WebSVN - FlightCtrl - Diff - Rev 754 and 780 - /branches/V0.68d CRK HexaLotte/timer0.c


#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include "eeprom.h"
#include "analog.h"
#include "main.h"
#include "fc.h"
#ifdef USE_MM3
#include "mm3.h"
#endif
#ifdef USE_CMPS03
#include "cmps03.h"
#endif
 
volatile uint16_t CountMilliseconds = 0;
volatile uint8_t UpdateMotor = 0;
volatile uint16_t cntKompass = 0;
volatile uint16_t BeepTime = 0;
volatile uint16_t BeepModulation = 0xFFFF;
 
 
 
/*****************************************************/
/*              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;
 
        // disable all interrupts before reconfiguration
        cli();
 
        // 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);
        }
 
        // set PB3 and PB4 as output for the PWM used as aoffset for the pressure sensor
        DDRB |= (1<<DDB4)|(1<<DDB3);
        PORTB &= ~((1<<PORTB4)|(1<<PORTB3));
 
        if(BoardRelease == 10)
        {
                DDRD |= (1<<DDD2);
                PORTD &= ~(1<<PORTD2);
 
        }
        else
        {
                DDRC |= (1<<DDC7);
                PORTC &= ~(1<<PORTC7);
        }
 
        // 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);
 
        // Timer/Counter 0 Control Register B
 
        // set clock devider 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);
 
        // 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;
 
        // Timer/Counter 0 Interrupt Mask Register
        // enable timer overflow interrupt only
        TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A));
        TIMSK0 |= (1<<TOIE0);
 
        SREG = sreg;
}
 
 
 
/*****************************************************/
/*          Interrupt Routine of Timer 0             */
/*****************************************************/
ISR(TIMER0_OVF_vect)    // 9.765 kHz
{
    static uint8_t cnt_1ms = 1,cnt = 0;
    uint8_t Beeper_On = 0;
 
        if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
        {
         cnt = 9;
         cnt_1ms++;
         cnt_1ms %= 2;
         if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 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;
        }
 
        // 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
        }
 
        // update compass value if this option is enabled in the settings
        if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) || (ParamSet.GlobalConfig & CFG_GPS_ACTIVE))
        {
#ifdef USE_MM3
                MM3_Update(); // read out mm3 board
#endif
#ifdef USE_CMPS03
                CMPS03_Update(); // read out cmps03 pwm
#endif
        }
}
 
 
 
// -----------------------------------------------------------------------
uint16_t SetDelay (uint16_t t)
{
  return(CountMilliseconds + t + 1);
}
 
// -----------------------------------------------------------------------
int8_t CheckDelay(uint16_t t)
{
  return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit
}
 
// -----------------------------------------------------------------------
void Delay_ms(uint16_t w)
{
 unsigned int t_stop;
 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)) ADC_Enable();
}
 
 

