1,25 → 1,33 |
#include <inttypes.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "eeprom.h" |
//#include "eeprom.h" |
#include "profiler.h" |
#include "controlMixer.h" |
#include "configuration.h" |
#include "analog.h" |
#include "controlMixer.h" |
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#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 |
|
volatile uint32_t globalMillisClock = 0; |
volatile uint8_t runFlightControl = 0; |
volatile uint16_t beepTime = 0; |
#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; |
|
#ifdef USE_NAVICTRL |
volatile uint8_t SendSPI = 0; |
#endif |
volatile uint8_t flightControlStatus; |
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/***************************************************** |
* Initialize Timer 0 |
57,7 → 65,6 |
// 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); |
77,30 → 84,88 |
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 cnt_1ms = 1, cnt = 0; |
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; |
|
#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 |
jiffiesClock++; |
loopJiffiesClock++; |
// profiler_scoreTimerHit(); |
|
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) |
sei(); |
|
if (!--millisDivider) { |
millisClock++; |
millisDivider = MILLIS_DIVIDER; |
} |
globalMillisClock++; // increment millisecond counter |
|
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 |
137,12 → 202,12 |
|
// ----------------------------------------------------------------------- |
uint16_t setDelay(uint16_t t) { |
return (globalMillisClock + t - 1); |
return (millisClock + t - 1); |
} |
|
// ----------------------------------------------------------------------- |
int8_t checkDelay(uint16_t t) { |
return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
return (((t - millisClock) & 0x8000) >> 8); // check sign bit |
} |
|
// ----------------------------------------------------------------------- |
151,20 → 216,3 |
while (!checkDelay(t_stop)) |
; |
} |
|
// ----------------------------------------------------------------------- |
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) { |
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); |
} |
} |