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MultiWii.cpp
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MultiWii.cpp
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/*
MultiWiiCopter by Alexandre Dubus
www.multiwii.com
March 2015 V2.4
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
any later version. see <http://www.gnu.org/licenses/>
*/
#include <avr/io.h>
#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.h"
#include "Alarms.h"
#include "EEPROM.h"
#include "IMU.h"
#include "LCD.h"
#include "Output.h"
#include "RX.h"
#include "Sensors.h"
#include "Serial.h"
#include "GPS.h"
#include "Protocol.h"
#include "Telemetry.h"
#include <avr/pgmspace.h>
/*********** RC alias *****************/
const char pidnames[] PROGMEM =
"ROLL;"
"PITCH;"
"YAW;"
"ALT;"
"Pos;"
"PosR;"
"NavR;"
"LEVEL;"
"MAG;"
"VEL;"
;
const char boxnames[] PROGMEM = // names for dynamic generation of config GUI
"ARM;"
#if ACC
"ANGLE;"
"HORIZON;"
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
"BARO;"
#endif
#ifdef VARIOMETER
"VARIO;"
#endif
"MAG;"
#if defined(HEADFREE)
"HEADFREE;"
"HEADADJ;"
#endif
#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
"CAMSTAB;"
#endif
#if defined(CAMTRIG)
"CAMTRIG;"
#endif
#if GPS
"GPS HOME;"
"GPS HOLD;"
#endif
#if defined(FIXEDWING) || defined(HELICOPTER)
"PASSTHRU;"
#endif
#if defined(BUZZER)
"BEEPER;"
#endif
#if defined(LED_FLASHER)
"LEDMAX;"
"LEDLOW;"
#endif
#if defined(LANDING_LIGHTS_DDR)
"LLIGHTS;"
#endif
#ifdef INFLIGHT_ACC_CALIBRATION
"CALIB;"
#endif
#ifdef GOVERNOR_P
"GOVERNOR;"
#endif
#ifdef OSD_SWITCH
"OSD SW;"
#endif
#if GPS
"MISSION;"
"LAND;"
#endif
;
const uint8_t boxids[] PROGMEM = {// permanent IDs associated to boxes. This way, you can rely on an ID number to identify a BOX function.
0, //"ARM;"
#if ACC
1, //"ANGLE;"
2, //"HORIZON;"
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
3, //"BARO;"
#endif
#ifdef VARIOMETER
4, //"VARIO;"
#endif
5, //"MAG;"
#if defined(HEADFREE)
6, //"HEADFREE;"
7, //"HEADADJ;"
#endif
#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
8, //"CAMSTAB;"
#endif
#if defined(CAMTRIG)
9, //"CAMTRIG;"
#endif
#if GPS
10, //"GPS HOME;"
11, //"GPS HOLD;"
#endif
#if defined(FIXEDWING) || defined(HELICOPTER)
12, //"PASSTHRU;"
#endif
#if defined(BUZZER)
13, //"BEEPER;"
#endif
#if defined(LED_FLASHER)
14, //"LEDMAX;"
15, //"LEDLOW;"
#endif
#if defined(LANDING_LIGHTS_DDR)
16, //"LLIGHTS;"
#endif
#ifdef INFLIGHT_ACC_CALIBRATION
17, //"CALIB;"
#endif
#ifdef GOVERNOR_P
18, //"GOVERNOR;"
#endif
#ifdef OSD_SWITCH
19, //"OSD_SWITCH;"
#endif
#if GPS
20, //"MISSION;"
21, //"LAND;"
#endif
};
uint32_t currentTime = 0;
uint16_t previousTime = 0;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
uint16_t calibratingA = 0; // the calibration is done in the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
uint16_t calibratingG;
int16_t magHold,headFreeModeHold; // [-180;+180]
uint8_t vbatMin = VBATNOMINAL; // lowest battery voltage in 0.1V steps
uint8_t rcOptions[CHECKBOXITEMS];
int32_t AltHold; // in cm
int16_t sonarAlt;
int16_t BaroPID = 0;
int16_t errorAltitudeI = 0;
// **************
// gyro+acc IMU
// **************
int16_t gyroZero[3] = {0,0,0};
imu_t imu;
analog_t analog;
alt_t alt;
att_t att;
#if defined(ARMEDTIMEWARNING)
uint32_t ArmedTimeWarningMicroSeconds = 0;
#endif
int16_t debug[4];
flags_struct_t f;
//for log
#if defined(LOG_VALUES) || defined(LCD_TELEMETRY)
uint16_t cycleTimeMax = 0; // highest ever cycle timen
uint16_t cycleTimeMin = 65535; // lowest ever cycle timen
int32_t BAROaltMax; // maximum value
uint16_t GPS_speedMax = 0; // maximum speed from gps
#ifdef POWERMETER_HARD
uint16_t powerValueMaxMAH = 0;
#endif
#if defined(WATTS)
uint16_t wattsMax = 0;
#endif
#endif
#if defined(LOG_VALUES) || defined(LCD_TELEMETRY) || defined(ARMEDTIMEWARNING) || defined(LOG_PERMANENT) || defined (TELEMETRY)
uint32_t armedTime = 0;
#endif
int16_t i2c_errors_count = 0;
#if defined(THROTTLE_ANGLE_CORRECTION)
int16_t throttleAngleCorrection = 0; // correction of throttle in lateral wind,
int8_t cosZ = 100; // cos(angleZ)*100
