WebSVN - FlightCtrl - Diff - Rev 1910 and 2099 - /branches/dongfang_FC

 #include <inttypes.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "eeprom.h"
 #include "analog.h"
+#include "controlMixer.h"
-// for debugging!
-#include "uart0.h"
+#include "timer0.h"
 #include "output.h"
 #ifdef USE_MK3MAG
 #include "mk3mag.h"
 #endif
 volatile uint16_t millisecondsCount = 0;
-volatile uint8_t  runFlightControl = 0;
+volatile uint32_t globalMillisClock = 0;
-volatile uint16_t cntKompass = 0;
+volatile uint8_t  runFlightControl = 0;
 volatile uint16_t beepTime = 0;
-volatile uint16_t beepModulation = 0xFFFF;
+volatile uint16_t beepModulation = BEEP_MODULATION_NONE;
   // disable all interrupts before reconfiguration
   cli();
-  // Configure speaker port as output.
   // Configure speaker port as output.
-  if (BoardRelease == 10) { // Speaker at PD2
+  if (boardRelease == 10) { // Speaker at PD2
     DDRD |= (1 << DDD2);
     PORTD &= ~(1 << PORTD2);
   } else { // Speaker at PC7
   // 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
+  // Timer/Counter 0 Control Register B
-  // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
+  // 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
+  // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz
   // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
+}
 /*****************************************************/
 /*          Interrupt Routine of Timer 0             */
 /*****************************************************/
-ISR(TIMER0_OVF_vect)
-{ // 9765.625 Hz
+ISR(TIMER0_OVF_vect) { // 9765.625 Hz
   static uint8_t cnt_1ms = 1, cnt = 0;
-  uint8_t beeper_On = 0;
+  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
   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;
+        debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
       else
-        DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
+        debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
       runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
+    }
-    millisecondsCount++; // increment millisecond counter
+    globalMillisClock++; // increment millisecond counter
+  }
   // beeper on if duration is not over
   if (beepTime) {
     beepTime--; // decrement BeepTime
     if (beepTime & beepModulation)
-      beeper_On = 1;
+      beeperOn = 1;
     else
-      beeper_On = 0;
+      beeperOn = 0;
-  } else { // beeper off if duration is over
-    beeper_On = 0;
+  } else { // beeper off if duration is over
-    beepModulation = 0xFFFF;
+    beeperOn = 0;
-  }
+    beepModulation = BEEP_MODULATION_NONE;
+  }
   // if beeper is on
-  if (beeper_On) {
+  if (beeperOn) {
     // set speaker port to high.
-    if (BoardRelease == 10)
+    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
+    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.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
+#ifdef USE_MK3MAG
-#ifdef USE_MK3MAG
+  // update compass value if this option is enabled in the settings
-    MK3MAG_Update(); // read out mk3mag pwm
+  if (staticParams.bitConfig & CFG_COMPASS_ENABLED) {
-#endif
+    MK3MAG_periodicTask(); // read out mk3mag pwm
+  }
 #endif
+}
 // -----------------------------------------------------------------------
 uint16_t setDelay(uint16_t t) {
-  return (millisecondsCount + t - 1);
+  return (globalMillisClock + t - 1);
+}
 // -----------------------------------------------------------------------
 int8_t checkDelay(uint16_t t) {
-  return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit
+  return (((t - globalMillisClock) & 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) {

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/timer0.c - Rev 1910 → 2099