Rev 1634 | Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1612 | dongfang | 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 | |||
57 | #ifdef USE_MK3MAG |
||
58 | #include "mk3mag.h" |
||
59 | #endif |
||
60 | |||
61 | volatile uint16_t CountMilliseconds = 0; |
||
62 | volatile uint8_t runFlightControl = 0; |
||
63 | volatile uint16_t cntKompass = 0; |
||
64 | volatile uint16_t BeepTime = 0; |
||
65 | volatile uint16_t BeepModulation = 0xFFFF; |
||
66 | |||
67 | #ifdef USE_NAVICTRL |
||
68 | volatile uint8_t SendSPI = 0; |
||
69 | #endif |
||
70 | |||
71 | /***************************************************** |
||
72 | * Initialize Timer 0 |
||
73 | *****************************************************/ |
||
74 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
||
75 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
||
76 | void timer0_init(void) { |
||
77 | uint8_t sreg = SREG; |
||
78 | |||
79 | // disable all interrupts before reconfiguration |
||
80 | cli(); |
||
81 | |||
82 | // Configure speaker port as output. |
||
83 | |||
84 | if(BoardRelease == 10) { // Speaker at PD2 |
||
85 | DDRD |= (1<<DDD2); |
||
86 | PORTD &= ~(1<<PORTD2); |
||
87 | } else { // Speaker at PC7 |
||
88 | DDRC |= (1<<DDC7); |
||
89 | PORTC &= ~(1<<PORTC7); |
||
90 | } |
||
91 | |||
92 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
||
93 | DDRB |= (1<<DDB4)|(1<<DDB3); |
||
94 | PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
||
95 | |||
96 | // Timer/Counter 0 Control Register A |
||
97 | |||
98 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
||
99 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
||
100 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
||
101 | TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
||
102 | TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
||
103 | |||
104 | // Timer/Counter 0 Control Register B |
||
105 | |||
106 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
||
107 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
||
108 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
||
109 | |||
110 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
||
111 | TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
||
112 | TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
||
113 | |||
114 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
||
115 | OCR0A = 0; // for PB3 |
||
116 | OCR0B = 120; // for PB4 |
||
117 | |||
118 | // init Timer/Counter 0 Register |
||
119 | TCNT0 = 0; |
||
120 | |||
121 | // Timer/Counter 0 Interrupt Mask Register |
||
122 | // enable timer overflow interrupt only |
||
123 | TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
||
124 | TIMSK0 |= (1<<TOIE0); |
||
125 | |||
126 | SREG = sreg; |
||
127 | } |
||
128 | |||
129 | /*****************************************************/ |
||
130 | /* Interrupt Routine of Timer 0 */ |
||
131 | /*****************************************************/ |
||
132 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
||
133 | static uint8_t cnt_1ms = 1,cnt = 0; |
||
134 | uint8_t Beeper_On = 0; |
||
135 | |||
136 | #ifdef USE_NAVICTRL |
||
137 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
||
138 | #endif |
||
139 | |||
140 | if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
||
141 | cnt = 9; |
||
142 | cnt_1ms++; |
||
143 | cnt_1ms %= 2; |
||
144 | if(!cnt_1ms) runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
||
145 | CountMilliseconds++; // increment millisecond counter |
||
146 | } |
||
147 | |||
148 | // beeper on if duration is not over |
||
149 | if(BeepTime) { |
||
150 | BeepTime--; // decrement BeepTime |
||
151 | if(BeepTime & BeepModulation) Beeper_On = 1; |
||
152 | else Beeper_On = 0; |
||
153 | } |
||
154 | else { // beeper off if duration is over |
||
155 | Beeper_On = 0; |
||
156 | BeepModulation = 0xFFFF; |
||
157 | } |
||
158 | |||
159 | // if beeper is on |
||
160 | if(Beeper_On) { |
||
161 | // set speaker port to high. |
||
162 | if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
||
163 | else PORTC |= (1<<PORTC7); // Speaker at PC7 |
||
164 | } else { // beeper is off |
||
165 | // set speaker port to low |
||
166 | if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
||
167 | else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
||
168 | } |
||
169 | |||
170 | #ifndef USE_NAVICTRL |
||
171 | // update compass value if this option is enabled in the settings |
||
172 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
||
173 | #ifdef USE_MK3MAG |
||
174 | MK3MAG_Update(); // read out mk3mag pwm |
||
175 | #endif |
||
176 | } |
||
177 | #endif |
||
178 | } |
||
179 | |||
180 | // ----------------------------------------------------------------------- |
||
181 | uint16_t SetDelay (uint16_t t) { |
||
182 | return(CountMilliseconds + t - 1); |
||
183 | } |
||
184 | |||
185 | // ----------------------------------------------------------------------- |
||
186 | int8_t CheckDelay(uint16_t t) { |
||
187 | return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
||
188 | } |
||
189 | |||
190 | // ----------------------------------------------------------------------- |
||
191 | void Delay_ms(uint16_t w) { |
||
192 | uint16_t t_stop = SetDelay(w); |
||
193 | while (!CheckDelay(t_stop)); |
||
194 | } |
||
195 | |||
196 | // ----------------------------------------------------------------------- |
||
197 | void Delay_ms_Mess(uint16_t w) { |
||
198 | uint16_t t_stop; |
||
199 | t_stop = SetDelay(w); |
||
200 | while (!CheckDelay(t_stop)) { |
||
201 | if(analogDataReady) { |
||
202 | analogDataReady = 0; |
||
203 | analog_start(); |
||
204 | } |
||
205 | } |
||
206 | } |