WebSVN - FlightCtrl - Diff - Rev 953 and 960 - /branches/V0.70d Code Redesign killagreg/timer0.c


#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));
 
 
 
 
 
 
 
 
 
 
 
 
 
        // 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
        }
 
        #ifndef USE_NAVICTRL
        // update compass value if this option is enabled in the settings
        if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
        {
        #ifdef USE_KILLAGREG
                MM3_Update(); // read out mm3 board
        #endif
        #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)
{
 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();
}
 
 

Rev 953	Rev 960
1	#include <inttypes.h>	1	#include <inttypes.h>
2	#include <avr/io.h>	2	#include <avr/io.h>
3	#include <avr/interrupt.h>	3	#include <avr/interrupt.h>
4	#include "eeprom.h"	4	#include "eeprom.h"
5	#include "analog.h"	5	#include "analog.h"
6	#include "main.h"	6	#include "main.h"
7	#include "fc.h"	7	#include "fc.h"
8	#ifdef USE_KILLAGREG	8	#ifdef USE_KILLAGREG
9	#include "mm3.h"	9	#include "mm3.h"
10	#endif	10	#endif
11	#ifdef USE_MK3MAG	11	#ifdef USE_MK3MAG
12	#include "mk3mag.h"	12	#include "mk3mag.h"
13	#endif	13	#endif
14		14
15	volatile uint16_t CountMilliseconds = 0;	15	volatile uint16_t CountMilliseconds = 0;
16	volatile uint8_t UpdateMotor = 0;	16	volatile uint8_t UpdateMotor = 0;
17	volatile uint16_t cntKompass = 0;	17	volatile uint16_t cntKompass = 0;
18	volatile uint16_t BeepTime = 0;	18	volatile uint16_t BeepTime = 0;
19	volatile uint16_t BeepModulation = 0xFFFF;	19	volatile uint16_t BeepModulation = 0xFFFF;
20		20
21	#ifdef USE_NAVICTRL	21	#ifdef USE_NAVICTRL
22	volatile uint8_t SendSPI = 0;	22	volatile uint8_t SendSPI = 0;
23	#endif	23	#endif
24		24
25		25
26		26
27	/*****************************************************/	27	/*****************************************************/
28	/* Initialize Timer 0 */	28	/* Initialize Timer 0 */
29	/*****************************************************/	29	/*****************************************************/
30	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor	30	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
31	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate	31	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
32	void TIMER0_Init(void)	32	void TIMER0_Init(void)
33	{	33	{
34	uint8_t sreg = SREG;	34	uint8_t sreg = SREG;
35		35
36	// disable all interrupts before reconfiguration	36	// disable all interrupts before reconfiguration
37	cli();	37	cli();
38		38
39	// configure speaker port as output	39	// configure speaker port as output
40	if(BoardRelease == 10)	40	if(BoardRelease == 10)
41	{ // Speaker at PD2	41	{ // Speaker at PD2
42	DDRD \|= (1<<DDD2);	42	DDRD \|= (1<<DDD2);
43	PORTD &= ~(1<<PORTD2);	43	PORTD &= ~(1<<PORTD2);
44	}	44	}
45	else	45	else
46	{ // Speaker at PC7	46	{ // Speaker at PC7
47	DDRC \|= (1<<DDC7);	47	DDRC \|= (1<<DDC7);
48	PORTC &= ~(1<<PORTC7);	48	PORTC &= ~(1<<PORTC7);
49	}	49	}
50		50
51	// set PB3 and PB4 as output for the PWM used as aoffset for the pressure sensor	51	// set PB3 and PB4 as output for the PWM used as aoffset for the pressure sensor
52	DDRB \|= (1<<DDB4)\|(1<<DDB3);	52	DDRB \|= (1<<DDB4)\|(1<<DDB3);
53	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));	53	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));
54		-
55	if(BoardRelease == 10)	-
56	{	-
57	DDRD \|= (1<<DDD2);	-
58	PORTD &= ~(1<<PORTD2);	-
59		-
60	}	-
61	else	-
62	{	-
63	DDRC \|= (1<<DDC7);	-
64	PORTC &= ~(1<<PORTC7);	-
65	}	-
66		54
67	// Timer/Counter 0 Control Register A	55	// Timer/Counter 0 Control Register A
68		56
69	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)	57	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
70	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)	58	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
71	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)	59	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
72	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));	60	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));
73	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);	61	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);
74		62
75	// Timer/Counter 0 Control Register B	63	// Timer/Counter 0 Control Register B
76		64
77	// set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz	65	// set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
78	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz	66	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
79	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz	67	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
80		68
81	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)	69	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
82	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));	70	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));
83	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);	71	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);
84		72
85	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4	73	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
86	OCR0A = 0; // for PB3	74	OCR0A = 0; // for PB3
87	OCR0B = 120; // for PB4	75	OCR0B = 120; // for PB4
88		76
89	// init Timer/Counter 0 Register	77	// init Timer/Counter 0 Register
90	TCNT0 = 0;	78	TCNT0 = 0;
91		79
