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1 | #include <inttypes.h> |
1 | #include <inttypes.h> |
2 | #include <avr/io.h> |
2 | #include <avr/io.h> |
3 | #include <avr/interrupt.h> |
3 | #include <avr/interrupt.h> |
4 | #include "eeprom.h" |
4 | #include "eeprom.h" |
5 | #include "analog.h" |
5 | #include "analog.h" |
6 | #include "controlMixer.h" |
6 | #include "controlMixer.h" |
7 | 7 | ||
8 | #include "timer0.h" |
8 | #include "timer0.h" |
9 | #include "output.h" |
9 | #include "output.h" |
10 | 10 | ||
11 | #ifdef USE_MK3MAG |
11 | #ifdef DO_PROFILE |
- | 12 | uint32_t profileTimers[NUM_PROFILE_TIMERS]; |
|
12 | #include "mk3mag.h" |
13 | uint32_t runningProfileTimers[NUM_PROFILE_TIMERS]; |
13 | #endif |
14 | #endif |
14 | 15 | ||
15 | volatile uint32_t globalMillisClock = 0; |
16 | volatile uint32_t globalMillisClock = 0; |
16 | volatile uint8_t runFlightControl = 0; |
17 | volatile uint8_t runFlightControl = 0; |
17 | volatile uint16_t beepTime = 0; |
18 | volatile uint16_t beepTime = 0; |
18 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
19 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
19 | - | ||
20 | #ifdef USE_NAVICTRL |
- | |
21 | volatile uint8_t SendSPI = 0; |
- | |
22 | #endif |
- | |
23 | 20 | ||
24 | /***************************************************** |
21 | /***************************************************** |
25 | * Initialize Timer 0 |
22 | * Initialize Timer 0 |
26 | *****************************************************/ |
23 | *****************************************************/ |
27 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
24 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
28 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
25 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
29 | void timer0_init(void) { |
26 | void timer0_init(void) { |
30 | uint8_t sreg = SREG; |
27 | uint8_t sreg = SREG; |
31 | 28 | ||
32 | // disable all interrupts before reconfiguration |
29 | // disable all interrupts before reconfiguration |
33 | cli(); |
30 | cli(); |
34 | 31 | ||
35 | // Configure speaker port as output. |
32 | // Configure speaker port as output. |
36 | if (boardRelease == 10) { // Speaker at PD2 |
33 | if (boardRelease == 10) { // Speaker at PD2 |
37 | DDRD |= (1 << DDD2); |
34 | DDRD |= (1 << DDD2); |
38 | PORTD &= ~(1 << PORTD2); |
35 | PORTD &= ~(1 << PORTD2); |
39 | } else { // Speaker at PC7 |
36 | } else { // Speaker at PC7 |
40 | DDRC |= (1 << DDC7); |
37 | DDRC |= (1 << DDC7); |
41 | PORTC &= ~(1 << PORTC7); |
38 | PORTC &= ~(1 << PORTC7); |
42 | } |
39 | } |
43 | 40 | ||
44 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
41 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
45 | DDRB |= (1 << DDB4) | (1 << DDB3); |
42 | DDRB |= (1 << DDB4) | (1 << DDB3); |
46 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
43 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
47 | 44 | ||
48 | // Timer/Counter 0 Control Register A |
45 | // Timer/Counter 0 Control Register A |
49 | 46 | ||
50 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
47 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
51 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
48 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
52 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
49 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
53 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
50 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
54 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
51 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
55 | 52 | ||
56 | // Timer/Counter 0 Control Register B |
53 | // Timer/Counter 0 Control Register B |
57 | // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz/8 = 2.5MHz |
54 | // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz/8 = 2.5MHz |
58 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
55 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
59 | // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz |
