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