WebSVN - FlightCtrl - Diff - Rev 690 and 694 - /branches/V0.68d Code Redesign killagreg/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"
#include "mm3.h"
 
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();
 
        // set PB3 and PB4 as output for the PWM
        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 > 1)
        {
           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<<2); // Speaker at PD2
                else                      PORTC |= (1<<7); // 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)
        {
 
 
                MM3_timer0();
 
 
 
 
 
 
 
 
 
 
        }
}
 
 
 
// -----------------------------------------------------------------------
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 690	Rev 694
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	#include "mm3.h"
8		9
9	volatile uint16_t CountMilliseconds = 0;	10	volatile uint16_t CountMilliseconds = 0;
10	volatile uint8_t UpdateMotor = 0;	11	volatile uint8_t UpdateMotor = 0;
11	volatile uint16_t cntKompass = 0;	12	volatile uint16_t cntKompass = 0;
12	volatile uint16_t BeepTime = 0;	13	volatile uint16_t BeepTime = 0;
13	volatile uint16_t BeepModulation = 0xFFFF;	14	volatile uint16_t BeepModulation = 0xFFFF;
14		15
15		16
16		17
17	/*****************************************************/	18	/*****************************************************/
18	/* Initialize Timer 0 */	19	/* Initialize Timer 0 */
19	/*****************************************************/	20	/*****************************************************/
20	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor	21	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
21	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate	22	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
22	void TIMER0_Init(void)	23	void TIMER0_Init(void)
23	{	24	{
24	uint8_t sreg = SREG;	25	uint8_t sreg = SREG;
25		26
26	// disable all interrupts before reconfiguration	27	// disable all interrupts before reconfiguration
27	cli();	28	cli();
28		29
29	// set PB3 and PB4 as output for the PWM	30	// set PB3 and PB4 as output for the PWM
30	DDRB \|= (1<<DDB4)\|(1<<DDB3);	31	DDRB \|= (1<<DDB4)\|(1<<DDB3);
31	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));	32	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));
-		33
-		34	if(BoardRelease == 10)
-		35	{
-		36	DDRD \|= (1<<DDD2);
-		37	PORTD &= ~(1<<PORTD2);
-		38
-		39	}
-		40	else
-		41	{
-		42	DDRC \|= (1<<DDC7);
-		43	PORTC &= ~(1<<PORTC7);
-		44	}
32		45
33	// Timer/Counter 0 Control Register A	46	// Timer/Counter 0 Control Register A
34		47
35	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)	48	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
36	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)	49	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
37	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)	50	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
38	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));	51	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));
39	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);	52	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);
40		53
41	// Timer/Counter 0 Control Register B	54	// Timer/Counter 0 Control Register B
42		55
43	// set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz	56	// set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
44	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz	57	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
45	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz	58	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
46		59
47	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)	60	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
48	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));	61	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));
49	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);	62	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);
50		63
51	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4	64	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
52	OCR0A = 0; // for PB3	65	OCR0A = 0; // for PB3
53	OCR0B = 120; // for PB4	66	OCR0B = 120; // for PB4
54		67
55	// init Timer/Counter 0 Register	68	// init Timer/Counter 0 Register
56	TCNT0 = 0;	69	TCNT0 = 0;
57		70
58	// Timer/Counter 0 Interrupt Mask Register	71	// Timer/Counter 0 Interrupt Mask Register
59	// enable timer overflow interrupt only	72	// enable timer overflow interrupt only
60	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));	73	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));
61	TIMSK0 \|= (1<<TOIE0);	74	TIMSK0 \|= (1<<TOIE0);
