Subversion Repositories FlightCtrl

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

//#include "eeprom.h"

#include "profiler.h"

#include "controlMixer.h"

#include "configuration.h"

#include "analog.h"

#include "timer0.h"

#include "debug.h"

#include "beeper.h"

#include "output.h"

#include "commands.h"

#include "flight.h"

#include "uart0.h"

#include "twimaster.h"

#ifdef USE_MK3MAG

#include "mk3mag.h"

#endif

#define MILLIS_DIVIDER 10

volatile uint32_t jiffiesClock;

volatile uint32_t millisClock;

volatile uint8_t  loopJiffiesClock;

volatile uint16_t beepTime;

volatile uint16_t beepModulation = BEEP_MODULATION_NONE;

volatile uint8_t flightControlStatus;

/*****************************************************

 * Initialize Timer 0                  

 *****************************************************/

// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor

// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate

void timer0_init(void) {

        uint8_t sreg = SREG;

        // disable all interrupts before reconfiguration

        cli();

        // Configure speaker port as output.

        if (boardRelease == 10) { // Speaker at PD2

                DDRD |= (1 << DDD2);

                PORTD &= ~(1 << PORTD2);

        } else { // Speaker at PC7

                DDRC |= (1 << DDC7);

                PORTC &= ~(1 << PORTC7);

        }

        // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor

        DDRB |= (1 << DDB4) | (1 << DDB3);

        PORTB &= ~((1 << PORTB4) | (1 << PORTB3));

        // Timer/Counter 0 Control Register A

        // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)

        // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)

        // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)

        TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0));

        TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00);

        // Timer/Counter 0 Control Register B

        // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz/8 = 2.5MHz

        // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz

        // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz

        // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)

        TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02));

        TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00);

        // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4

        OCR0A = 0; // for PB3

        OCR0B = 120; // for PB4

        // init Timer/Counter 0 Register

        TCNT0 = 0;

        // Timer/Counter 0 Interrupt Mask Register

        // enable timer overflow interrupt only

        TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A));

        TIMSK0 |= (1 << TOIE0);

        SREG = sreg;

}

void runFlightControlTask(void) {

        if (flightControlStatus != NOT_RUNNING) {

                // Previous execution not completed! It is dangerous to start another.

                debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;

                return;

        }

        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;

        controlMixer_periodicTask();

        commands_handleCommands();

        flightControlStatus = RUNNING;

    if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout

         if (!I2CTimeout) {

             I2C_reset();

             I2CTimeout = 5;

         }

         beepI2CAlarm();

     }

        if (analog_controlDataStatus != CONTROL_SENSOR_DATA_READY) {

                // Analog data should have been ready but is not!!

                debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;

        } else {

                debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;

                J4HIGH;

                analog_sumAttitudeData();

                analog_updateControlData();

                flight_control();

                output_applyMulticopterMixer();

                I2C_start(TWI_STATE_MOTOR_TX);

                J4LOW;

        }

        flightControlStatus = NOT_RUNNING;

}

/*****************************************************/

/*          Interrupt Routine of Timer 0             */

/*****************************************************/

ISR (TIMER0_OVF_vect) { // 9765.625 Hz

        static uint8_t millisDivider = MILLIS_DIVIDER;

        static uint8_t controlLoopDivider = CONTROLLOOP_DIVIDER;

        static uint8_t serialLoopDivider = SERIALLOOP_DIVIDER /2;

    static uint8_t outputLoopDivider = OUTPUTLOOP_DIVIDER /3;

        uint8_t beeperOn = 0;

        jiffiesClock++;

        loopJiffiesClock++;

        // profiler_scoreTimerHit();

        sei();

        if (!--millisDivider) {

                millisClock++;

                millisDivider = MILLIS_DIVIDER;

        }

        if (!--controlLoopDivider) {

            //sei();

                controlLoopDivider= CONTROLLOOP_DIVIDER;

                runFlightControlTask();

                //cli();

        }

    if (!--serialLoopDivider) {

        //sei();

        serialLoopDivider= SERIALLOOP_DIVIDER;

        // Allow serial data transmission if there is still time, or if we are not flying anyway.

        usart0_transmitTxData();

        usart0_processRxData();

        //cli();

    }

    if (!--outputLoopDivider) {

        //sei();

        outputLoopDivider= OUTPUTLOOP_DIVIDER;

        output_update();

        //cli();

    }

        // beeper on if duration is not over

        if (beepTime) {

                beepTime--; // decrement BeepTime

                if (beepTime & beepModulation)

                        beeperOn = 1;

                else

                        beeperOn = 0;

        } else { // beeper off if duration is over

                beeperOn = 0;

                beepModulation = BEEP_MODULATION_NONE;

        }

        if (beeperOn) {

                // set speaker port to high.

                if (boardRelease == 10)

                        PORTD |= (1 << PORTD2); // Speaker at PD2

                else

                        PORTC |= (1 << PORTC7); // Speaker at PC7

        } else { // beeper is off

                // set speaker port to low

                if (boardRelease == 10)

                        PORTD &= ~(1 << PORTD2);// Speaker at PD2

                else

                        PORTC &= ~(1 << PORTC7);// Speaker at PC7

        }

#ifdef USE_MK3MAG

        // update compass value if this option is enabled in the settings

        if (staticParams.bitConfig & CFG_COMPASS_ENABLED) {

                MK3MAG_periodicTask(); // read out mk3mag pwm

        }

#endif

}

// -----------------------------------------------------------------------

uint16_t setDelay(uint16_t t) {

        return (millisClock + t - 1);

}

// -----------------------------------------------------------------------

int8_t checkDelay(uint16_t t) {

        return (((t - millisClock) & 0x8000) >> 8); // check sign bit

}

// -----------------------------------------------------------------------

void delay_ms(uint16_t w) {

        uint16_t t_stop = setDelay(w);

        while (!checkDelay(t_stop))

                ;

}