Subversion Repositories FlightCtrl

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
1471 Nick666 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25
// + mit unserer Zustimmung zulässig
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34
// +     for non-commercial use (directly or indirectly)
35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36
// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49
// +  POSSIBILITY OF SUCH DAMAGE.
50
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51
#include <inttypes.h>
52
#include <avr/io.h>
53
#include <avr/interrupt.h>
54
#include "eeprom.h"
55
#include "analog.h"
56
#include "main.h"
57
#include "fc.h"
58
#ifdef USE_KILLAGREG
59
#include "mm3.h"
60
#endif
61
#ifdef USE_MK3MAG
62
#include "mk3mag.h"
63
#endif
64
 
65
volatile uint8_t Count100uSeconds=0;
66
 
67
volatile uint16_t CountMilliseconds = 0;
68
volatile uint8_t UpdateMotor = 0;
69
volatile uint16_t cntKompass = 0;
70
volatile uint16_t BeepTime = 0;
71
volatile uint16_t BeepModulation = 0xFFFF;
72
 
73
#ifdef USE_NAVICTRL
74
volatile uint8_t SendSPI = 0;
75
#endif
76
 
77
 
78
 
79
/*****************************************************/
80
/*              Initialize Timer 0                   */
81
/*****************************************************/
82
// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
83
// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
84
void TIMER0_Init(void)
85
{
86
        uint8_t sreg = SREG;
87
 
88
        // disable all interrupts before reconfiguration
89
        cli();
90
 
91
        // configure speaker port as output
92
        if(BoardRelease == 10)
93
        {       // Speaker at PD2
94
                DDRD |= (1<<DDD2);
95
                PORTD &= ~(1<<PORTD2);
96
        }
97
        else
98
        {       // Speaker at PC7
99
                DDRC |= (1<<DDC7);
100
                PORTC &= ~(1<<PORTC7);
101
        }
102
 
103
        // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor
104
        DDRB |= (1<<DDB4)|(1<<DDB3);
105
        PORTB &= ~((1<<PORTB4)|(1<<PORTB3));
106
 
107
        // Timer/Counter 0 Control Register A
108
 
109
        // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
110
        // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
111
        // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
112
        TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0));
113
        TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00);
114
 
115
        // Timer/Counter 0 Control Register B
116
 
117
        // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
118
        // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
119
        // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
120
 
121
        // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
122
        TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02));
123
        TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00);
124
 
125
        // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
126
        OCR0A =  0;  // for PB3
127
        OCR0B = 120; // for PB4
128
 
129
        // init Timer/Counter 0 Register
130
        TCNT0 = 0;
131
 
132
        // Timer/Counter 0 Interrupt Mask Register
133
        // enable timer overflow interrupt only
134
        TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A));
135
        TIMSK0 |= (1<<TOIE0);
136
 
137
        SREG = sreg;
138
}
139
 
140
 
141
 
142
/*****************************************************/
143
/*          Interrupt Routine of Timer 0             */
144
/*****************************************************/
145
ISR(TIMER0_OVF_vect)    // 9.765 kHz
146
{
147
        static uint8_t cnt_1ms = 1,cnt = 0;
148
        uint8_t Beeper_On = 0;
149
 
150
        Count100uSeconds++;
151
 
152
#ifdef USE_NAVICTRL
153
        if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
154
#endif
155
 
156
        if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
157
        {
158
                cnt = 9;
159
                cnt_1ms++;
160
                cnt_1ms %= 2;
161
                if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
162
                CountMilliseconds++; // increment millisecond counter
163
        }
164
 
165
 
166
        // beeper on if duration is not over
167
        if(BeepTime)
168
        {
169
                BeepTime--; // decrement BeepTime
170
                if(BeepTime & BeepModulation) Beeper_On = 1;
171
                else Beeper_On = 0;
172
        }
173
        else // beeper off if duration is over
174
        {
175
                Beeper_On = 0;
176
                BeepModulation = 0xFFFF;
177
        }
178
 
179
        // if beeper is on
180
        if(Beeper_On)
181
        {
182
                // set speaker port to high
183
                if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2
184
                else                   PORTC |= (1<<PORTC7); // Speaker at PC7
185
        }
186
        else // beeper is off
187
        {
188
                // set speaker port to low
189
                if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2
190
                else                   PORTC &= ~(1<<PORTC7);// Speaker at PC7
191
        }
192
 
193
        #ifndef USE_NAVICTRL
194
        // update compass value if this option is enabled in the settings
195
        if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
196
        {
197
        #ifdef USE_KILLAGREG
198
                MM3_Update(); // read out mm3 board
199
        #endif
200
        #ifdef USE_MK3MAG
201
                MK3MAG_Update(); // read out mk3mag pwm
202
        #endif
203
        }
204
        #endif
205
}
206
 
207
 
208
 
209
// -----------------------------------------------------------------------
210
uint16_t SetDelay (uint16_t t)
211
{
212
        return(CountMilliseconds + t - 1);
213
}
214
 
215
// -----------------------------------------------------------------------
216
int8_t CheckDelay(uint16_t t)
217
{
218
        return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
219
}
220
 
221
// -----------------------------------------------------------------------
222
void Delay_ms(uint16_t w)
223
{
224
        uint16_t t_stop;
225
        t_stop = SetDelay(w);
226
        while (!CheckDelay(t_stop));
227
}
228
 
229
// -----------------------------------------------------------------------
230
void Delay_ms_Mess(uint16_t w)
231
{
232
        uint16_t t_stop;
233
        t_stop = SetDelay(w);
234
        while (!CheckDelay(t_stop))
235
        {
236
                if(ADReady)
237
                {
238
                        ADReady = 0;
239
                        ADC_Enable();
240
                }
241
        }
242
}
243