#endif
// **********************
//Automatic ACC Offset Calibration
// **********************
#if defined(INFLIGHT_ACC_CALIBRATION)
uint16_t InflightcalibratingA = 0;
int16_t AccInflightCalibrationArmed;
uint16_t AccInflightCalibrationMeasurementDone = 0;
uint16_t AccInflightCalibrationSavetoEEProm = 0;
uint16_t AccInflightCalibrationActive = 0;
#endif
// **********************
// power meter
// **********************
#if defined(POWERMETER) || ( defined(LOG_VALUES) && (LOG_VALUES >= 3) )
uint32_t pMeter[PMOTOR_SUM + 1]; // we use [0:7] for eight motors,one extra for sum
uint8_t pMeterV; // dummy to satisfy the paramStruct logic in ConfigurationLoop()
uint32_t pAlarm; // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]
uint16_t powerValue = 0; // last known current
#endif
uint16_t intPowerTrigger1;
// **********************
// telemetry
// **********************
#if defined(LCD_TELEMETRY)
uint8_t telemetry = 0;
uint8_t telemetry_auto = 0;
int16_t annex650_overrun_count = 0;
#endif
#ifdef LCD_TELEMETRY_STEP
char telemetryStepSequence [] = LCD_TELEMETRY_STEP;
uint8_t telemetryStepIndex = 0;
#endif
// ******************
// rc functions
// ******************
#define ROL_LO (1<<(2*ROLL))
#define ROL_CE (3<<(2*ROLL))
#define ROL_HI (2<<(2*ROLL))
#define PIT_LO (1<<(2*PITCH))
#define PIT_CE (3<<(2*PITCH))
#define PIT_HI (2<<(2*PITCH))
#define YAW_LO (1<<(2*YAW))
#define YAW_CE (3<<(2*YAW))
#define YAW_HI (2<<(2*YAW))
#define THR_LO (1<<(2*THROTTLE))
#define THR_CE (3<<(2*THROTTLE))
#define THR_HI (2<<(2*THROTTLE))
int16_t failsafeEvents = 0;
volatile int16_t failsafeCnt = 0;
int16_t rcData[RC_CHANS]; // interval [1000;2000]
int16_t rcSerial[8]; // interval [1000;2000] - is rcData coming from MSP
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
uint8_t rcSerialCount = 0; // a counter to select legacy RX when there is no more MSP rc serial data
int16_t lookupPitchRollRC[5];// lookup table for expo & RC rate PITCH+ROLL
uint16_t lookupThrottleRC[11];// lookup table for expo & mid THROTTLE
#if defined(SERIAL_RX)
volatile uint8_t spekFrameFlags;
volatile uint32_t spekTimeLast;
uint8_t spekFrameDone;
#endif
#if defined(OPENLRSv2MULTI)
uint8_t pot_P,pot_I; // OpenLRS onboard potentiometers for P and I trim or other usages
#endif
// *************************
// motor and servo functions
// *************************
int16_t axisPID[3];
int16_t motor[8];
int16_t servo[8] = {1500,1500,1500,1500,1500,1500,1500,1000};
// ************************
// EEPROM Layout definition
// ************************
static uint8_t dynP8[2], dynD8[2];
global_conf_t global_conf;
conf_t conf;
#ifdef LOG_PERMANENT
plog_t plog;
#endif
// **********************
// GPS common variables, no need to put them in defines, since compiller will optimize out unused variables
// **********************
#if GPS
gps_conf_struct GPS_conf;
#endif
int16_t GPS_angle[2] = { 0, 0}; // the angles that must be applied for GPS correction
int32_t GPS_coord[2];
int32_t GPS_home[2];
int32_t GPS_hold[2];
int32_t GPS_prev[2]; //previous pos
int32_t GPS_poi[2];
uint8_t GPS_numSat;
uint16_t GPS_distanceToHome; // distance to home - unit: meter
int16_t GPS_directionToHome; // direction to home - unit: degree
int32_t GPS_directionToPoi;
uint16_t GPS_altitude; // GPS altitude - unit: meter
uint16_t GPS_speed; // GPS speed - unit: cm/s
uint8_t GPS_update = 0; // a binary toogle to distinct a GPS position update
uint16_t GPS_ground_course = 0; // - unit: degree*10
//uint8_t GPS_mode = GPS_MODE_NONE; // contains the current selected gps flight mode --> moved to the f. structure
uint8_t NAV_state = 0; // NAV_STATE_NONE; /// State of the nav engine
uint8_t NAV_error = 0; // NAV_ERROR_NONE;
uint8_t prv_gps_modes = 0; /// GPS_checkbox items packed into 1 byte for checking GPS mode changes
uint32_t nav_timer_stop = 0; /// common timer used in navigation (contains the desired stop time in millis()
uint16_t nav_hold_time; /// time in seconds to hold position
uint8_t NAV_paused_at = 0; // This contains the mission step where poshold paused the runing mission.
