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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
1963 - 3
// + Nur f�r den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zul�ssig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "eeprom.h"
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#include "analog.h"
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#include "controlMixer.h"
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#include "timer0.h"
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#include "output.h"
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#ifdef USE_MK3MAG
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#include "mk3mag.h"
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#endif
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volatile uint32_t globalMillisClock = 0;
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volatile uint8_t  runFlightControl = 0;
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volatile uint16_t beepTime = 0;
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volatile uint16_t beepModulation = BEEP_MODULATION_NONE;
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#ifdef USE_NAVICTRL
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volatile uint8_t SendSPI = 0;
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#endif
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/*****************************************************
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 * Initialize Timer 0                  
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 *****************************************************/
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// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
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// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
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void timer0_init(void) {
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  uint8_t sreg = SREG;
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  // disable all interrupts before reconfiguration
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  cli();
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  // Configure speaker port as output.
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  if (boardRelease == 10) { // Speaker at PD2
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    DDRD |= (1 << DDD2);
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    PORTD &= ~(1 << PORTD2);
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  } else { // Speaker at PC7
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    DDRC |= (1 << DDC7);
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    PORTC &= ~(1 << PORTC7);
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  }
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  // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor
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  DDRB |= (1 << DDB4) | (1 << DDB3);
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  PORTB &= ~((1 << PORTB4) | (1 << PORTB3));
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  // Timer/Counter 0 Control Register A
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  // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
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  // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
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  // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
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  TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0));
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  TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00);
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  // Timer/Counter 0 Control Register B
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  // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz/8 = 2.5MHz
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  // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
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  // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz
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  // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
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  TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02));
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  TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00);
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  // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
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  OCR0A = 0; // for PB3
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  OCR0B = 120; // for PB4
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  // init Timer/Counter 0 Register
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  TCNT0 = 0;
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  // Timer/Counter 0 Interrupt Mask Register
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  // enable timer overflow interrupt only
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  TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A));
125
  TIMSK0 |= (1 << TOIE0);
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  SREG = sreg;
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}
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/*****************************************************/
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/*          Interrupt Routine of Timer 0             */
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/*****************************************************/
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ISR(TIMER0_OVF_vect) { // 9765.625 Hz
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  static uint8_t cnt_1ms = 1, cnt = 0;
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  uint8_t beeperOn = 0;
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#ifdef USE_NAVICTRL
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  if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
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#endif
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  if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)
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    cnt = 9;
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    cnt_1ms ^= 1;
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    if (!cnt_1ms) {
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      if (runFlightControl == 1)
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        debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
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      else
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        debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
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      runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
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    }
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    globalMillisClock++; // increment millisecond counter
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  }
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  // beeper on if duration is not over
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  if (beepTime) {
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    beepTime--; // decrement BeepTime
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    if (beepTime & beepModulation)
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      beeperOn = 1;
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    else
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      beeperOn = 0;
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  } else { // beeper off if duration is over
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    beeperOn = 0;
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    beepModulation = BEEP_MODULATION_NONE;
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  }
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  if (beeperOn) {
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    // set speaker port to high.
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    if (boardRelease == 10)
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      PORTD |= (1 << PORTD2); // Speaker at PD2
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    else
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      PORTC |= (1 << PORTC7); // Speaker at PC7
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  } else { // beeper is off
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    // set speaker port to low
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    if (boardRelease == 10)
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      PORTD &= ~(1 << PORTD2);// Speaker at PD2
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    else
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      PORTC &= ~(1 << PORTC7);// Speaker at PC7
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  }
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#ifdef USE_MK3MAG
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  // update compass value if this option is enabled in the settings
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  if (staticParams.bitConfig & CFG_COMPASS_ENABLED) {
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    MK3MAG_periodicTask(); // read out mk3mag pwm
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  }
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#endif
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}
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// -----------------------------------------------------------------------
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uint16_t setDelay(uint16_t t) {
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  return (globalMillisClock + t - 1);
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}
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// -----------------------------------------------------------------------
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int8_t checkDelay(uint16_t t) {
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  return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit
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}
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// -----------------------------------------------------------------------
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void delay_ms(uint16_t w) {
200
  uint16_t t_stop = setDelay(w);
201
  while (!checkDelay(t_stop))
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    ;
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}
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// -----------------------------------------------------------------------
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void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) {
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  uint16_t t_stop;
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  t_stop = setDelay(w);
209
  while (!checkDelay(t_stop)) {
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        if (analogDataReady) {
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          analog_update();
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          startAnalogConversionCycle();
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        }
1872 - 214
  }
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  if (stop) {
216
  // Wait for new samples to get prepared but do not restart AD conversion after that!
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  // Caller MUST to that.
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        while (!analogDataReady);
219
  }
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}