_uchar*)Verdana8,100,10);
mugui_lcd_puts(itoa(RCinputs[AUX2],pBuffer,10),(prog_uchar*)Verdana8,100,20);
mugui_lcd_puts(itoa(RCinputs[AUX3],pBuffer,10),(prog_uchar*)Verdana8,100,30);
// Print bottom text and markers
LCD_Display_Text(12, (prog_uchar*)Wingdings, 0, 57); // Left
LCD_Display_Text(44, (prog_uchar*)Verdana8, 40, 55); // Failsafe
LCD_Display_Text(9, (prog_uchar*)Wingdings, 80, 59); // Down
LCD_Display_Text(60, (prog_uchar*)Verdana8, 100, 55); // Cal.
LCD_Display_Text(9, (prog_uchar*)Wingdings, 119, 59); // Down
// Update buffer
write_buffer();
clear_buffer();
_delay_ms(100);
}
// Exit
}
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);
}
}
void Display_rcinput(void)
{
while(BUTTON1 != 0)
{
if (BUTTON4 == 0)
{
CenterSticks();
}
RxGetChannels();
LCD_Display_Text(114,(const unsigned char*)Verdana8,0,0);
LCD_Display_Text(32,(const unsigned char*)Verdana8,0,10);
LCD_Display_Text(115,(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(60, (const unsigned char*)Verdana8, 100, 55); // Cal.
LCD_Display_Text(9, (const unsigned char*)Wingdings, 119, 59); // Down
// Update buffer
write_buffer(buffer,1);
clear_buffer(buffer);
_delay_ms(100);
}
// Exit
}
void init(void)
{
//***********************************************************
// I/O setup
//***********************************************************
// Set port directions
DDRA = 0x00; // Port A
DDRB = 0x0A; // Port B
DDRC = 0xFF; // Port C
DDRD = 0xF2; // Port D
MOTORS = 0; // Hold all PWM outputs low to stop glitches
// Preset I/O pins
LED1 = 0; // LED1 off
LVA = 0; // LVA alarm OFF
LCD_CSI = 1;
LCD_SCL = 1;
LCD_RES = 1;
// Set/clear pull-ups (1 = set, 0 = clear)
PINB = 0xF5; // Set PB pull-ups
PIND = 0x0D; // Set PD pull-ups
//***********************************************************
// 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)
PCMSK1 |= (1 << PCINT8); // PB0 (Aux pin change mask)
PCMSK3 |= (1 << PCINT24); // PD0 (Throttle pin change mask)
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)
EIMSK = 0x07; // Enable INT0 (Elevator input)
// Enable INT1 (Aileron input)
// Enable INT2 (Rudder/CPPM input)
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)
//***********************************************************
RC_Lock = false; // Preset important flags
Failsafe = false;
AutoLevel = false;
Stability = false;
FirstTimeIMU = true;
// Button acceleration
button_multiplier = 1;
Initial_EEPROM_Config_Load(); // Loads config at start-up
UpdateLimits(); // Update travel limts
UpdateIMUvalues(); // Update IMU factors
Init_ADC();
// Flash LED
LED1 = 1;
_delay_ms(150);
LED1 = 0;
// Initialise the GLCD
st7565_init();
st7565_command(CMD_DISPLAY_ON); // Check (AF)
st7565_command(CMD_SET_ALLPTS_NORMAL); // Check (A4)
st7565_set_brightness(0x26);
write_buffer(buffer,0); // Display logo
_delay_ms(1000);
clear_buffer(buffer); // Clear
write_buffer(buffer,1);
st7565_command(CMD_SET_COM_NORMAL); // For text
clear_buffer(buffer); // Clear
// Reset I-terms
IntegralGyro[ROLL] = 0;
IntegralGyro[PITCH] = 0;
IntegralGyro[YAW] = 0;
// Calibrate gyros, hopefully after motion minimised
CalibrateGyros();