uint8_t next_step = 1; /// The mission step which is upcoming it equals with the mission_step stored in EEPROM
int16_t jump_times = -10;
#if GPS
mission_step_struct mission_step;
#endif
// The desired bank towards North (Positive) or South (Negative) : latitude
// The desired bank towards East (Positive) or West (Negative) : longitude
int16_t nav[2];
int16_t nav_rated[2]; //Adding a rate controller to the navigation to make it smoother
// The orginal altitude used as base our new altitude during nav
int32_t original_altitude;
//This is the target what we want to reach
int32_t target_altitude;
//This is the interim value which is feeded into the althold controller
int32_t alt_to_hold;
uint32_t alt_change_timer;
int8_t alt_change_flag;
uint32_t alt_change;
uint8_t alarmArray[ALRM_FAC_SIZE]; // array
#if BARO
int32_t baroPressure;
int16_t baroTemperature;
int32_t baroPressureSum;
#endif
void annexCode() { // this code is excetuted at each loop and won't interfere with control loop if it lasts less than 650 microseconds
static uint32_t calibratedAccTime;
uint16_t tmp,tmp2;
uint8_t axis,prop1,prop2;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value (or collective.pitch value for heli)
#ifdef HELICOPTER
#define DYN_THR_PID_CHANNEL COLLECTIVE_PITCH
#else
#define DYN_THR_PID_CHANNEL THROTTLE
#endif
prop2 = 128; // prop2 was 100, is 128 now
if (rcData[DYN_THR_PID_CHANNEL]>1500) { // breakpoint is fix: 1500
if (rcData[DYN_THR_PID_CHANNEL]<2000) {
prop2 -= ((uint16_t)conf.dynThrPID*(rcData[DYN_THR_PID_CHANNEL]-1500)>>9); // /512 instead of /500
} else {
prop2 -= conf.dynThrPID;
}
}
for(axis=0;axis<3;axis++) {
tmp = min(abs(rcData[axis]-MIDRC),500);
#if defined(DEADBAND)
if (tmp>DEADBAND) { tmp -= DEADBAND; }
else { tmp=0; }
#endif
if(axis!=2) { //ROLL & PITCH
tmp2 = tmp>>7; // 500/128 = 3.9 => range [0;3]
rcCommand[axis] = lookupPitchRollRC[tmp2] + ((tmp-(tmp2<<7)) * (lookupPitchRollRC[tmp2+1]-lookupPitchRollRC[tmp2])>>7);
prop1 = 128-((uint16_t)conf.rollPitchRate*tmp>>9); // prop1 was 100, is 128 now -- and /512 instead of /500
prop1 = (uint16_t)prop1*prop2>>7; // prop1: max is 128 prop2: max is 128 result prop1: max is 128
dynP8[axis] = (uint16_t)conf.pid[axis].P8*prop1>>7; // was /100, is /128 now
dynD8[axis] = (uint16_t)conf.pid[axis].D8*prop1>>7; // was /100, is /128 now
} else { // YAW
rcCommand[axis] = tmp;
}
if (rcData[axis]<MIDRC) rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain(rcData[THROTTLE],MINCHECK,2000);
tmp = (uint32_t)(tmp-MINCHECK)*2559/(2000-MINCHECK); // [MINCHECK;2000] -> [0;2559]
tmp2 = tmp/256; // range [0;9]
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp-tmp2*256) * (lookupThrottleRC[tmp2+1]-lookupThrottleRC[tmp2]) / 256; // [0;2559] -> expo -> [conf.minthrottle;MAXTHROTTLE]
#if defined(HEADFREE)
if(f.HEADFREE_MODE) { //to optimize
float radDiff = (att.heading - headFreeModeHold) * 0.0174533f; // where PI/180 ~= 0.0174533