56 | // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz |
60 | 57 | ||
61 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
58 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
62 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
59 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
63 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
60 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
64 | 61 | ||
65 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
62 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
66 | OCR0A = 0; // for PB3 |
63 | OCR0A = 0; // for PB3 |
67 | OCR0B = 120; // for PB4 |
64 | OCR0B = 120; // for PB4 |
68 | 65 | ||
69 | // init Timer/Counter 0 Register |
66 | // init Timer/Counter 0 Register |
70 | TCNT0 = 0; |
67 | TCNT0 = 0; |
71 | 68 | ||
72 | // Timer/Counter 0 Interrupt Mask Register |
69 | // Timer/Counter 0 Interrupt Mask Register |
73 | // enable timer overflow interrupt only |
70 | // enable timer overflow interrupt only |
74 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
71 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
75 | TIMSK0 |= (1 << TOIE0); |
72 | TIMSK0 |= (1 << TOIE0); |
- | 73 | ||
- | 74 | #ifdef DO_PROFILE |
|
- | 75 | for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
|
- | 76 | profileTimers[i] = 0; |
|
- | 77 | } |
|
- | 78 | #endif |
|
76 | 79 | ||
77 | SREG = sreg; |
80 | SREG = sreg; |
78 | } |
81 | } |
79 | 82 | ||
80 | /*****************************************************/ |
83 | /*****************************************************/ |
81 | /* Interrupt Routine of Timer 0 */ |
84 | /* Interrupt Routine of Timer 0 */ |
82 | /*****************************************************/ |
85 | /*****************************************************/ |
83 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
86 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
84 | static uint8_t cnt_1ms = 1, cnt = 0; |
87 | static uint8_t cnt_1ms = 1, cnt = 0; |
85 | uint8_t beeperOn = 0; |
88 | uint8_t beeperOn = 0; |
86 | - | ||
87 | #ifdef USE_NAVICTRL |
- | |
88 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
- | |
89 | #endif |
- | |
90 | 89 | ||
91 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
90 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
92 | cnt = 9; |
91 | cnt = 9; |
93 | cnt_1ms ^= 1; |
92 | cnt_1ms ^= 1; |
94 | if (!cnt_1ms) { |
93 | if (!cnt_1ms) { |
95 | if (runFlightControl == 1) |
- | |
96 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
- | |
97 | else |
- | |
98 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
- | |
99 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
94 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
100 | } |
95 | } |
101 | globalMillisClock++; // increment millisecond counter |
96 | globalMillisClock++; // increment millisecond counter |
102 | } |
97 | } |
103 | 98 | ||
104 | // beeper on if duration is not over |
99 | // beeper on if duration is not over |
105 | if (beepTime) { |
100 | if (beepTime) { |
106 | beepTime--; // decrement BeepTime |
101 | beepTime--; // decrement BeepTime |
107 | if (beepTime & beepModulation) |
102 | if (beepTime & beepModulation) |
108 | beeperOn = 1; |
103 | beeperOn = 1; |
109 | else |
104 | else |
110 | beeperOn = 0; |
105 | beeperOn = 0; |
111 | } else { // beeper off if duration is over |
106 | } else { // beeper off if duration is over |
112 | beeperOn = 0; |
107 | beeperOn = 0; |
113 | beepModulation = BEEP_MODULATION_NONE; |
108 | beepModulation = BEEP_MODULATION_NONE; |
114 | } |
109 | } |
115 | 110 | ||
116 | if (beeperOn) { |
111 | if (beeperOn) { |
117 | // set speaker port to high. |
112 | // set speaker port to high. |
118 | if (boardRelease == 10) |
113 | if (boardRelease == 10) |
119 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
114 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
120 | else |
115 | else |
121 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
116 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
122 | } else { // beeper is off |