//***********************************************************
//* Reload eeprom settings if all buttons are pressed
//***********************************************************
if ((PINB & 0xf0) == 0)
{
LCD_Display_Text(1,(prog_uchar*)Verdana14,15,10);
LCD_Display_Text(2,(prog_uchar*)Verdana14,31,30);
write_buffer(buffer,1);
clear_buffer(buffer); // Clear
Set_EEPROM_Default_Config();
Save_Config_to_EEPROM();
}
//***********************************************************
sei(); // Enable global Interrupts
// 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 CPPM mode if RC detected
// Don't bother if in CamStab mode
_delay_ms(100);
if ((Config.RxMode == CPPM_MODE) && RC_Lock && (Config.CamStab == OFF))
{
RxGetChannels();
if (RCinputs[THROTTLE] > 300)
{
General_error |= (1 << THROTTLE_HIGH); // Set throttle high error bit
}
}
// Beep that all sensors have been handled
menu_beep(1);
} // init()
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()
void Display_sticks(void)
{
int8_t i;
int8_t offset;
int8_t temp_aileron, temp_elevator, temp_rudder;
bool CalibrateDone = false;
// Save original settings in case user aborts
temp_aileron = Config.AileronPol;
temp_elevator = Config.ElevatorPol;
temp_rudder = Config.RudderPol;
// Reset to defaults - not ideal, but it works
Config.AileronPol = NORMAL;
Config.ElevatorPol = NORMAL;
Config.RudderPol = NORMAL;
// Until exit button pressed
while((BUTTON1 != 0) && (!CalibrateDone))
{
offset = 0;
// Clear screen buffer
clear_buffer(buffer);
// Draw graphic
for (i = 0; i < 2; i++)
{
drawrect(buffer, 17 + offset, 0, 40, 40, 1); // Box
drawline(buffer, 38 + offset,20, 48 + offset, 3, 1); // Line 1
drawline(buffer, 41 + offset,21, 56 + offset, 6, 1); // Line 2
fillcircle(buffer, 38 + offset, 21, 2, 1); // Centre
fillcircle(buffer, 51 + offset, 5, 4, 1); // End
offset = 52;
}
// Print bottom text and markers
LCD_Display_Text(12, (const unsigned char*)Wingdings, 0, 57); // Left
// If uncalibrated
if (!CalibrateDone)
{
RxGetChannels();
// Display "No RX signal" if no input detected
if(RxChannel[AILERON] == 0)
{
LCD_Display_Text(135,(const unsigned char*)Verdana14,14,43); // "No RX signal"
}
// Sticks have not moved far enough
else if ((RxChannel[AILERON] > 3000) && (RxChannel[AILERON] < 4500))
{
LCD_Display_Text(136,(const unsigned char*)Verdana14,9,43); // "Hold as shown"
}
// Sticks should now be in the right position
// Reverse wrong input channels
else
{
if (RCinputs[AILERON] < 0)
{
Config.AileronPol = REVERSED;
}
if (RCinputs[ELEVATOR] < 0)
{
Config.ElevatorPol = REVERSED;
}
if (RCinputs[RUDDER] < 0)
{
Config.RudderPol = REVERSED;
}
// If all positive - done!
if ((RCinputs[AILERON] > 0) && (RCinputs[ELEVATOR] > 0) && (RCinputs[RUDDER] > 0))
{
CalibrateDone = true;
}
}
}
// Update buffer
write_buffer(buffer,1);
_delay_ms(100);
}
// Save value and return
if (CalibrateDone)
{
LCD_Display_Text(137,(const unsigned char*)Verdana14,40,43); // "Done!"
// Update buffer
write_buffer(buffer,1);
clear_buffer(buffer);
Save_Config_to_EEPROM();
}
else
{
// Restore old settings if failed
Config.AileronPol = temp_aileron;
Config.ElevatorPol = temp_elevator;
Config.RudderPol = temp_rudder;
}
}
