78,56 → 78,56 |
// 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; |
uint8_t sreg = SREG; |
|
// disable all interrupts before reconfiguration |
cli(); |
// disable all interrupts before reconfiguration |
cli(); |
|
// Configure speaker port as output. |
// 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); |
} |
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)); |
// 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 |
// 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); |
// 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 |
// Timer/Counter 0 Control Register B |
|
// set clock divider for timer 0 to SYSKLOCK/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 |
// set clock divider for timer 0 to SYSKLOCK/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); |
// 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 |
// 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; |
// 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); |
// Timer/Counter 0 Interrupt Mask Register |
// enable timer overflow interrupt only |
TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
TIMSK0 |= (1 << TOIE0); |
|
SREG = sreg; |
SREG = sreg; |
} |
|
/*****************************************************/ |
135,85 → 135,88 |
/*****************************************************/ |
ISR(TIMER0_OVF_vect) |
{ // 9765.625 Hz |
static uint8_t cnt_1ms = 1, cnt = 0; |
uint8_t Beeper_On = 0; |
static uint8_t cnt_1ms = 1, cnt = 0; |
uint8_t Beeper_On = 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 |
if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
#endif |
|
if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
cnt = 9; |
cnt_1ms ^= 1; |
if (!cnt_1ms) { |
runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
DebugOut.Digital[0] |= DEBUG_MAINLOOP_TIMER; |
} |
CountMilliseconds++; // increment millisecond counter |
} |
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) |
} |
CountMilliseconds++; // increment millisecond counter |
} |
|
// beeper on if duration is not over |
if (BeepTime) { |
BeepTime--; // decrement BeepTime |
if (BeepTime & BeepModulation) |
Beeper_On = 1; |
else |
Beeper_On = 0; |
} else { // beeper off if duration is over |
Beeper_On = 0; |
BeepModulation = 0xFFFF; |
} |
// beeper on if duration is not over |
if (BeepTime) { |
BeepTime--; // decrement BeepTime |
if (BeepTime & BeepModulation) |
Beeper_On = 1; |
else |
Beeper_On = 0; |
} else { // beeper off if duration is over |
Beeper_On = 0; |
BeepModulation = 0xFFFF; |
} |
|
// if beeper is on |
if (Beeper_On) { |
// 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 |
} |
// if beeper is on |
if (Beeper_On) { |
// 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 |
} |
|
#ifndef USE_NAVICTRL |
// update compass value if this option is enabled in the settings |
if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
// 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 |
MK3MAG_Update(); // read out mk3mag pwm |
#endif |
} |
} |
#endif |
} |
|
// ----------------------------------------------------------------------- |
uint16_t SetDelay(uint16_t t) { |
return (CountMilliseconds + t - 1); |
return (CountMilliseconds + t - 1); |
} |
|
// ----------------------------------------------------------------------- |
int8_t CheckDelay(uint16_t t) { |
return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
} |
|
// ----------------------------------------------------------------------- |
void Delay_ms(uint16_t w) { |
uint16_t t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)) |
; |
uint16_t t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)) |
; |
} |
|
// ----------------------------------------------------------------------- |
void Delay_ms_Mess(uint16_t w) { |
uint16_t t_stop; |
t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)) { |
if (analogDataReady) { |
analogDataReady = 0; |
analog_start(); |
} |
} |
uint16_t t_stop; |
t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)) { |
if (analogDataReady) { |
analogDataReady = 0; |
analog_start(); |
} |
} |
} |