Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

// + Nur f�r den privaten Gebrauch

// + www.MikroKopter.com

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

// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),

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

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

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// + mit unserer Zustimmung zul�ssig

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

// + 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.

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

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

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include "eeprom.h"

#include "analog.h"

#include "controlMixer.h"

#include "timer0.h"

// for debugging!

#include "uart0.h"

#include "output.h"

#ifdef USE_DIRECT_GPS

#include "mk3mag.h"

#endif

volatile uint16_t millisecondsCount = 0;

volatile uint8_t  runFlightControl = 0;

volatile uint16_t cntKompass = 0;

volatile uint16_t beepTime = 0;

volatile uint16_t beepModulation = BEEP_MODULATION_NONE;

#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)

    }

    millisecondsCount++; // increment millisecond counter

  }

  // beeper on if duration is not over

  if (beepTime) {

    beepTime--; // decrement BeepTime

    if (beepTime & beepModulation)

      // beeper_On = 1;

      beeper_On = 1; // shut up in dev!!!

    else

      beeper_On = 0;

  } else { // beeper off if duration is over

    beeper_On = 0;

    beepModulation = BEEP_MODULATION_NONE;

  }

  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.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {

#ifdef USE_DIRECT_GPS

    MK3MAG_periodicTask(); // read out mk3mag pwm

#endif

  }

#endif

}

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

uint16_t setDelay(uint16_t t) {

  return (millisecondsCount + t - 1);

}

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

int8_t checkDelay(uint16_t t) {

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

}

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

void delay_ms(uint16_t w) {

  uint16_t t_stop = setDelay(w);

  while (!checkDelay(t_stop))

    ;

}

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

void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) {

  uint16_t t_stop;

  t_stop = setDelay(w);

  while (!checkDelay(t_stop)) {

        if (analogDataReady) {

          analog_update();

          startAnalogConversionCycle();

        }

  }

  if (stop) {

  // Wait for new samples to get prepared but do not restart AD conversion after that!

  // Caller MUST to that.

        while (!analogDataReady);

  }

}