float cosDiff = cos(radDiff);
float sinDiff = sin(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH]*cosDiff + rcCommand[ROLL]*sinDiff;
rcCommand[ROLL] = rcCommand[ROLL]*cosDiff - rcCommand[PITCH]*sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
#endif
// query at most one multiplexed analog channel per MWii cycle
static uint8_t analogReader =0;
switch (analogReader++ % (3+VBAT_CELLS_NUM)) {
case 0:
{
#if defined(POWERMETER_HARD)
static uint32_t lastRead = currentTime;
static uint8_t ind = 0;
static uint16_t pvec[PSENSOR_SMOOTH], psum;
uint16_t p = analogRead(PSENSORPIN);
//LCDprintInt16(p); LCDcrlf();
//debug[0] = p;
#if PSENSOR_SMOOTH != 1
psum += p;
psum -= pvec[ind];
pvec[ind++] = p;
ind %= PSENSOR_SMOOTH;
p = psum / PSENSOR_SMOOTH;
#endif
powerValue = ( conf.psensornull > p ? conf.psensornull - p : p - conf.psensornull); // do not use abs(), it would induce implicit cast to uint and overrun
analog.amperage = ((uint32_t)powerValue * conf.pint2ma) / 100; // [100mA] //old (will overflow for 65A: powerValue * conf.pint2ma; // [1mA]
pMeter[PMOTOR_SUM] += ((currentTime-lastRead) * (uint32_t)((uint32_t)powerValue*conf.pint2ma))/100000; // [10 mA * msec]
lastRead = currentTime;
#endif // POWERMETER_HARD
break;
}
case 1:
{
#if defined(VBAT) && !defined(VBAT_CELLS)
static uint8_t ind = 0;
static uint16_t vvec[VBAT_SMOOTH], vsum;
uint16_t v = analogRead(V_BATPIN);
#if VBAT_SMOOTH == 1
analog.vbat = (v*VBAT_PRESCALER) / conf.vbatscale + VBAT_OFFSET; // result is Vbatt in 0.1V steps
#else
vsum += v;
vsum -= vvec[ind];
vvec[ind++] = v;
ind %= VBAT_SMOOTH;
#if VBAT_SMOOTH == VBAT_PRESCALER
analog.vbat = vsum / conf.vbatscale + VBAT_OFFSET; // result is Vbatt in 0.1V steps
#elif VBAT_SMOOTH < VBAT_PRESCALER
analog.vbat = (vsum * (VBAT_PRESCALER/VBAT_SMOOTH)) / conf.vbatscale + VBAT_OFFSET; // result is Vbatt in 0.1V steps
#else
analog.vbat = ((vsum /VBAT_SMOOTH) * VBAT_PRESCALER) / conf.vbatscale + VBAT_OFFSET; // result is Vbatt in 0.1V steps
#endif
#endif
#endif // VBAT
break;
}
case 2:
{
#if defined(RX_RSSI)
static uint8_t ind = 0;
static uint16_t rvec[RSSI_SMOOTH], rsum, r;
// http://www.multiwii.com/forum/viewtopic.php?f=8&t=5530
#if defined(RX_RSSI_CHAN)
uint16_t rssi_Input = constrain(rcData[RX_RSSI_CHAN],1000,2000);
r = map((uint16_t)rssi_Input , 1000, 2000, 0, 1023);
#else
r = analogRead(RX_RSSI_PIN);
#endif
#if RSSI_SMOOTH == 1
analog.rssi = r;
#else
rsum += r;
rsum -= rvec[ind];
rvec[ind++] = r;
ind %= RSSI_SMOOTH;
r = rsum / RSSI_SMOOTH;
analog.rssi = r;
#endif
#endif // RX RSSI
break;
}
default: // here analogReader >=4, because of ++ in switch()
{
#if defined(VBAT) && defined(VBAT_CELLS)
if ( (analogReader<4) || (analogReader>4+VBAT_CELLS_NUM-1) ) break;
uint8_t ind = analogReader-4;
static uint16_t vbatcells_pins[VBAT_CELLS_NUM] = VBAT_CELLS_PINS;
static uint8_t vbatcells_offset[VBAT_CELLS_NUM] = VBAT_CELLS_OFFSETS;