Rev 754	Rev 780
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 "main.h"	6	#include "main.h"
7	#include "fc.h"	7	#include "fc.h"
8	#ifdef USE_MM3	8	#ifdef USE_MM3
9	#include "mm3.h"	9	#include "mm3.h"
10	#endif	10	#endif
11	#ifdef USE_CMPS03	11	#ifdef USE_CMPS03
12	#include "cmps03.h"	12	#include "cmps03.h"
13	#endif	13	#endif
14		14
15	volatile uint16_t CountMilliseconds = 0;	15	volatile uint16_t CountMilliseconds = 0;
16	volatile uint8_t UpdateMotor = 0;	16	volatile uint8_t UpdateMotor = 0;
17	volatile uint16_t cntKompass = 0;	17	volatile uint16_t cntKompass = 0;
18	volatile uint16_t BeepTime = 0;	18	volatile uint16_t BeepTime = 0;
19	volatile uint16_t BeepModulation = 0xFFFF;	19	volatile uint16_t BeepModulation = 0xFFFF;
20		20
21		21
22		22
23	/*****************************************************/	23	/*****************************************************/
24	/* Initialize Timer 0 */	24	/* Initialize Timer 0 */
25	/*****************************************************/	25	/*****************************************************/
26	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor	26	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
27	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate	27	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
28	void TIMER0_Init(void)	28	void TIMER0_Init(void)
29	{	29	{
30	uint8_t sreg = SREG;	30	uint8_t sreg = SREG;
31		31
32	// disable all interrupts before reconfiguration	32	// disable all interrupts before reconfiguration
33	cli();	33	cli();
34		34
35	// configure speaker port as output	35	// configure speaker port as output
36	if(BoardRelease == 10)	36	if(BoardRelease == 10)
37	{ // Speaker at PD2	37	{ // Speaker at PD2
38	DDRD \|= (1<<DDD2);	38	DDRD \|= (1<<DDD2);
39	PORTD &= ~(1<<PORTD2);	39	PORTD &= ~(1<<PORTD2);
40	}	40	}
41	else	41	else
42	{ // Speaker at PC7	42	{ // Speaker at PC7
43	DDRC \|= (1<<DDC7);	43	DDRC \|= (1<<DDC7);
44	PORTC &= ~(1<<PORTC7);	44	PORTC &= ~(1<<PORTC7);
45	}	45	}
46		46
47	// set PB3 and PB4 as output for the PWM used as aoffset for the pressure sensor	47	// set PB3 and PB4 as output for the PWM used as aoffset for the pressure sensor
48	DDRB \|= (1<<DDB4)\|(1<<DDB3);	48	DDRB \|= (1<<DDB4)\|(1<<DDB3);
49	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));	49	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));
50		50
51	if(BoardRelease == 10)	51	if(BoardRelease == 10)
52	{	52	{
53	DDRD \|= (1<<DDD2);	53	DDRD \|= (1<<DDD2);
54	PORTD &= ~(1<<PORTD2);	54	PORTD &= ~(1<<PORTD2);
55		55
56	}	56	}
57	else	57	else
58	{	58	{
59	DDRC \|= (1<<DDC7);	59	DDRC \|= (1<<DDC7);
60	PORTC &= ~(1<<PORTC7);	60	PORTC &= ~(1<<PORTC7);
61	}	61	}
62		62
63	// Timer/Counter 0 Control Register A	63	// Timer/Counter 0 Control Register A
64		64
65	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)	65	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
66	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)	66	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
67	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)	67	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
68	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));	68	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));
69	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);	69	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);
70		70
71	// Timer/Counter 0 Control Register B	71	// Timer/Counter 0 Control Register B
72		72
73	// set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz	73	// set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
74	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz	74	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
75	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz	75	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
76		76
77	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)	77	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
78	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));	78	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));
79	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);	79	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);
80		80
81	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4	81	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
82	OCR0A = 0; // for PB3	82	OCR0A = 0; // for PB3
83	OCR0B = 120; // for PB4	83	OCR0B = 120; // for PB4
84		84
85	// init Timer/Counter 0 Register	85	// init Timer/Counter 0 Register
86	TCNT0 = 0;	86	TCNT0 = 0;
87		87
88	// Timer/Counter 0 Interrupt Mask Register	88	// Timer/Counter 0 Interrupt Mask Register
89	// enable timer overflow interrupt only	89	// enable timer overflow interrupt only
90	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));	90	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));
91	TIMSK0 \|= (1<<TOIE0);	91	TIMSK0 \|= (1<<TOIE0);
