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| Rev | Author | Line No. | Line |
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| 1910 | - | 1 | #include <inttypes.h> |
| 2 | #include <avr/io.h> |
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| 3 | #include <avr/interrupt.h> |
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| 4 | #include "eeprom.h" |
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| 5 | #include "analog.h" |
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| 6 | |||
| 7 | // for debugging! |
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| 8 | #include "uart0.h" |
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| 9 | #include "output.h" |
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| 10 | |||
| 11 | #ifdef USE_MK3MAG |
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| 12 | #include "mk3mag.h" |
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| 13 | #endif |
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| 14 | |||
| 15 | volatile uint16_t millisecondsCount = 0; |
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| 16 | volatile uint8_t runFlightControl = 0; |
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| 17 | volatile uint16_t cntKompass = 0; |
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| 18 | volatile uint16_t beepTime = 0; |
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| 19 | volatile uint16_t beepModulation = 0xFFFF; |
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| 20 | |||
| 21 | #ifdef USE_NAVICTRL |
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| 22 | volatile uint8_t SendSPI = 0; |
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| 23 | #endif |
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| 24 | |||
| 25 | /***************************************************** |
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| 26 | * Initialize Timer 0 |
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| 27 | *****************************************************/ |
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| 28 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
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| 29 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
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| 30 | void timer0_init(void) { |
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| 31 | uint8_t sreg = SREG; |
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| 32 | |||
| 33 | // disable all interrupts before reconfiguration |
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| 34 | cli(); |
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| 35 | |||
| 36 | // Configure speaker port as output. |
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| 37 | |||
| 38 | if (BoardRelease == 10) { // Speaker at PD2 |
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| 39 | DDRD |= (1 << DDD2); |
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| 40 | PORTD &= ~(1 << PORTD2); |
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| 41 | } else { // Speaker at PC7 |
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| 42 | DDRC |= (1 << DDC7); |
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| 43 | PORTC &= ~(1 << PORTC7); |
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| 44 | } |
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| 45 | |||
| 46 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
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| 47 | DDRB |= (1 << DDB4) | (1 << DDB3); |
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| 48 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
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| 49 | |||
| 50 | // Timer/Counter 0 Control Register A |
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| 51 | |||
| 52 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
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| 53 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
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| 54 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
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| 55 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
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| 56 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
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| 57 | |||
| 58 | // Timer/Counter 0 Control Register B |
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| 59 | |||
| 60 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
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| 61 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
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| 62 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
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| 63 | |||
| 64 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
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| 65 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
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| 66 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
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| 67 | |||
| 68 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
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| 69 | OCR0A = 0; // for PB3 |
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| 70 | OCR0B = 120; // for PB4 |
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| 71 | |||
| 72 | // init Timer/Counter 0 Register |
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| 73 | TCNT0 = 0; |
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| 74 | |||
| 75 | // Timer/Counter 0 Interrupt Mask Register |
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| 76 | // enable timer overflow interrupt only |
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| 77 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
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| 78 | TIMSK0 |= (1 << TOIE0); |
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| 79 | |||
| 80 | SREG = sreg; |
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| 81 | } |
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| 82 | |||
| 83 | /*****************************************************/ |
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| 84 | /* Interrupt Routine of Timer 0 */ |
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| 85 | /*****************************************************/ |
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| 86 | ISR(TIMER0_OVF_vect) |
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| 87 | { // 9765.625 Hz |
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| 88 | static uint8_t cnt_1ms = 1, cnt = 0; |
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| 89 | uint8_t beeper_On = 0; |
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| 90 | |||
| 91 | #ifdef USE_NAVICTRL |
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| 92 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
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| 93 | #endif |
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| 94 | |||
| 95 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
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| 96 | cnt = 9; |
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| 97 | cnt_1ms ^= 1; |
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| 98 | if (!cnt_1ms) { |
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| 99 | if (runFlightControl == 1) |
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| 100 | DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
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| 101 | else |
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| 102 | DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
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| 103 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
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| 104 | } |
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| 105 | millisecondsCount++; // increment millisecond counter |
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| 106 | } |
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| 107 | |||
| 108 | // beeper on if duration is not over |
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| 109 | if (beepTime) { |
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| 110 | beepTime--; // decrement BeepTime |
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| 111 | if (beepTime & beepModulation) |
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| 112 | beeper_On = 1; |
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| 113 | else |
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| 114 | beeper_On = 0; |
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| 115 | } else { // beeper off if duration is over |
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| 116 | beeper_On = 0; |
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| 117 | beepModulation = 0xFFFF; |
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| 118 | } |
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| 119 | |||
| 120 | // if beeper is on |
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| 121 | if (beeper_On) { |
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| 122 | // set speaker port to high. |
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| 123 | if (BoardRelease == 10) |
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| 124 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
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| 125 | else |
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| 126 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
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| 127 | } else { // beeper is off |
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| 128 | // set speaker port to low |
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| 129 | if (BoardRelease == 10) |
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| 130 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
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| 131 | else |
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| 132 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
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| 133 | } |
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| 134 | |||
| 135 | #ifndef USE_NAVICTRL |
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| 136 | // update compass value if this option is enabled in the settings |
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| 137 | if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
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| 138 | #ifdef USE_MK3MAG |
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| 139 | MK3MAG_Update(); // read out mk3mag pwm |
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| 140 | #endif |
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| 141 | } |
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| 142 | #endif |
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| 143 | } |
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| 144 | |||
| 145 | // ----------------------------------------------------------------------- |
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| 146 | uint16_t setDelay(uint16_t t) { |
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| 147 | return (millisecondsCount + t - 1); |
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| 148 | } |
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| 149 | |||
| 150 | // ----------------------------------------------------------------------- |
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| 151 | int8_t checkDelay(uint16_t t) { |
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| 152 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
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| 153 | } |
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| 154 | |||
| 155 | // ----------------------------------------------------------------------- |
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| 156 | void delay_ms(uint16_t w) { |
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| 157 | uint16_t t_stop = setDelay(w); |
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| 158 | while (!checkDelay(t_stop)) |
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| 159 | ; |
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| 160 | } |
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| 161 | |||
| 162 | // ----------------------------------------------------------------------- |
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| 163 | void delay_ms_Mess(uint16_t w) { |
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| 164 | uint16_t t_stop; |
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| 165 | t_stop = setDelay(w); |
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| 166 | while (!checkDelay(t_stop)) { |
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| 167 | if (analogDataReady) { |
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| 168 | analogDataReady = 0; |
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| 169 | analog_start(); |
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| 170 | } |
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| 171 | } |
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| 172 | } |