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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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1963 | - | 3 | // + Nur f�r den privaten Gebrauch |
1612 | dongfang | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1963 | - | 6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
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1612 | dongfang | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1963 | - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
1612 | dongfang | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1963 | - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
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1612 | dongfang | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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1963 | - | 17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
1612 | dongfang | 18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1963 | - | 20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
1963 | - | 22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
1612 | dongfang | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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1963 | - | 25 | // + mit unserer Zustimmung zul�ssig |
1612 | dongfang | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
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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1963 | - | 56 | #include "controlMixer.h" |
1612 | dongfang | 57 | |
1908 | - | 58 | #include "timer0.h" |
1805 | - | 59 | // for debugging! |
1869 | - | 60 | #include "uart0.h" |
61 | #include "output.h" |
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1775 | - | 62 | |
1612 | dongfang | 63 | #ifdef USE_MK3MAG |
64 | #include "mk3mag.h" |
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65 | #endif |
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66 | |||
1887 | - | 67 | volatile uint16_t millisecondsCount = 0; |
68 | volatile uint8_t runFlightControl = 0; |
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1612 | dongfang | 69 | volatile uint16_t cntKompass = 0; |
1887 | - | 70 | volatile uint16_t beepTime = 0; |
1908 | - | 71 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
1612 | dongfang | 72 | |
73 | #ifdef USE_NAVICTRL |
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74 | volatile uint8_t SendSPI = 0; |
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75 | #endif |
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76 | |||
77 | /***************************************************** |
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78 | * Initialize Timer 0 |
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79 | *****************************************************/ |
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80 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
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81 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
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82 | void timer0_init(void) { |
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1872 | - | 83 | uint8_t sreg = SREG; |
1612 | dongfang | 84 | |
1872 | - | 85 | // disable all interrupts before reconfiguration |
86 | cli(); |
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1612 | dongfang | 87 | |
1872 | - | 88 | // Configure speaker port as output. |
1612 | dongfang | 89 | |
1960 | - | 90 | if (boardRelease == 10) { // Speaker at PD2 |
1872 | - | 91 | DDRD |= (1 << DDD2); |
92 | PORTD &= ~(1 << PORTD2); |
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93 | } else { // Speaker at PC7 |
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94 | DDRC |= (1 << DDC7); |
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95 | PORTC &= ~(1 << PORTC7); |
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96 | } |
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1612 | dongfang | 97 | |
1872 | - | 98 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
99 | DDRB |= (1 << DDB4) | (1 << DDB3); |
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100 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
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1612 | dongfang | 101 | |
1872 | - | 102 | // Timer/Counter 0 Control Register A |
1612 | dongfang | 103 | |
1872 | - | 104 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
105 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
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106 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
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107 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
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108 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
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1612 | dongfang | 109 | |
1872 | - | 110 | // Timer/Counter 0 Control Register B |
1612 | dongfang | 111 | |
1872 | - | 112 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
113 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
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114 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
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1612 | dongfang | 115 | |
1872 | - | 116 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
117 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
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118 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
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1612 | dongfang | 119 | |
1872 | - | 120 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
121 | OCR0A = 0; // for PB3 |
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122 | OCR0B = 120; // for PB4 |
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1612 | dongfang | 123 | |
1872 | - | 124 | // init Timer/Counter 0 Register |
125 | TCNT0 = 0; |
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1612 | dongfang | 126 | |
1872 | - | 127 | // Timer/Counter 0 Interrupt Mask Register |