static uint8_t vbatcells_div[VBAT_CELLS_NUM] = VBAT_CELLS_DIVS;
uint16_t v = analogRead(vbatcells_pins[ind]);
analog.vbatcells[ind] = vbatcells_offset[ind] + (v << 2) / vbatcells_div[ind]; // result is Vbatt in 0.1V steps
if (ind == VBAT_CELLS_NUM -1) analog.vbat = analog.vbatcells[ind];
#endif // VBAT) && defined(VBAT_CELLS)
break;
} // end default
} // end of switch()
#if defined( POWERMETER_HARD ) && (defined(LOG_VALUES) || defined(LCD_TELEMETRY))
if (analog.amperage > powerValueMaxMAH) powerValueMaxMAH = analog.amperage;
#endif
#if defined(WATTS)
analog.watts = (analog.amperage * analog.vbat) / 100; // [0.1A] * [0.1V] / 100 = [Watt]
#if defined(LOG_VALUES) || defined(LCD_TELEMETRY)
if (analog.watts > wattsMax) wattsMax = analog.watts;
#endif
#endif
#if defined(BUZZER)
alarmHandler(); // external buzzer routine that handles buzzer events globally now
#endif
if ( (calibratingA>0 && ACC ) || (calibratingG>0) ) { // Calibration phasis
LEDPIN_TOGGLE;
} else {
if (f.ACC_CALIBRATED) {LEDPIN_OFF;}
if (f.ARMED) {LEDPIN_ON;}
}
#if defined(LED_RING)
static uint32_t LEDTime;
if ( currentTime > LEDTime ) {
LEDTime = currentTime + 50000;
i2CLedRingState();
}
#endif
#if defined(LED_FLASHER)
auto_switch_led_flasher();
#endif
if ( currentTime > calibratedAccTime ) {
if (! f.SMALL_ANGLES_25) {
// the multi uses ACC and is not calibrated or is too much inclinated
f.ACC_CALIBRATED = 0;
LEDPIN_TOGGLE;
calibratedAccTime = currentTime + 100000;
} else {
f.ACC_CALIBRATED = 1;
}
}
#if !(defined(SERIAL_RX) && defined(PROMINI)) //Only one serial port on ProMini. Skip serial com if SERIAL RX in use. Note: Spek code will auto-call serialCom if GUI data detected on serial0.
serialCom();
#endif
#if defined(POWERMETER)
analog.intPowerMeterSum = (pMeter[PMOTOR_SUM]/PLEVELDIV);
intPowerTrigger1 = conf.powerTrigger1 * PLEVELSCALE;
#endif
#ifdef LCD_TELEMETRY_AUTO
static char telemetryAutoSequence [] = LCD_TELEMETRY_AUTO;
static uint8_t telemetryAutoIndex = 0;
static uint16_t telemetryAutoTimer = 0;
if ( (telemetry_auto) && (! (++telemetryAutoTimer % LCD_TELEMETRY_AUTO_FREQ) ) ){
telemetry = telemetryAutoSequence[++telemetryAutoIndex % strlen(telemetryAutoSequence)];
LCDclear(); // make sure to clear away remnants
}
#endif
#ifdef LCD_TELEMETRY
static uint16_t telemetryTimer = 0;
if (! (++telemetryTimer % LCD_TELEMETRY_FREQ)) {
#if (LCD_TELEMETRY_DEBUG+0 > 0)
telemetry = LCD_TELEMETRY_DEBUG;
#endif
if (telemetry) lcd_telemetry();
}
#endif
#ifdef TELEMETRY
run_telemetry();
#endif
#if GPS & defined(GPS_LED_INDICATOR) // modified by MIS to use STABLEPIN LED for number of sattelites indication
static uint32_t GPSLEDTime; // - No GPS FIX -> LED blink at speed of incoming GPS frames
static uint8_t blcnt; // - Fix and sat no. bellow 5 -> LED off
if(currentTime > GPSLEDTime) { // - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ...
