ardupilot/ArducopterNG/System.pde

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/*
www.ArduCopter.com - www.DIYDrones.com
Copyright (c) 2010. All rights reserved.
An Open Source Arduino based multicopter.
File : System.pde
Version : v1.0, Aug 27, 2010
Author(s): ArduCopter Team
Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
Jani Hirvinen, Ken McEwans, Roberto Navoni,
Sandro Benigno, Chris Anderson
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
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
* ************************************************************** *
ChangeLog:
* ************************************************************** *
TODO:
* ************************************************************** */
// General Initialization for all APM electronics
void APM_Init() {
// Setup proper PIN modes for our switched, LEDs, Relays etc on IMU Board
pinMode(LED_Yellow,OUTPUT); // Yellow LED A (PC1)
pinMode(LED_Red,OUTPUT); // Red LED B (PC2)
pinMode(LED_Green,OUTPUT); // Green LED C (PC0)
pinMode(RELAY,OUTPUT); // Relay output (PL2)
pinMode(SW1,INPUT); // Switch SW1 (PG0)
pinMode(SW2,INPUT); // Switch SW2 (PG1)
// Because DDRE and DDRL Ports are not included to normal Arduino Libraries, we need to
// initialize them with a special command
APMPinMode(DDRE,7,INPUT); // DIP1, (PE7), Closest DIP to sliding SW2 switch
APMPinMode(DDRE,6,INPUT); // DIP2, (PE6)
APMPinMode(DDRL,6,INPUT); // DIP3, (PL6)
APMPinMode(DDRL,7,INPUT); // DIP4, (PL7), Furthest DIP from sliding SW2 switch
/* ********************************************************* */
/////////////////////////////////////////////////////////
// Normal Initialization sequence starts from here.
readUserConfig(); // Load user configurable items from EEPROM
APM_RC.Init(); // APM Radio initialization
#if AIRFRAME == QUAD
// RC channels Initialization (Quad motors)
APM_RC.OutputCh(0,MIN_THROTTLE); // Motors stoped
APM_RC.OutputCh(1,MIN_THROTTLE);
APM_RC.OutputCh(2,MIN_THROTTLE);
APM_RC.OutputCh(3,MIN_THROTTLE);
#endif
#if AIRFRAME == HELI
// RC channels Initialization (heli servos)
APM_RC.OutputCh(0,CHANN_CENTER); // mid position
APM_RC.OutputCh(1,CHANN_CENTER);
APM_RC.OutputCh(2,CHANN_CENTER);
APM_RC.OutputCh(3,CHANN_CENTER);
#endif
// Make sure that Relay is switched off.
digitalWrite(RELAY,LOW);
// Wiggle LEDs while ESCs are rebooting
FullBlink(50,20);
adc.Init(); // APM ADC library initialization
DataFlash.Init(); // DataFlash log initialization
#ifdef IsGPS
GPS.Init(); // GPS Initialization
#ifdef IsNEWMTEK
delay(250);
// DIY Drones MTEK GPS needs binary sentences activated if you upgraded to latest firmware.
// If your GPS shows solid blue but LED C (Red) does not go on, your GPS is on NMEA mode
Serial1.print("$PMTK220,200*2C\r\n"); // 5Hz update rate
delay(200);
Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
#endif
#endif
// Read DIP Switches and other important values. DIP switches needs special functions to
// read due they are not defined as normal pins like other GPIO's are.
SW_DIP1 = APMPinRead(PINE, 7);
SW_DIP2 = APMPinRead(PINE, 6);
SW_DIP3 = APMPinRead(PINL, 6);
SW_DIP4 = APMPinRead(PINL, 7);
// Is CLI mode active or not, if it is fire it up and never return.
if(!digitalRead(SW2)) {
RunCLI();
// Btw.. We never return from this....
