0,0 → 1,155 |
#include <inttypes.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "eeprom.h" |
#include "analog.h" |
#include "controlMixer.h" |
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#include "timer0.h" |
#include "output.h" |
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#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
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volatile uint32_t globalMillisClock = 0; |
volatile uint8_t runFlightControl = 0; |
volatile uint16_t beepTime = 0; |
volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
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#ifdef USE_NAVICTRL |
volatile uint8_t SendSPI = 0; |
#endif |
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/***************************************************** |
* 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; |
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// disable all interrupts before reconfiguration |
cli(); |
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// Configure speaker port as output. |
DDRD |= (1 << DDD5); |
PORTD &= ~(1 << PORTD5); |
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// Timer/Counter 0 Control Register A |
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// 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); |
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// 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 |
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// 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); |
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// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
OCR0A = 0; // for PB3 |
OCR0B = 120; // for PB4 |
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// init Timer/Counter 0 Register |
TCNT0 = 0; |
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// Timer/Counter 0 Interrupt Mask Register |
// enable timer overflow interrupt only |
TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
TIMSK0 |= (1 << TOIE0); |
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SREG = sreg; |
} |
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/*****************************************************/ |
/* Interrupt Routine of Timer 0 */ |
/*****************************************************/ |
ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
static uint8_t cnt_1ms = 1, cnt = 0; |
uint8_t beeperOn = 0; |
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#ifdef USE_NAVICTRL |
if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
#endif |
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if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
cnt = 9; |
cnt_1ms ^= 1; |
if (!cnt_1ms) { |
if (runFlightControl == 1) |
debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
else |
debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
} |
globalMillisClock++; // increment millisecond counter |
} |
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// 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; |
} |
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if (beeperOn) { |
// set speaker port to high. |
PORTD |= (1 << PORTD5); // Speaker at PD5 |
} else { // beeper is off |
// set speaker port to low |
PORTD &= ~(1 << PORTD5);// Speaker at PD5 |
} |
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#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 |
} |
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// ----------------------------------------------------------------------- |
uint16_t setDelay(uint16_t t) { |
return (globalMillisClock + t - 1); |
} |
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// ----------------------------------------------------------------------- |
int8_t checkDelay(uint16_t t) { |
return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
} |
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// ----------------------------------------------------------------------- |
void delay_ms(uint16_t w) { |
uint16_t t_stop = setDelay(w); |
while (!checkDelay(t_stop)) |
; |
} |
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// ----------------------------------------------------------------------- |
void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
uint16_t t_stop; |
t_stop = setDelay(w); |
while (!checkDelay(t_stop)) { |
if (sensorDataReady == ALL_DATA_READY) { |
analog_update(); |
startAnalogConversionCycle(); |
} |
} |
if (stop) { |
// Wait for new samples to get prepared but do not restart AD conversion after that! |
// Caller MUST to that. |
while (!sensorDataReady != ALL_DATA_READY); |
} |
} |