| 0,0 → 1,192 |
|---|
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "eeprom.h" |
| #include "analog.h" |
| #include "main.h" |
| #include "fc.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #endif |
| |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint8_t UpdateMotor = 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 aoffset for the pressure sensor |
| DDRB |= (1<<DDB4)|(1<<DDB3); |
| PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
| |
| if(BoardRelease == 10) |
| { |
| DDRD |= (1<<DDD2); |
| PORTD &= ~(1<<PORTD2); |
| |
| } |
| else |
| { |
| DDRC |= (1<<DDC7); |
| PORTC &= ~(1<<PORTC7); |
| } |
| |
| // 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 devider 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) // 9.765 kHz |
| { |
| 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 (9.765kHz/10 = 976Hz) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 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 |
| } |
| |
| // update compass value if this option is enabled in the settings |
| if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
| { |
| #ifdef USE_KILLAGREG |
| MM3_Update(); // read out mm3 board |
| #endif |
| #ifdef USE_MK3MAG |
| MK3MAG_Update(); // read out mk3mag pwm |
| #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) |
| { |
| unsigned int t_stop; |
| 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)) ADC_Enable(); |
| } |
| |