if(f.GPS_FIX && GPS_numSat >= 5) {
if(++blcnt > 2*GPS_numSat) blcnt = 0;
GPSLEDTime = currentTime + 150000;
if(blcnt >= 10 && ((blcnt%2) == 0)) {STABLEPIN_ON;} else {STABLEPIN_OFF;}
}else{
if((GPS_update == 1) && !f.GPS_FIX) {STABLEPIN_ON;} else {STABLEPIN_OFF;}
blcnt = 0;
}
}
#endif
#if defined(LOG_VALUES) && (LOG_VALUES >= 2)
if (cycleTime > cycleTimeMax) cycleTimeMax = cycleTime; // remember highscore
if (cycleTime < cycleTimeMin) cycleTimeMin = cycleTime; // remember lowscore
#endif
if (f.ARMED) {
#if defined(LCD_TELEMETRY) || defined(ARMEDTIMEWARNING) || defined(LOG_PERMANENT) || defined (TELEMETRY)
armedTime += (uint32_t)cycleTime;
#endif
#if defined(VBAT)
if ( (analog.vbat > NO_VBAT) && (analog.vbat < vbatMin) ) vbatMin = analog.vbat;
#endif
#ifdef LCD_TELEMETRY
#if BARO
if ( (alt.EstAlt > BAROaltMax) ) BAROaltMax = alt.EstAlt;
#endif
#if GPS
if ( (GPS_speed > GPS_speedMax) ) GPS_speedMax = GPS_speed;
#endif
#endif
}
}
void setup() {
SerialOpen(0,SERIAL0_COM_SPEED);
#if defined(PROMICRO)
SerialOpen(1,SERIAL1_COM_SPEED);
#endif
#if defined(MEGA)
SerialOpen(1,SERIAL1_COM_SPEED);
SerialOpen(2,SERIAL2_COM_SPEED);
SerialOpen(3,SERIAL3_COM_SPEED);
#endif
LEDPIN_PINMODE;
POWERPIN_PINMODE;
BUZZERPIN_PINMODE;
STABLEPIN_PINMODE;
POWERPIN_OFF;
initOutput();
readGlobalSet();
#ifndef NO_FLASH_CHECK
#if defined(MEGA)
uint16_t i = 65000; // only first ~64K for mega board due to pgm_read_byte limitation
#else
uint16_t i = 32000;
#endif
uint16_t flashsum = 0;
uint8_t pbyt;
while(i--) {
pbyt = pgm_read_byte(i); // calculate flash checksum
flashsum += pbyt;
flashsum ^= (pbyt<<8);
}
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
global_conf.currentSet=2;
#else
global_conf.currentSet=0;
#endif
while(1) { // check settings integrity
#ifndef NO_FLASH_CHECK
if(readEEPROM()) { // check current setting integrity
if(flashsum != global_conf.flashsum) update_constants(); // update constants if firmware is changed and integrity is OK
}
#else
readEEPROM(); // check current setting integrity
#endif
if(global_conf.currentSet == 0) break; // all checks is done
global_conf.currentSet--; // next setting for check
}
readGlobalSet(); // reload global settings for get last profile number
#ifndef NO_FLASH_CHECK
if(flashsum != global_conf.flashsum) {
global_conf.flashsum = flashsum; // new flash sum
writeGlobalSet(1); // update flash sum in global config
}
#endif
readEEPROM(); // load setting data from last used profile
blinkLED(2,40,global_conf.currentSet+1);
#if GPS
recallGPSconf(); //Load GPS configuration parameteres
#endif
configureReceiver();
#if defined (PILOTLAMP)
PL_INIT;
#endif
#if defined(OPENLRSv2MULTI)
initOpenLRS();
#endif
initSensors();
#if GPS
GPS_set_pids();
#endif
previousTime = micros();
#if defined(GIMBAL)
calibratingA = 512;
#endif
calibratingG = 512;
calibratingB = 200; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
#if defined(POWERMETER)
for(uint8_t j=0; j<=PMOTOR_SUM; j++) pMeter[j]=0;
#endif
/************************************/
#if GPS
#if defined(GPS_SERIAL)
GPS_SerialInit();
#endif
GPS_conf.max_wp_number = getMaxWPNumber();
#endif
#if defined(LCD_ETPP) || defined(LCD_LCD03) || defined(LCD_LCD03S) || defined(OLED_I2C_128x64) || defined(OLED_DIGOLE) || defined(LCD_TELEMETRY_STEP)
initLCD();
#endif
#ifdef LCD_TELEMETRY_DEBUG
telemetry_auto = 1;
#endif
#ifdef LCD_CONF_DEBUG
configurationLoop();
#endif
#ifdef TELEMETRY
init_telemetry();
#endif
#ifdef LANDING_LIGHTS_DDR
init_landing_lights();
#endif
#ifdef FASTER_ANALOG_READS
ADCSRA |= _BV(ADPS2) ; ADCSRA &= ~_BV(ADPS1); ADCSRA &= ~_BV(ADPS0); // this speeds up analogRead without loosing too much resolution: http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1208715493/11
#endif
#if defined(LED_FLASHER)
init_led_flasher();
led_flasher_set_sequence(LED_FLASHER_SEQUENCE);
#endif
f.SMALL_ANGLES_25=1; // important for gyro only conf
#ifdef LOG_PERMANENT
// read last stored set
readPLog();
plog.lifetime += plog.armed_time / 1000000;
plog.start++; // #powercycle/reset/initialize events
// dump plog data to terminal
#ifdef LOG_PERMANENT_SHOW_AT_STARTUP
dumpPLog(0);
#endif
plog.armed_time = 0; // lifetime in seconds
//plog.running = 0; // toggle on arm & disarm to monitor for clean shutdown vs. powercut
#endif
#ifdef DEBUGMSG
debugmsg_append_str("initialization completed\n");
#endif
}
void go_arm() {
if(calibratingG == 0
#if defined(ONLYARMWHENFLAT)
&& f.ACC_CALIBRATED
#endif
#if defined(FAILSAFE)
&& failsafeCnt < 2
#endif
#if GPS && defined(ONLY_ALLOW_ARM_WITH_GPS_3DFIX)
&& (f.GPS_FIX && GPS_numSat >= 5)
#endif
) {
if(!f.ARMED && !f.BARO_MODE) { // arm now!
