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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <inttypes.h> |
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52 | #include <avr/io.h> |
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53 | #include <avr/interrupt.h> |
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54 | #include "eeprom.h" |
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55 | #include "analog.h" |
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56 | |||
1775 | - | 57 | // for degugging! |
58 | #include "rc.h" |
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59 | |||
1612 | dongfang | 60 | #ifdef USE_MK3MAG |
61 | #include "mk3mag.h" |
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62 | #endif |
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63 | |||
64 | volatile uint16_t CountMilliseconds = 0; |
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65 | volatile uint8_t runFlightControl = 0; |
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66 | volatile uint16_t cntKompass = 0; |
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67 | volatile uint16_t BeepTime = 0; |
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68 | volatile uint16_t BeepModulation = 0xFFFF; |
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69 | |||
70 | #ifdef USE_NAVICTRL |
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71 | volatile uint8_t SendSPI = 0; |
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72 | #endif |
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73 | |||
74 | /***************************************************** |
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75 | * Initialize Timer 0 |
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76 | *****************************************************/ |
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77 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
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78 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
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79 | void timer0_init(void) { |
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80 | uint8_t sreg = SREG; |
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81 | |||
82 | // disable all interrupts before reconfiguration |
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83 | cli(); |
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84 | |||
85 | // Configure speaker port as output. |
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86 | |||
87 | if(BoardRelease == 10) { // Speaker at PD2 |
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88 | DDRD |= (1<<DDD2); |
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89 | PORTD &= ~(1<<PORTD2); |
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90 | } else { // Speaker at PC7 |
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91 | DDRC |= (1<<DDC7); |
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92 | PORTC &= ~(1<<PORTC7); |
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93 | } |
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94 | |||
95 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
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96 | DDRB |= (1<<DDB4)|(1<<DDB3); |
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97 | PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
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98 | |||
99 | // Timer/Counter 0 Control Register A |
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100 | |||
101 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
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102 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
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103 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
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104 | TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
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105 | TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
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106 | |||
107 | // Timer/Counter 0 Control Register B |
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108 | |||
109 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
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110 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
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111 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
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112 | |||
113 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
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114 | TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
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115 | TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
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116 | |||
117 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
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118 | OCR0A = 0; // for PB3 |
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119 | OCR0B = 120; // for PB4 |
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120 | |||
121 | // init Timer/Counter 0 Register |
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122 | TCNT0 = 0; |
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123 | |||
124 | // Timer/Counter 0 Interrupt Mask Register |
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125 | // enable timer overflow interrupt only |
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126 | TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
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127 | TIMSK0 |= (1<<TOIE0); |
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128 | |||
129 | SREG = sreg; |
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130 | } |
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131 | |||
132 | /*****************************************************/ |
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133 | /* Interrupt Routine of Timer 0 */ |
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134 | /*****************************************************/ |
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135 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
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136 | static uint8_t cnt_1ms = 1,cnt = 0; |
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137 | uint8_t Beeper_On = 0; |
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138 | |||
139 | #ifdef USE_NAVICTRL |
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140 | 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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141 | #endif |
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142 | |||
143 | if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
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144 | cnt = 9; |
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1634 | - | 145 | cnt_1ms^=1; |
1775 | - | 146 | if(!cnt_1ms) { |
147 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
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148 | } |
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1612 | dongfang | 149 | CountMilliseconds++; // increment millisecond counter |
150 | } |
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151 | |||
152 | // beeper on if duration is not over |
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153 | if(BeepTime) { |
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154 | BeepTime--; // decrement BeepTime |
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155 | if(BeepTime & BeepModulation) Beeper_On = 1; |
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156 | else Beeper_On = 0; |
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157 | } |
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158 | else { // beeper off if duration is over |
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159 | Beeper_On = 0; |
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160 | BeepModulation = 0xFFFF; |
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161 | } |
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162 | |||
163 | // if beeper is on |
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164 | if(Beeper_On) { |
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165 | // set speaker port to high. |
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166 | if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
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167 | else PORTC |= (1<<PORTC7); // Speaker at PC7 |
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168 | } else { // beeper is off |
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169 | // set speaker port to low |
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170 | if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
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171 | else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
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172 | } |
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173 | |||
174 | #ifndef USE_NAVICTRL |
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175 | // update compass value if this option is enabled in the settings |
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176 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
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177 | #ifdef USE_MK3MAG |
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178 | MK3MAG_Update(); // read out mk3mag pwm |
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179 | #endif |
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180 | } |
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181 | #endif |
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182 | } |
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183 | |||
184 | // ----------------------------------------------------------------------- |
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185 | uint16_t SetDelay (uint16_t t) { |
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186 | return(CountMilliseconds + t - 1); |
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187 | } |
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188 | |||
189 | // ----------------------------------------------------------------------- |
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190 | int8_t CheckDelay(uint16_t t) { |
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191 | return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
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192 | } |
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193 | |||
194 | // ----------------------------------------------------------------------- |
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195 | void Delay_ms(uint16_t w) { |
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196 | uint16_t t_stop = SetDelay(w); |
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197 | while (!CheckDelay(t_stop)); |
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198 | } |
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199 | |||
200 | // ----------------------------------------------------------------------- |
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201 | void Delay_ms_Mess(uint16_t w) { |
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202 | uint16_t t_stop; |
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203 | t_stop = SetDelay(w); |
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204 | while (!CheckDelay(t_stop)) { |
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205 | if(analogDataReady) { |
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206 | analogDataReady = 0; |
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207 | analog_start(); |
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208 | } |
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209 | } |
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210 | } |