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| 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 <avr/wdt.h> |
|
| 4 | #include "eeprom.h" |
5 | #include "eeprom.h" |
| 5 | #include "analog.h" |
6 | #include "analog.h" |
| 6 | #include "controlMixer.h" |
7 | #include "controlMixer.h" |
| Line 7... | Line 8... | ||
| 7 | 8 | ||
| 8 | #include "timer0.h" |
9 | #include "timer0.h" |
| Line 9... | Line 10... | ||
| 9 | #include "output.h" |
10 | #include "output.h" |
| 10 | 11 | ||
| - | 12 | #ifdef DO_PROFILE |
|
| - | 13 | volatile uint32_t global10kHzClock = 0; |
|
| 11 | #ifdef USE_MK3MAG |
14 | volatile int32_t profileTimers[NUM_PROFILE_TIMERS]; |
| Line 12... | Line 15... | ||
| 12 | #include "mk3mag.h" |
15 | volatile int32_t runningProfileTimers[NUM_PROFILE_TIMERS]; |
| 13 | #endif |
16 | #endif |
| 14 | 17 | ||
| 15 | volatile uint32_t globalMillisClock = 0; |
18 | volatile uint32_t globalMillisClock = 0; |
| Line 16... | Line -... | ||
| 16 | volatile uint8_t runFlightControl = 0; |
- | |
| 17 | volatile uint16_t beepTime = 0; |
- | |
| 18 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
- | |
| 19 | - | ||
| 20 | #ifdef USE_NAVICTRL |
19 | volatile uint8_t runFlightControl = 0; |
| 21 | volatile uint8_t SendSPI = 0; |
20 | volatile uint16_t beepTime = 0; |
| 22 | #endif |
21 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
| 23 | 22 | ||
| 24 | /***************************************************** |
23 | /***************************************************** |
| Line 63... | Line 62... | ||
| 63 | // Timer/Counter 0 Interrupt Mask Register |
62 | // Timer/Counter 0 Interrupt Mask Register |
| 64 | // enable timer overflow interrupt only |
63 | // enable timer overflow interrupt only |
| 65 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
64 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
| 66 | TIMSK0 |= (1 << TOIE0); |
65 | TIMSK0 |= (1 << TOIE0); |
| Line -... | Line 66... | ||
| - | 66 | ||
| - | 67 | #ifdef DO_PROFILE |
|
| - | 68 | for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
|
| - | 69 | profileTimers[i] = 0; |
|
| - | 70 | } |
|
| - | 71 | #endif |
|
| 67 | 72 | ||
| 68 | SREG = sreg; |
73 | SREG = sreg; |
| Line 69... | Line 74... | ||
| 69 | } |
74 | } |
| 70 | 75 | ||
| 71 | /*****************************************************/ |
76 | /*****************************************************/ |
| 72 | /* Interrupt Routine of Timer 0 */ |
77 | /* Interrupt Routine of Timer 0 */ |
| 73 | /*****************************************************/ |
78 | /*****************************************************/ |
| 74 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
79 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
| Line 75... | Line 80... | ||
| 75 | static uint8_t cnt_1ms = 1, cnt = 0; |
80 | static uint8_t cnt_1ms = 1, cnt = 0; |
| 76 | uint8_t beeperOn = 0; |
81 | uint8_t beeperOn = 0; |
| 77 | 82 | ||
| Line 78... | Line 83... | ||
| 78 | #ifdef USE_NAVICTRL |
83 | #ifdef DO_PROFILE |
| 79 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
84 | global10kHzClock++; |
| 80 | #endif |
85 | #endif |
| 81 | 86 | ||
| 82 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
- | |
| 83 | cnt = 9; |
- | |
| 84 | cnt_1ms ^= 1; |
- | |
| 85 | if (!cnt_1ms) { |
- | |
| 86 | if (runFlightControl == 1) |
87 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
| 87 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
88 | cnt = 9; |
| 88 | else |
89 | cnt_1ms ^= 1; |
| 89 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
90 | if (!cnt_1ms) { |
| Line 132... | Line 133... | ||
| 132 | 133 | ||
| 133 | // ----------------------------------------------------------------------- |
134 | // ----------------------------------------------------------------------- |
| 134 | void delay_ms(uint16_t w) { |
135 | void delay_ms(uint16_t w) { |
| 135 | uint16_t t_stop = setDelay(w); |
136 | uint16_t t_stop = setDelay(w); |
| 136 | while (!checkDelay(t_stop)) |
137 | while (!checkDelay(t_stop)) |
| 137 | ; |
138 | wdt_reset(); |
| Line 138... | Line 139... | ||
| 138 | } |
139 | } |
| 139 | 140 | ||
| 140 | // ----------------------------------------------------------------------- |
141 | // ----------------------------------------------------------------------- |
| 141 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
142 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
| 142 | uint16_t t_stop; |
143 | uint16_t t_stop; |
| - | 144 | t_stop = setDelay(w); |
|
| 143 | t_stop = setDelay(w); |
145 | while (!checkDelay(t_stop)) { |
| 144 | while (!checkDelay(t_stop)) { |
146 | wdt_reset(); |
| 145 | debugOut.analog[30]++; |
147 | debugOut.analog[30]++; |
| 146 | if (sensorDataReady == ALL_DATA_READY) { |
148 | if (sensorDataReady == ALL_DATA_READY) { |
| 147 | analog_update(); |
149 | analog_update(); |
| 148 | startAnalogConversionCycle(); |
150 | startAnalogConversionCycle(); |
| 149 | } |
151 | } |
| 150 | } |
152 | } |
| 151 | if (stop) { |
153 | if (stop) { |
| 152 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
154 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
| - | 155 | // Caller MUST to that. |
|
| - | 156 | while (!sensorDataReady != ALL_DATA_READY) wdt_reset(); |
|
| - | 157 | } |
|
| - | 158 | } |
|
| - | 159 | ||
| - | 160 | #ifdef DO_PROFILE |
|
| - | 161 | void startProfileTimer(uint8_t timer) { |
|
| - | 162 | runningProfileTimers[timer] = global10kHzClock++; |
|
| - | 163 | } |
|
| - | 164 | ||
| - | 165 | void stopProfileTimer(uint8_t timer) { |
|
| - | 166 | int32_t t = global10kHzClock++ - runningProfileTimers[timer]; |
|
| - | 167 | profileTimers[timer] += t; |
|
| - | 168 | } |
|
| - | 169 | ||
| - | 170 | void debugProfileTimers(uint8_t index) { |
|
| - | 171 | for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
|
| 153 | // Caller MUST to that. |
172 | uint16_t tenths = profileTimers[i] / 1000L; |
| - | 173 | debugOut.analog[i+index] = tenths; |
|
| - | 174 | } |
|
| 154 | // while (!sensorDataReady != ALL_DATA_READY); |
175 | uint16_t tenths = global10kHzClock / 1000L; |
| - | 176 | debugOut.analog[index + NUM_PROFILE_TIMERS] = tenths; |
|