| 3,9 → 3,9 |
|---|
| #include <avr/interrupt.h> |
| #include "eeprom.h" |
| #include "analog.h" |
| #include "controlMixer.h" |
| |
| // for debugging! |
| #include "uart0.h" |
| #include "timer0.h" |
| #include "output.h" |
| |
| #ifdef USE_MK3MAG |
| 12,11 → 12,10 |
|---|
| #include "mk3mag.h" |
| #endif |
| |
| volatile uint16_t millisecondsCount = 0; |
| volatile uint32_t globalMillisClock = 0; |
| volatile uint8_t runFlightControl = 0; |
| volatile uint16_t cntKompass = 0; |
| volatile uint16_t beepTime = 0; |
| volatile uint16_t beepModulation = 0xFFFF; |
| volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
| |
| #ifdef USE_NAVICTRL |
| volatile uint8_t SendSPI = 0; |
| 34,8 → 33,7 |
|---|
| cli(); |
| |
| // Configure speaker port as output. |
| |
| if (BoardRelease == 10) { // Speaker at PD2 |
| if (boardRelease == 10) { // Speaker at PD2 |
| DDRD |= (1 << DDD2); |
| PORTD &= ~(1 << PORTD2); |
| } else { // Speaker at PC7 |
| 56,10 → 54,9 |
|---|
| TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
| |
| // Timer/Counter 0 Control Register B |
| |
| // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
| // 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 |
| // 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)); |
| 83,10 → 80,9 |
|---|
| /*****************************************************/ |
| /* Interrupt Routine of Timer 0 */ |
| /*****************************************************/ |
| ISR(TIMER0_OVF_vect) |
| { // 9765.625 Hz |
| ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
| static uint8_t cnt_1ms = 1, cnt = 0; |
| uint8_t beeper_On = 0; |
| uint8_t beeperOn = 0; |
| |
| #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 |
| 97,12 → 93,12 |
|---|
| cnt_1ms ^= 1; |
| if (!cnt_1ms) { |
| if (runFlightControl == 1) |
| DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| else |
| DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| } |
| millisecondsCount++; // increment millisecond counter |
| globalMillisClock++; // increment millisecond counter |
| } |
| |
| // beeper on if duration is not over |
| 109,35 → 105,32 |
|---|
| if (beepTime) { |
| beepTime--; // decrement BeepTime |
| if (beepTime & beepModulation) |
| beeper_On = 1; |
| beeperOn = 1; |
| else |
| beeper_On = 0; |
| beeperOn = 0; |
| } else { // beeper off if duration is over |
| beeper_On = 0; |
| beepModulation = 0xFFFF; |
| beeperOn = 0; |
| beepModulation = BEEP_MODULATION_NONE; |
| } |
| |
| // if beeper is on |
| if (beeper_On) { |
| if (beeperOn) { |
| // set speaker port to high. |
| if (BoardRelease == 10) |
| 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) |
| if (boardRelease == 10) |
| PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
| else |
| PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
| } |
| |
| #ifndef USE_NAVICTRL |
| #ifdef USE_MK3MAG |
| // update compass value if this option is enabled in the settings |
| if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| #ifdef USE_MK3MAG |
| MK3MAG_Update(); // read out mk3mag pwm |
| #endif |
| if (staticParams.bitConfig & CFG_COMPASS_ENABLED) { |
| MK3MAG_periodicTask(); // read out mk3mag pwm |
| } |
| #endif |
| } |
| 144,12 → 137,12 |
|---|
| |
| // ----------------------------------------------------------------------- |
| uint16_t setDelay(uint16_t t) { |
| return (millisecondsCount + t - 1); |
| return (globalMillisClock + t - 1); |
| } |
| |
| // ----------------------------------------------------------------------- |
| int8_t checkDelay(uint16_t t) { |
| return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
| return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
| } |
| |
| // ----------------------------------------------------------------------- |
| 160,13 → 153,18 |
|---|
| } |
| |
| // ----------------------------------------------------------------------- |
| void delay_ms_Mess(uint16_t w) { |
| 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 (analogDataReady) { |
| analogDataReady = 0; |
| analog_start(); |
| } |
| if (analogDataReady) { |
| 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 (!analogDataReady); |
| } |
| } |