| 1,25 → 1,33 |
|---|
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "eeprom.h" |
| //#include "eeprom.h" |
| #include "profiler.h" |
| #include "controlMixer.h" |
| #include "configuration.h" |
| #include "analog.h" |
| #include "controlMixer.h" |
| |
| #include "timer0.h" |
| #include "debug.h" |
| #include "beeper.h" |
| #include "output.h" |
| #include "commands.h" |
| #include "flight.h" |
| #include "uart0.h" |
| #include "twimaster.h" |
| |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #endif |
| |
| volatile uint32_t globalMillisClock = 0; |
| volatile uint8_t runFlightControl = 0; |
| volatile uint16_t beepTime = 0; |
| #define MILLIS_DIVIDER 10 |
| |
| volatile uint32_t jiffiesClock; |
| volatile uint32_t millisClock; |
| volatile uint8_t loopJiffiesClock; |
| volatile uint16_t beepTime; |
| volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
| |
| #ifdef USE_NAVICTRL |
| volatile uint8_t SendSPI = 0; |
| #endif |
| volatile uint8_t flightControlStatus; |
| |
| /***************************************************** |
| * Initialize Timer 0 |
| 27,144 → 35,184 |
|---|
| // 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; |
| uint8_t sreg = SREG; |
| |
| // disable all interrupts before reconfiguration |
| cli(); |
| // 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); |
| } |
| // 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)); |
| // 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 |
| // 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); |
| // 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 SYSCLOCK/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 |
| // Timer/Counter 0 Control Register B |
| // set clock divider for timer 0 to SYSCLOCK/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); |
| |
| // 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 |
| |
| // 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; |
| |
| // 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); |
| |
| // Timer/Counter 0 Interrupt Mask Register |
| // enable timer overflow interrupt only |
| TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
| TIMSK0 |= (1 << TOIE0); |
| SREG = sreg; |
| } |
| |
| SREG = sreg; |
| void runFlightControlTask(void) { |
| if (flightControlStatus != NOT_RUNNING) { |
| // Previous execution not completed! It is dangerous to start another. |
| debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
| return; |
| } |
| |
| debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
| |
| controlMixer_periodicTask(); |
| commands_handleCommands(); |
| flightControlStatus = RUNNING; |
| |
| if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout |
| if (!I2CTimeout) { |
| I2C_reset(); |
| I2CTimeout = 5; |
| } |
| beepI2CAlarm(); |
| } |
| |
| if (analog_controlDataStatus != CONTROL_SENSOR_DATA_READY) { |
| // Analog data should have been ready but is not!! |
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| } else { |
| debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| J4HIGH; |
| analog_sumAttitudeData(); |
| analog_updateControlData(); |
| flight_control(); |
| output_applyMulticopterMixer(); |
| I2C_start(TWI_STATE_MOTOR_TX); |
| J4LOW; |
| } |
| |
| flightControlStatus = NOT_RUNNING; |
| } |
| |
| /*****************************************************/ |
| /* Interrupt Routine of Timer 0 */ |
| /*****************************************************/ |
| ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
| static uint8_t cnt_1ms = 1, cnt = 0; |
| uint8_t beeperOn = 0; |
| ISR (TIMER0_OVF_vect) { // 9765.625 Hz |
| static uint8_t millisDivider = MILLIS_DIVIDER; |
| static uint8_t controlLoopDivider = CONTROLLOOP_DIVIDER; |
| static uint8_t serialLoopDivider = SERIALLOOP_DIVIDER /2; |
| static uint8_t outputLoopDivider = OUTPUTLOOP_DIVIDER /3; |
| uint8_t beeperOn = 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 |
| jiffiesClock++; |
| loopJiffiesClock++; |
| // profiler_scoreTimerHit(); |
| |
| 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) |
| sei(); |
| |
| if (!--millisDivider) { |
| millisClock++; |
| millisDivider = MILLIS_DIVIDER; |
| } |
| |
| if (!--controlLoopDivider) { |
| //sei(); |
| controlLoopDivider= CONTROLLOOP_DIVIDER; |
| runFlightControlTask(); |
| //cli(); |
| } |
| |
| if (!--serialLoopDivider) { |
| //sei(); |
| serialLoopDivider= SERIALLOOP_DIVIDER; |
| // Allow serial data transmission if there is still time, or if we are not flying anyway. |
| usart0_transmitTxData(); |
| usart0_processRxData(); |
| //cli(); |
| } |
| globalMillisClock++; // increment millisecond counter |
| } |
| |
| // beeper on if duration is not over |
| if (beepTime) { |
| beepTime--; // decrement BeepTime |
| if (beepTime & beepModulation) |
| beeperOn = 1; |
| else |
| beeperOn = 0; |
| } else { // beeper off if duration is over |
| beeperOn = 0; |
| beepModulation = BEEP_MODULATION_NONE; |
| } |
| if (!--outputLoopDivider) { |
| //sei(); |
| outputLoopDivider= OUTPUTLOOP_DIVIDER; |
| output_update(); |
| //cli(); |
| } |
| |
| if (beeperOn) { |
| // 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 |
| } |
| // beeper on if duration is not over |
| if (beepTime) { |
| beepTime--; // decrement BeepTime |
| if (beepTime & beepModulation) |
| beeperOn = 1; |
| else |
| beeperOn = 0; |
| } else { // beeper off if duration is over |
| beeperOn = 0; |
| beepModulation = BEEP_MODULATION_NONE; |
| } |
| |
| if (beeperOn) { |
| // 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 |
| } |
| |
| #ifdef USE_MK3MAG |
| // update compass value if this option is enabled in the settings |
| if (staticParams.bitConfig & CFG_COMPASS_ENABLED) { |
| MK3MAG_periodicTask(); // read out mk3mag pwm |
| } |
| // update compass value if this option is enabled in the settings |
| if (staticParams.bitConfig & CFG_COMPASS_ENABLED) { |
| MK3MAG_periodicTask(); // read out mk3mag pwm |
| } |
| #endif |
| } |
| |
| // ----------------------------------------------------------------------- |
| uint16_t setDelay(uint16_t t) { |
| return (globalMillisClock + t - 1); |
| return (millisClock + t - 1); |
| } |
| |
| // ----------------------------------------------------------------------- |
| int8_t checkDelay(uint16_t t) { |
| return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
| return (((t - millisClock) & 0x8000) >> 8); // check sign bit |
| } |
| |
| // ----------------------------------------------------------------------- |
| void delay_ms(uint16_t w) { |
| uint16_t t_stop = setDelay(w); |
| while (!checkDelay(t_stop)) |
| ; |
| 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); |
| } |
| } |