}
flightOrientation = SW_DIP1; // DIP1 off = we are in + mode, DIP1 on = we are in x mode
// readUserConfig moved to up to ensure min throttle is read from eeprom
//readUserConfig(); // Load user configurable items from EEPROM
// Safety measure for Channel mids
if(roll_mid < 1400 || roll_mid > 1600) roll_mid = 1500;
if(pitch_mid < 1400 || pitch_mid > 1600) pitch_mid = 1500;
if(yaw_mid < 1400 || yaw_mid > 1600) yaw_mid = 1500;
#if AIRFRAME == QUAD
// RC channels Initialization (Quad motors)
APM_RC.OutputCh(0,MIN_THROTTLE); // Motors stoped
APM_RC.OutputCh(1,MIN_THROTTLE);
APM_RC.OutputCh(2,MIN_THROTTLE);
APM_RC.OutputCh(3,MIN_THROTTLE);
#endif
#if AIRFRAME == HELI
// RC channels Initialization (heli servos)
APM_RC.OutputCh(0,CHANN_CENTER); // mid position
APM_RC.OutputCh(1,CHANN_CENTER);
APM_RC.OutputCh(2,CHANN_CENTER);
APM_RC.OutputCh(3,CHANN_CENTER);
#endif
// Initialise Wire library used by Magnetometer and Barometer
Wire.begin();
#ifdef IsMAG
if (MAGNETOMETER == 1) {
AP_Compass.init(FALSE); // I2C initialization
AP_Compass.set_orientation(MAGORIENTATION);
AP_Compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z);
AP_Compass.set_declination(ToRad(DECLINATION));
}
#endif
DataFlash.StartWrite(1); // Start a write session on page 1
// Proper Serial port/baud are defined on main .pde and then Arducopter.h with
// Choises of Xbee or normal serial port
SerBeg(SerBau);
// Check if we enable the DataFlash log Read Mode (switch)
// If we press switch 1 at startup we read the Dataflash eeprom
while (digitalRead(SW1)==0) // LEGACY remove soon by jp, 30-10-10
{
Serial.println("Entering Log Read Mode..."); // This will be obsole soon due moving to CLI system
Log_Read(1,1000);
delay(30000);
}
calibrateSensors(); // Calibrate neutral values of gyros (in Sensors.pde)
// Neutro_yaw = APM_RC.InputCh(3); // Take yaw neutral radio value
#ifndef CONFIGURATOR
for(i=0;i<6;i++)
{
SerPri("AN[]:");
SerPrln(AN_OFFSET[i]);
}
SerPri("Yaw neutral value:");
SerPri(yaw_mid);
#endif
#ifdef UseBMP
APM_BMP085.Init(FALSE);
#endif
// Sonar for Altitude hold
#ifdef IsSONAR
AP_RangeFinder_down.init(AP_RANGEFINDER_PITOT_TUBE, &adc); AP_RangeFinder_down.set_orientation(AP_RANGEFINDER_ORIENTATION_DOWN);
//AP_RangeFinder_down.init(AN5); AP_RangeFinder_down.set_orientation(AP_RANGEFINDER_ORIENTATION_DOWN);
sonar_threshold = AP_RangeFinder_down.max_distance * 0.8;
sonar_status = SONAR_STATUS_OK; // assume sonar is ok to start with
#endif
// RangeFinders for obstacle avoidance
#ifdef IsRANGEFINDER
AP_RangeFinder_frontRight.init(AN5); AP_RangeFinder_frontRight.set_orientation(AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT);
AP_RangeFinder_backRight.init(AN4); AP_RangeFinder_backRight.set_orientation(AP_RANGEFINDER_ORIENTATION_BACK_RIGHT);
AP_RangeFinder_backLeft.init(AN3); AP_RangeFinder_backLeft.set_orientation(AP_RANGEFINDER_ORIENTATION_BACK_LEFT);
AP_RangeFinder_frontLeft.init(AN2); AP_RangeFinder_frontLeft.set_orientation(AP_RANGEFINDER_ORIENTATION_FRONT_LEFT);
#endif
delay(1000);
DataFlash.StartWrite(1); // Start a write session on page 1
// initialise helicopter
#if AIRFRAME == HELI
heli_setup();
#endif
#ifdef IsAM
// Switch Left & Right lights on
digitalWrite(RI_LED, HIGH);
digitalWrite(LE_LED, HIGH);
#endif
}