f.ARMED = 1;
#if defined(HEADFREE)
headFreeModeHold = att.heading;
#endif
magHold = att.heading;
#if defined(VBAT)
if (analog.vbat > NO_VBAT) vbatMin = analog.vbat;
#endif
#ifdef ALTITUDE_RESET_ON_ARM
#if BARO
calibratingB = 10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
#endif
#ifdef LCD_TELEMETRY // reset some values when arming
#if BARO
BAROaltMax = alt.EstAlt;
#endif
#if GPS
GPS_speedMax = 0;
#endif
#if defined( POWERMETER_HARD ) && (defined(LOG_VALUES) || defined(LCD_TELEMETRY))
powerValueMaxMAH = 0;
#endif
#ifdef WATTS
wattsMax = 0;
#endif
#endif
#ifdef LOG_PERMANENT
plog.arm++; // #arm events
plog.running = 1; // toggle on arm & disarm to monitor for clean shutdown vs. powercut
// write now.
writePLog();
#endif
}
} else if(!f.ARMED) {
blinkLED(2,255,1);
SET_ALARM(ALRM_FAC_ACC, ALRM_LVL_ON);
}
}
void go_disarm() {
if (f.ARMED) {
f.ARMED = 0;
#ifdef LOG_PERMANENT
plog.disarm++; // #disarm events
plog.armed_time = armedTime ; // lifetime in seconds
if (failsafeEvents) plog.failsafe++; // #acitve failsafe @ disarm
if (i2c_errors_count > 10) plog.i2c++; // #i2c errs @ disarm
plog.running = 0; // toggle @ arm & disarm to monitor for clean shutdown vs. powercut
// write now.
writePLog();
#endif
}
}
// ******** Main Loop *********
void loop () {
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t axis,i;
int16_t error,errorAngle;
int16_t delta;
int16_t PTerm = 0,ITerm = 0,DTerm, PTermACC, ITermACC;
static int16_t lastGyro[2] = {0,0};
static int16_t errorAngleI[2] = {0,0};
#if PID_CONTROLLER == 1
static int32_t errorGyroI_YAW;
static int16_t delta1[2],delta2[2];
static int16_t errorGyroI[2] = {0,0};
#elif PID_CONTROLLER == 2
static int16_t delta1[3],delta2[3];
static int32_t errorGyroI[3] = {0,0,0};
static int16_t lastError[3] = {0,0,0};
int16_t deltaSum;
int16_t AngleRateTmp, RateError;
#endif
static uint16_t rcTime = 0;
static int16_t initialThrottleHold;
int16_t rc;
int32_t prop = 0;
#if defined(SERIAL_RX)
if (spekFrameFlags == 0x01) readSerial_RX();
#endif
#if defined(OPENLRSv2MULTI)
Read_OpenLRS_RC();
#endif
#if defined(SERIAL_RX)
if ((spekFrameDone == 0x01) || ((int16_t)(currentTime-rcTime) >0 )) {
spekFrameDone = 0x00;
#else
if ((int16_t)(currentTime-rcTime) >0 ) { // 50Hz
#endif
rcTime = currentTime + 20000;
computeRC();
// Failsafe routine - added by MIS
#if defined(FAILSAFE)
if ( failsafeCnt > (5*FAILSAFE_DELAY) && f.ARMED) { // Stabilize, and set Throttle to specified level
for(i=0; i<3; i++) rcData[i] = MIDRC; // after specified guard time after RC signal is lost (in 0.1sec)
rcData[THROTTLE] = conf.failsafe_throttle;
if (failsafeCnt > 5*(FAILSAFE_DELAY+FAILSAFE_OFF_DELAY)) { // Turn OFF motors after specified Time (in 0.1sec)
go_disarm(); // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeEvents++;
}
if ( failsafeCnt > (5*FAILSAFE_DELAY) && !f.ARMED) { //Turn of "Ok To arm to prevent the motors from spinning after repowering the RX with low throttle and aux to arm
go_disarm(); // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeCnt++;
#endif
// end of failsafe routine - next change is made with RcOptions setting
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
uint8_t stTmp = 0;
for(i=0;i<4;i++) {
stTmp >>= 2;
if(rcData[i] > MINCHECK) stTmp |= 0x80; // check for MIN
if(rcData[i] < MAXCHECK) stTmp |= 0x40; // check for MAX