92	// Timer/Counter 0 Interrupt Mask Register	80	// Timer/Counter 0 Interrupt Mask Register
93	// enable timer overflow interrupt only	81	// enable timer overflow interrupt only
94	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));	82	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));
95	TIMSK0 \|= (1<<TOIE0);	83	TIMSK0 \|= (1<<TOIE0);
96		84
97	SREG = sreg;	85	SREG = sreg;
98	}	86	}
99		87
100		88
101		89
102	/*****************************************************/	90	/*****************************************************/
103	/* Interrupt Routine of Timer 0 */	91	/* Interrupt Routine of Timer 0 */
104	/*****************************************************/	92	/*****************************************************/
105	ISR(TIMER0_OVF_vect) // 9.765 kHz	93	ISR(TIMER0_OVF_vect) // 9.765 kHz
106	{	94	{
107	static uint8_t cnt_1ms = 1,cnt = 0;	95	static uint8_t cnt_1ms = 1,cnt = 0;
108	uint8_t Beeper_On = 0;	96	uint8_t Beeper_On = 0;
109		97
110	#ifdef USE_NAVICTRL	98	#ifdef USE_NAVICTRL
111	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done	99	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
112	#endif	100	#endif
113		101
114	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)	102	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
115	{	103	{
116	cnt = 9;	104	cnt = 9;
117	cnt_1ms++;	105	cnt_1ms++;
118	cnt_1ms %= 2;	106	cnt_1ms %= 2;
119	if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)	107	if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
120	CountMilliseconds++; // increment millisecond counter	108	CountMilliseconds++; // increment millisecond counter
121	}	109	}
122		110
123		111
124	// beeper on if duration is not over	112	// beeper on if duration is not over
125	if(BeepTime)	113	if(BeepTime)
126	{	114	{
127	BeepTime--; // decrement BeepTime	115	BeepTime--; // decrement BeepTime
128	if(BeepTime & BeepModulation) Beeper_On = 1;	116	if(BeepTime & BeepModulation) Beeper_On = 1;
129	else Beeper_On = 0;	117	else Beeper_On = 0;
130	}	118	}
131	else // beeper off if duration is over	119	else // beeper off if duration is over
132	{	120	{
133	Beeper_On = 0;	121	Beeper_On = 0;
134	BeepModulation = 0xFFFF;	122	BeepModulation = 0xFFFF;
135	}	123	}
136		124
137	// if beeper is on	125	// if beeper is on
138	if(Beeper_On)	126	if(Beeper_On)
139	{	127	{
140	// set speaker port to high	128	// set speaker port to high
141	if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2	129	if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2
142	else PORTC \|= (1<<PORTC7); // Speaker at PC7	130	else PORTC \|= (1<<PORTC7); // Speaker at PC7
143	}	131	}
144	else // beeper is off	132	else // beeper is off
145	{	133	{
146	// set speaker port to low	134	// set speaker port to low
147	if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2	135	if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2
148	else PORTC &= ~(1<<PORTC7);// Speaker at PC7	136	else PORTC &= ~(1<<PORTC7);// Speaker at PC7
149	}	137	}
150		138
151	#ifndef USE_NAVICTRL	139	#ifndef USE_NAVICTRL
152	// update compass value if this option is enabled in the settings	140	// update compass value if this option is enabled in the settings
153	if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE\|CFG_GPS_ACTIVE))	141	if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE\|CFG_GPS_ACTIVE))
154	{	142	{
155	#ifdef USE_KILLAGREG	143	#ifdef USE_KILLAGREG
156	MM3_Update(); // read out mm3 board	144	MM3_Update(); // read out mm3 board
157	#endif	145	#endif
158	#ifdef USE_MK3MAG	146	#ifdef USE_MK3MAG
159	MK3MAG_Update(); // read out mk3mag pwm	147	MK3MAG_Update(); // read out mk3mag pwm
160	#endif	148	#endif
161	}	149	}
162	#endif	150	#endif
163	}	151	}
164		152
165		153
166		154
167	// -----------------------------------------------------------------------	155	// -----------------------------------------------------------------------
168	uint16_t SetDelay (uint16_t t)	156	uint16_t SetDelay (uint16_t t)
169	{	157	{
170	return(CountMilliseconds + t - 1);	158	return(CountMilliseconds + t - 1);
171	}	159	}
172		160
173	// -----------------------------------------------------------------------	161	// -----------------------------------------------------------------------
174	int8_t CheckDelay(uint16_t t)	162	int8_t CheckDelay(uint16_t t)
175	{	163	{
176	return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit	164	return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
177	}	165	}
178		166
179	// -----------------------------------------------------------------------	167	// -----------------------------------------------------------------------
180	void Delay_ms(uint16_t w)	168	void Delay_ms(uint16_t w)
181	{	169	{
182	unsigned int t_stop;	170	unsigned int t_stop;
183	t_stop = SetDelay(w);	171	t_stop = SetDelay(w);
184	while (!CheckDelay(t_stop));	172	while (!CheckDelay(t_stop));
185	}	173	}
186		174
187	// -----------------------------------------------------------------------	175	// -----------------------------------------------------------------------
188	void Delay_ms_Mess(uint16_t w)	176	void Delay_ms_Mess(uint16_t w)
189	{	177	{
190	uint16_t t_stop;	178	uint16_t t_stop;
191	t_stop = SetDelay(w);	179	t_stop = SetDelay(w);
192	while (!CheckDelay(t_stop)) ADC_Enable();	180	while (!CheckDelay(t_stop)) ADC_Enable();
193	}	181	}
194		182
195		183

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(root)/branches/V0.70d Code Redesign killagreg/timer0.c @ 963 - Rev 953 → 960