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