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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 231 | killagreg | 1 | #include <inttypes.h> |
| 2 | #include <avr/io.h> |
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| 3 | #include <avr/interrupt.h> |
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| 4 | |||
| 274 | killagreg | 5 | #include "timer0.h" |
| 231 | killagreg | 6 | |
| 7 | volatile uint16_t CountMilliseconds = 0; |
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| 274 | killagreg | 8 | DateTime_t SystemTime; |
| 9 | |||
| 271 | killagreg | 10 | #ifdef USE_FOLLOWME |
| 11 | volatile uint16_t BeepTime = 0; |
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| 12 | volatile uint16_t BeepModulation = 0xFFFF; |
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| 13 | #endif |
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| 231 | killagreg | 14 | |
| 15 | |||
| 16 | /*****************************************************/ |
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| 17 | /* Initialize Timer 0 */ |
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| 18 | /*****************************************************/ |
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| 19 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
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| 20 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
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| 21 | void TIMER0_Init(void) |
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| 22 | { |
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| 23 | uint8_t sreg = SREG; |
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| 24 | |||
| 25 | // disable all interrupts before reconfiguration |
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| 26 | cli(); |
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| 27 | |||
| 271 | killagreg | 28 | |
| 29 | // configure speaker port as output |
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| 30 | |||
| 31 | #ifdef USE_FOLLOWME |
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| 32 | // Speaker at PC7 |
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| 33 | DDRC |= (1<<DDC7); |
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| 34 | PORTC &= ~(1<<PORTC7); |
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| 35 | #endif |
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| 36 | |||
| 231 | killagreg | 37 | // Timer/Counter 0 Control Register A |
| 38 | |||
| 296 | killagreg | 39 | // Waveform Generation None (Bits WGM02 = 0, WGM01 = 0, WGM00 = 0) |
| 40 | TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)|(1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00)); |
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| 231 | killagreg | 41 | |
| 42 | // Timer/Counter 0 Control Register B |
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| 43 | |||
| 44 | // set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
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| 45 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
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| 46 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
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| 47 | |||
| 48 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
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| 49 | TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
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| 50 | TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
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| 51 | |||
| 52 | // init Timer/Counter 0 Register |
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| 53 | TCNT0 = 0; |
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| 54 | |||
| 55 | // Timer/Counter 0 Interrupt Mask Register |
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| 56 | // enable timer overflow interrupt only |
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| 57 | TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
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| 58 | TIMSK0 |= (1<<TOIE0); |
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| 59 | |||
| 274 | killagreg | 60 | |
| 61 | SystemTime.Year = 0; |
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| 62 | SystemTime.Month = 0; |
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| 63 | SystemTime.Day = 0; |
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| 64 | SystemTime.Hour = 0; |
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| 65 | SystemTime.Min = 0; |
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| 66 | SystemTime.Sec = 0; |
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| 67 | SystemTime.mSec = 0; |
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| 68 | SystemTime.Valid = 0; |
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| 69 | |||
| 70 | CountMilliseconds = 0; |
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| 71 | |||
| 72 | |||
| 231 | killagreg | 73 | SREG = sreg; |
| 74 | } |
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| 75 | |||
| 76 | |||
| 77 | |||
| 78 | /*****************************************************/ |
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| 79 | /* Interrupt Routine of Timer 0 */ |
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| 80 | /*****************************************************/ |
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| 81 | ISR(TIMER0_OVF_vect) // 9.765 kHz |
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| 82 | { |
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| 83 | static uint8_t cnt = 0; |
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| 271 | killagreg | 84 | #ifdef USE_FOLLOWME |
| 85 | uint8_t Beeper_On = 0; |
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| 86 | #endif |
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| 231 | killagreg | 87 | |
| 88 | if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
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| 89 | { |
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| 90 | cnt = 9; |
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| 91 | CountMilliseconds++; // increment millisecond counter |
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| 92 | } |
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| 271 | killagreg | 93 | |
| 94 | #ifdef USE_FOLLOWME |
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| 95 | // beeper on if duration is not over |
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| 96 | if(BeepTime) |
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| 97 | { |
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| 98 | BeepTime--; // decrement BeepTime |
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| 99 | if(BeepTime & BeepModulation) Beeper_On = 1; |
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| 100 | else Beeper_On = 0; |
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| 101 | } |
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| 102 | else // beeper off if duration is over |
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| 103 | { |
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| 104 | Beeper_On = 0; |
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| 105 | BeepModulation = 0xFFFF; |
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| 106 | } |
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| 107 | |||
| 108 | // if beeper is on |
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| 109 | if(Beeper_On) |
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| 110 | { |
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| 111 | // set speaker port to high |
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| 112 | PORTC |= (1<<PORTC7); // Speaker at PC7 |
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| 113 | } |
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| 114 | else // beeper is off |
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| 115 | { |
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| 116 | // set speaker port to low |
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| 117 | PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
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| 118 | } |
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| 119 | #endif |
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| 231 | killagreg | 120 | } |
| 121 | |||
| 122 | |||
| 123 | // ----------------------------------------------------------------------- |
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| 124 | uint16_t SetDelay (uint16_t t) |
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| 125 | { |
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| 126 | return(CountMilliseconds + t - 1); |
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| 127 | } |
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| 128 | |||
| 129 | // ----------------------------------------------------------------------- |
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| 130 | int8_t CheckDelay(uint16_t t) |
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| 131 | { |
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| 132 | return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
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| 133 | } |
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| 134 | |||
| 135 | // ----------------------------------------------------------------------- |
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| 136 | void Delay_ms(uint16_t w) |
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| 137 | { |
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| 138 | unsigned int t_stop; |
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| 139 | t_stop = SetDelay(w); |
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| 140 | while (!CheckDelay(t_stop)); |
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| 141 | } |
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| 142 |