Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include "eeprom.h"

#include "analog.h"

// for debugging!

#include "uart0.h"

#include "output.h"

#ifdef USE_MK3MAG

#include "mk3mag.h"

#endif

volatile uint16_t CountMilliseconds = 0;

volatile uint8_t runFlightControl = 0;

volatile uint16_t cntKompass = 0;

volatile uint16_t BeepTime = 0;

volatile uint16_t BeepModulation = 0xFFFF;

#ifdef USE_NAVICTRL

volatile uint8_t SendSPI = 0;

#endif

/*****************************************************

 * Initialize Timer 0                  

 *****************************************************/

// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor

// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate

void timer0_init(void) {

  uint8_t sreg = SREG;

  // disable all interrupts before reconfiguration

  cli();

  // Configure speaker port as output.

  if (BoardRelease == 10) { // Speaker at PD2

    DDRD |= (1 << DDD2);

    PORTD &= ~(1 << PORTD2);

  } else { // Speaker at PC7

    DDRC |= (1 << DDC7);

    PORTC &= ~(1 << PORTC7);

  }

  // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor

  DDRB |= (1 << DDB4) | (1 << DDB3);

  PORTB &= ~((1 << PORTB4) | (1 << PORTB3));

  // Timer/Counter 0 Control Register A

  // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)

  // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)

  // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)

  TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0));

  TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00);

  // Timer/Counter 0 Control Register B

  // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz

  // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz

  // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz

  // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)

  TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02));

  TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00);

  // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4

  OCR0A = 0; // for PB3

  OCR0B = 120; // for PB4

  // init Timer/Counter 0 Register

  TCNT0 = 0;

  // Timer/Counter 0 Interrupt Mask Register

  // enable timer overflow interrupt only

  TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A));

  TIMSK0 |= (1 << TOIE0);

  SREG = sreg;

}

/*****************************************************/

/*          Interrupt Routine of Timer 0             */

/*****************************************************/

ISR(TIMER0_OVF_vect)

{ // 9765.625 Hz

  static uint8_t cnt_1ms = 1, cnt = 0;

  uint8_t Beeper_On = 0;

#ifdef USE_NAVICTRL

  if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done

#endif

  if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)

    cnt = 9;

    cnt_1ms ^= 1;

    if (!cnt_1ms) {

      if (runFlightControl == 1)

        DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER;

      else

        DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;

      runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)

    }

    CountMilliseconds++; // increment millisecond counter

  }

  // beeper on if duration is not over

  if (BeepTime) {

    BeepTime--; // decrement BeepTime

    if (BeepTime & BeepModulation)

      Beeper_On = 1;

    else

      Beeper_On = 0;

  } else { // beeper off if duration is over

    Beeper_On = 0;

    BeepModulation = 0xFFFF;

  }

  // if beeper is on

  if (Beeper_On) {

    // set speaker port to high.

    if (BoardRelease == 10)

      PORTD |= (1 << PORTD2); // Speaker at PD2

    else

      PORTC |= (1 << PORTC7); // Speaker at PC7

  } else { // beeper is off

    // set speaker port to low

    if (BoardRelease == 10)

      PORTD &= ~(1 << PORTD2);// Speaker at PD2

    else

      PORTC &= ~(1 << PORTC7);// Speaker at PC7

  }

#ifndef USE_NAVICTRL

  // update compass value if this option is enabled in the settings

  if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {

#ifdef USE_MK3MAG

    MK3MAG_Update(); // read out mk3mag pwm

#endif

  }

#endif

}

// -----------------------------------------------------------------------

uint16_t SetDelay(uint16_t t) {

  return (CountMilliseconds + t - 1);

}

// -----------------------------------------------------------------------

int8_t CheckDelay(uint16_t t) {

  return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit

}

// -----------------------------------------------------------------------

void Delay_ms(uint16_t w) {

  uint16_t t_stop = SetDelay(w);

  while (!CheckDelay(t_stop))

    ;

}

// -----------------------------------------------------------------------

void Delay_ms_Mess(uint16_t w) {

  uint16_t t_stop;

  t_stop = SetDelay(w);

  while (!CheckDelay(t_stop)) {

    if (analogDataReady) {

      analogDataReady = 0;

      analog_start();

    }

  }

}