}
if(stTmp == rcSticks) {
if(rcDelayCommand<250) rcDelayCommand++;
} else rcDelayCommand = 0;
rcSticks = stTmp;
// perform actions
if (rcData[THROTTLE] <= MINCHECK) { // THROTTLE at minimum
#if !defined(FIXEDWING)
errorGyroI[ROLL] = 0; errorGyroI[PITCH] = 0;
#if PID_CONTROLLER == 1
errorGyroI_YAW = 0;
#elif PID_CONTROLLER == 2
errorGyroI[YAW] = 0;
#endif
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
#endif
if (conf.activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if ( rcOptions[BOXARM] && f.OK_TO_ARM ) go_arm(); else if (f.ARMED) go_disarm();
}
}
if(rcDelayCommand == 20) {
if(f.ARMED) { // actions during armed
#ifdef ALLOW_ARM_DISARM_VIA_TX_YAW
if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) go_disarm(); // Disarm via YAW
#endif
#ifdef ALLOW_ARM_DISARM_VIA_TX_ROLL
if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO) go_disarm(); // Disarm via ROLL
#endif
} else { // actions during not armed
i=0;
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) { // GYRO calibration
calibratingG=512;
#if GPS
GPS_reset_home_position();
#endif
#if BARO
calibratingB=10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
}
#if defined(INFLIGHT_ACC_CALIBRATION)
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI) { // Inflight ACC calibration START/STOP
if (AccInflightCalibrationMeasurementDone){ // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}else{
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
#if defined(BUZZER)
if (AccInflightCalibrationArmed) SET_ALARM_BUZZER(ALRM_FAC_TOGGLE, ALRM_LVL_TOGGLE_2);
else SET_ALARM_BUZZER(ALRM_FAC_TOGGLE, ALRM_LVL_TOGGLE_ELSE);
#endif
}
}
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) i=1; // ROLL left -> Profile 1
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) i=2; // PITCH up -> Profile 2
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) i=3; // ROLL right -> Profile 3
if(i) {
global_conf.currentSet = i-1;
writeGlobalSet(0);
readEEPROM();
blinkLED(2,40,i);
SET_ALARM(ALRM_FAC_TOGGLE, i);
}
#endif
if (rcSticks == THR_LO + YAW_HI + PIT_HI + ROL_CE) { // Enter LCD config
#if defined(LCD_CONF)
configurationLoop(); // beginning LCD configuration
#endif
previousTime = micros();
}
#ifdef ALLOW_ARM_DISARM_VIA_TX_YAW
else if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) go_arm(); // Arm via YAW
#endif
#ifdef ALLOW_ARM_DISARM_VIA_TX_ROLL
else if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI) go_arm(); // Arm via ROLL
#endif
#ifdef LCD_TELEMETRY_AUTO
else if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) { // Auto telemetry ON/OFF
if (telemetry_auto) {
telemetry_auto = 0;
telemetry = 0;
} else
telemetry_auto = 1;
}
#endif
#ifdef LCD_TELEMETRY_STEP
else if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) { // Telemetry next step
telemetry = telemetryStepSequence[++telemetryStepIndex % strlen(telemetryStepSequence)];
#if defined( OLED_I2C_128x64)
if (telemetry != 0) i2c_OLED_init();
#elif defined(OLED_DIGOLE)
if (telemetry != 0) i2c_OLED_DIGOLE_init();
#endif
LCDclear();
}
#endif
#if ACC
else if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) calibratingA=512; // throttle=max, yaw=left, pitch=min
#endif
#if MAG
else if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) f.CALIBRATE_MAG = 1; // throttle=max, yaw=right, pitch=min
#endif
i=0;