117 | } else { // beeper is off |
123 | // set speaker port to low |
118 | // set speaker port to low |
124 | if (boardRelease == 10) |
119 | if (boardRelease == 10) |
125 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
120 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
126 | else |
121 | else |
127 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
122 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
128 | } |
123 | } |
129 | 124 | ||
130 | #ifdef USE_MK3MAG |
125 | #ifdef USE_MK3MAG |
131 | // update compass value if this option is enabled in the settings |
126 | // update compass value if this option is enabled in the settings |
132 | if (staticParams.bitConfig & CFG_COMPASS_ENABLED) { |
127 | if (staticParams.bitConfig & CFG_COMPASS_ENABLED) { |
133 | MK3MAG_periodicTask(); // read out mk3mag pwm |
128 | MK3MAG_periodicTask(); // read out mk3mag pwm |
134 | } |
129 | } |
135 | #endif |
130 | #endif |
136 | } |
131 | } |
137 | 132 | ||
138 | // ----------------------------------------------------------------------- |
133 | // ----------------------------------------------------------------------- |
139 | uint16_t setDelay(uint16_t t) { |
134 | uint16_t setDelay(uint16_t t) { |
140 | return (globalMillisClock + t - 1); |
135 | return (globalMillisClock + t - 1); |
141 | } |
136 | } |
142 | 137 | ||
143 | // ----------------------------------------------------------------------- |
138 | // ----------------------------------------------------------------------- |
144 | int8_t checkDelay(uint16_t t) { |
139 | int8_t checkDelay(uint16_t t) { |
145 | return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
140 | return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
146 | } |
141 | } |
147 | 142 | ||
148 | // ----------------------------------------------------------------------- |
143 | // ----------------------------------------------------------------------- |
149 | void delay_ms(uint16_t w) { |
144 | void delay_ms(uint16_t w) { |
150 | uint16_t t_stop = setDelay(w); |
145 | uint16_t t_stop = setDelay(w); |
151 | while (!checkDelay(t_stop)) |
146 | while (!checkDelay(t_stop)) |
152 | ; |
147 | ; |
153 | } |
148 | } |
154 | 149 | ||
155 | // ----------------------------------------------------------------------- |
150 | // ----------------------------------------------------------------------- |
156 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
151 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
157 | uint16_t t_stop; |
152 | uint16_t t_stop; |
158 | t_stop = setDelay(w); |
153 | t_stop = setDelay(w); |
159 | while (!checkDelay(t_stop)) { |
154 | while (!checkDelay(t_stop)) { |
160 | if (analogDataReady) { |
155 | if (analogDataReady) { |
161 | analog_update(); |
156 | analog_update(); |
162 | startAnalogConversionCycle(); |
157 | startAnalogConversionCycle(); |
163 | } |
158 | } |
164 | } |
159 | } |
165 | if (stop) { |
160 | if (stop) { |
166 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
161 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
167 | // Caller MUST to that. |
162 | // Caller MUST to that. |
168 | while (!analogDataReady); |
163 | while (!analogDataReady); |
169 | } |
164 | } |
170 | } |
165 | } |
- | 166 | ||
- | 167 | #ifdef DO_PROFILE |
|
- | 168 | void startProfileTimer(uint8_t timer) { |
|
- | 169 | runningProfileTimers[timer] = globalMillisClock; |
|
- | 170 | } |
|
- | 171 | ||
- | 172 | void stopProfileTimer(uint8_t timer) { |
|
- | 173 | int32_t t = globalMillisClock - runningProfileTimers[timer]; |
|
- | 174 | profileTimers[timer] += t; |
|
- | 175 | } |
|
- | 176 | ||
- | 177 | void debugProfileTimers(uint8_t index) { |
|
- | 178 | for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
|
- | 179 | uint16_t tenths = profileTimers[i] / 10000L; |
|
- | 180 | debugOut.analog[i+index] = tenths; |
|
- | 181 | } |
|
- | 182 | uint16_t tenths = globalMillisClock / 10000L; |
|
- | 183 | debugOut.analog[index + NUM_PROFILE_TIMERS] = tenths; |
|
- | 184 | } |
|
- | 185 | #endif; |
|
171 | 186 |