92		92
93	SREG = sreg;	93	SREG = sreg;
94	}	94	}
95		95
96		96
97		97
98	/*****************************************************/	98	/*****************************************************/
99	/* Interrupt Routine of Timer 0 */	99	/* Interrupt Routine of Timer 0 */
100	/*****************************************************/	100	/*****************************************************/
101	ISR(TIMER0_OVF_vect) // 9.765 kHz	101	ISR(TIMER0_OVF_vect) // 9.765 kHz
102	{	102	{
103	static uint8_t cnt_1ms = 1,cnt = 0;	103	static uint8_t cnt_1ms = 1,cnt = 0;
104	uint8_t Beeper_On = 0;	104	uint8_t Beeper_On = 0;
105		105
106	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)	106	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
107	{	107	{
108	cnt = 9;	108	cnt = 9;
109	cnt_1ms++;	109	cnt_1ms++;
110	cnt_1ms %= 2;	110	cnt_1ms %= 2;
111	if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)	111	if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
112	CountMilliseconds++; // increment millisecond counter	112	CountMilliseconds++; // increment millisecond counter
113	}	113	}
114		114
115		115
116	// beeper on if duration is not over	116	// beeper on if duration is not over
117	if(BeepTime)	117	if(BeepTime)
118	{	118	{
119	BeepTime--; // decrement BeepTime	119	BeepTime--; // decrement BeepTime
120	if(BeepTime & BeepModulation) Beeper_On = 1;	120	if(BeepTime & BeepModulation) Beeper_On = 1;
121	else Beeper_On = 0;	121	else Beeper_On = 0;
122	}	122	}
123	else // beeper off if duration is over	123	else // beeper off if duration is over
124	{	124	{
125	Beeper_On = 0;	125	Beeper_On = 0;
126	BeepModulation = 0xFFFF;	126	BeepModulation = 0xFFFF;
127	}	127	}
128		128
129	// if beeper is on	129	// if beeper is on
130	if(Beeper_On)	130	if(Beeper_On)
131	{	131	{
132	// set speaker port to high	132	// set speaker port to high
133	if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2	133	if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2
134	else PORTC \|= (1<<PORTC7); // Speaker at PC7	134	else PORTC \|= (1<<PORTC7); // Speaker at PC7
135	}	135	}
136	else // beeper is off	136	else // beeper is off
137	{	137	{
138	// set speaker port to low	138	// set speaker port to low
139	if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2	139	if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2
140	else PORTC &= ~(1<<PORTC7);// Speaker at PC7	140	else PORTC &= ~(1<<PORTC7);// Speaker at PC7
141	}	141	}
142		142
143	// update compass value if this option is enabled in the settings	143	// update compass value if this option is enabled in the settings
144	if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)	144	if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) \|\| (ParamSet.GlobalConfig & CFG_GPS_ACTIVE))
145	{	145	{
146	#ifdef USE_MM3	146	#ifdef USE_MM3
147	MM3_Update(); // read out mm3 board	147	MM3_Update(); // read out mm3 board
148	#endif	148	#endif
149	#ifdef USE_CMPS03	149	#ifdef USE_CMPS03
150	CMPS03_Update(); // read out cmps03 pwm	150	CMPS03_Update(); // read out cmps03 pwm
151	#endif	151	#endif
152	}	152	}
153	}	153	}
154		154
155		155
156		156
157	// -----------------------------------------------------------------------	157	// -----------------------------------------------------------------------
158	uint16_t SetDelay (uint16_t t)	158	uint16_t SetDelay (uint16_t t)
159	{	159	{
160	return(CountMilliseconds + t + 1);	160	return(CountMilliseconds + t + 1);
161	}	161	}
162		162
163	// -----------------------------------------------------------------------	163	// -----------------------------------------------------------------------
164	int8_t CheckDelay(uint16_t t)	164	int8_t CheckDelay(uint16_t t)
165	{	165	{
166	return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit	166	return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit
167	}	167	}
168		168
169	// -----------------------------------------------------------------------	169	// -----------------------------------------------------------------------
170	void Delay_ms(uint16_t w)	170	void Delay_ms(uint16_t w)
171	{	171	{
172	unsigned int t_stop;	172	unsigned int t_stop;
173	t_stop = SetDelay(w);	173	t_stop = SetDelay(w);
174	while (!CheckDelay(t_stop));	174	while (!CheckDelay(t_stop));
175	}	175	}
176		176
177	// -----------------------------------------------------------------------	177	// -----------------------------------------------------------------------
178	void Delay_ms_Mess(uint16_t w)	178	void Delay_ms_Mess(uint16_t w)
179	{	179	{
180	uint16_t t_stop;	180	uint16_t t_stop;
181	t_stop = SetDelay(w);	181	t_stop = SetDelay(w);
182	while (!CheckDelay(t_stop)) ADC_Enable();	182	while (!CheckDelay(t_stop)) ADC_Enable();
183	}	183	}
184		184
185		185

Subversion Repositories FlightCtrl

(root)/branches/V0.68d CRK HexaLotte/timer0.c @ 2054 - Rev 754 → 780