128 | // enable timer overflow interrupt only |
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129 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
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130 | TIMSK0 |= (1 << TOIE0); |
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1821 | - | 131 | |
1872 | - | 132 | SREG = sreg; |
1612 | dongfang | 133 | } |
134 | |||
135 | /*****************************************************/ |
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136 | /* Interrupt Routine of Timer 0 */ |
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137 | /*****************************************************/ |
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1821 | - | 138 | ISR(TIMER0_OVF_vect) |
139 | { // 9765.625 Hz |
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1872 | - | 140 | static uint8_t cnt_1ms = 1, cnt = 0; |
1887 | - | 141 | uint8_t beeper_On = 0; |
1821 | - | 142 | |
1612 | dongfang | 143 | #ifdef USE_NAVICTRL |
1872 | - | 144 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
1612 | dongfang | 145 | #endif |
1821 | - | 146 | |
1872 | - | 147 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
148 | cnt = 9; |
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149 | cnt_1ms ^= 1; |
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150 | if (!cnt_1ms) { |
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151 | if (runFlightControl == 1) |
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1955 | - | 152 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
1872 | - | 153 | else |
1955 | - | 154 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
1872 | - | 155 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
156 | } |
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1887 | - | 157 | millisecondsCount++; // increment millisecond counter |
1872 | - | 158 | } |
1821 | - | 159 | |
1872 | - | 160 | // beeper on if duration is not over |
1887 | - | 161 | if (beepTime) { |
162 | beepTime--; // decrement BeepTime |
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163 | if (beepTime & beepModulation) |
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1960 | - | 164 | // beeper_On = 1; |
1963 | - | 165 | beeper_On = 1; // shut up in dev!!! |
1872 | - | 166 | else |
1887 | - | 167 | beeper_On = 0; |
1872 | - | 168 | } else { // beeper off if duration is over |
1887 | - | 169 | beeper_On = 0; |
1908 | - | 170 | beepModulation = BEEP_MODULATION_NONE; |
1872 | - | 171 | } |
1821 | - | 172 | |
2026 | - | 173 | if (beeper_On) { |
1872 | - | 174 | // set speaker port to high. |
1960 | - | 175 | if (boardRelease == 10) |
1872 | - | 176 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
177 | else |
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178 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
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179 | } else { // beeper is off |
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180 | // set speaker port to low |
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1960 | - | 181 | if (boardRelease == 10) |
1872 | - | 182 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
183 | else |
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184 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
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185 | } |
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1821 | - | 186 | |
1612 | dongfang | 187 | #ifndef USE_NAVICTRL |
1872 | - | 188 | // update compass value if this option is enabled in the settings |
1960 | - | 189 | if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
1612 | dongfang | 190 | #ifdef USE_MK3MAG |
1872 | - | 191 | MK3MAG_Update(); // read out mk3mag pwm |
1612 | dongfang | 192 | #endif |
1872 | - | 193 | } |
1612 | dongfang | 194 | #endif |
195 | } |
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196 | |||
197 | // ----------------------------------------------------------------------- |
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1887 | - | 198 | uint16_t setDelay(uint16_t t) { |
199 | return (millisecondsCount + t - 1); |
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1612 | dongfang | 200 | } |
201 | |||
202 | // ----------------------------------------------------------------------- |
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1887 | - | 203 | int8_t checkDelay(uint16_t t) { |
204 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
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1612 | dongfang | 205 | } |
206 | |||
207 | // ----------------------------------------------------------------------- |
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1887 | - | 208 | void delay_ms(uint16_t w) { |
209 | uint16_t t_stop = setDelay(w); |
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210 | while (!checkDelay(t_stop)) |
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1872 | - | 211 | ; |
1612 | dongfang | 212 | } |
213 | |||
214 | // ----------------------------------------------------------------------- |
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2015 | - | 215 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
1872 | - | 216 | uint16_t t_stop; |
1887 | - | 217 | t_stop = setDelay(w); |
218 | while (!checkDelay(t_stop)) { |
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2015 | - | 219 | if (analogDataReady) { |
220 | analog_update(); |
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221 | startAnalogConversionCycle(); |
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222 | } |
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1872 | - | 223 | } |
2015 | - | 224 | if (stop) { |
225 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
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226 | // Caller MUST to that. |
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227 | while (!analogDataReady); |
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228 | } |
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1612 | dongfang | 229 | } |