62		75
63	SREG = sreg;	76	SREG = sreg;
64	}	77	}
65		78
66		79
67		80
68	/*****************************************************/	81	/*****************************************************/
69	/* Interrupt Routine of Timer 0 */	82	/* Interrupt Routine of Timer 0 */
70	/*****************************************************/	83	/*****************************************************/
71	ISR(TIMER0_OVF_vect) // 9.765 kHz	84	ISR(TIMER0_OVF_vect) // 9.765 kHz
72	{	85	{
73	static uint8_t cnt_1ms = 1,cnt = 0;	86	static uint8_t cnt_1ms = 1,cnt = 0;
74	uint8_t Beeper_On = 0;	87	uint8_t Beeper_On = 0;
75		88
76	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)	89	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
77	{	90	{
78	cnt = 9;	91	cnt = 9;
79	cnt_1ms++;	92	cnt_1ms++;
80	cnt_1ms %= 2;	93	cnt_1ms %= 2;
81	if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)	94	if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
82	CountMilliseconds++; // increment millisecond counter	95	CountMilliseconds++; // increment millisecond counter
83	}	96	}
84		97
85		98
86	// beeper on if duration is not over	99	// beeper on if duration is not over
87	if(BeepTime > 1)	100	if(BeepTime > 1)
88	{	101	{
89	BeepTime--; // decrement BeepTime	102	BeepTime--; // decrement BeepTime
90	if(BeepTime & BeepModulation) Beeper_On = 1;	103	if(BeepTime & BeepModulation) Beeper_On = 1;
91	else Beeper_On = 0;	104	else Beeper_On = 0;
92	}	105	}
93	else // beeper off if duration is over	106	else // beeper off if duration is over
94	{	107	{
95	Beeper_On = 0;	108	Beeper_On = 0;
96	BeepModulation = 0xFFFF;	109	BeepModulation = 0xFFFF;
97	}	110	}
98		111
99	// if beeper is on	112	// if beeper is on
100	if(Beeper_On)	113	if(Beeper_On)
101	{	114	{
102	// set speaker port to high	115	// set speaker port to high
103	if(BoardRelease == 10) PORTD \|= (1<<2); // Speaker at PD2	116	if(BoardRelease == 10) PORTD \|= (1<<2); // Speaker at PD2
104	else PORTC \|= (1<<7); // Speaker at PC7	117	else PORTC \|= (1<<7); // Speaker at PC7
105	}	118	}
106	else // beeper is off	119	else // beeper is off
107	{	120	{
108	// set speaker port to low	121	// set speaker port to low
109	if(BoardRelease == 10) PORTD &= ~(1<<2);// Speaker at PD2	122	if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2
110	else PORTC &= ~(1<<7);// Speaker at PC7	123	else PORTC &= ~(1<<PORTC7);// Speaker at PC7
111	}	124	}
112		125
113	// update compass value if this option is enabled in the settings	126	// update compass value if this option is enabled in the settings
114	if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)	127	if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
115	{	128	{
116	if(PINC & 0x10)	-
117	{	-
118	cntKompass++;	129	MM3_timer0();
119	}	-
120	else	-
121	{	-
122	if((cntKompass) && (cntKompass < 4000))	-
123	{	-
124	KompassValue = cntKompass;	-
125	}	-
126	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	-
127	cntKompass = 0;	-
128	}	-
129	}	130	}
130	}	131	}
131		132
132		133
133		134
134	// -----------------------------------------------------------------------	135	// -----------------------------------------------------------------------
135	uint16_t SetDelay (uint16_t t)	136	uint16_t SetDelay (uint16_t t)
136	{	137	{
137	// TIMSK0 &= ~(1<<TOIE0);	-
138	return(CountMilliseconds + t + 1);	138	return(CountMilliseconds + t + 1);
139	// TIMSK0 \|= (1<<TOIE0);	-
140	}	139	}
141		140
142	// -----------------------------------------------------------------------	141	// -----------------------------------------------------------------------
143	int8_t CheckDelay(uint16_t t)	142	int8_t CheckDelay(uint16_t t)
144	{	143	{
145	// TIMSK0 &= ~(1<<TOIE0);	-
146	return(((t - CountMilliseconds) & 0x8000) >> 9);	144	return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit
147	// TIMSK0 \|= (1<<TOIE0);	-
148	}	145	}
149		146
150	// -----------------------------------------------------------------------	147	// -----------------------------------------------------------------------
151	void Delay_ms(uint16_t w)	148	void Delay_ms(uint16_t w)
152	{	149	{
153	unsigned int t_stop;	150	unsigned int t_stop;
154	t_stop = SetDelay(w);	151	t_stop = SetDelay(w);
155	while (!CheckDelay(t_stop));	152	while (!CheckDelay(t_stop));
156	}	153	}
157		154
158	// -----------------------------------------------------------------------	155	// -----------------------------------------------------------------------
159	void Delay_ms_Mess(uint16_t w)	156	void Delay_ms_Mess(uint16_t w)
160	{	157	{
161	uint16_t t_stop;	158	uint16_t t_stop;
162	t_stop = SetDelay(w);	159	t_stop = SetDelay(w);
163	while (!CheckDelay(t_stop)) ADC_Enable();	160	while (!CheckDelay(t_stop)) ADC_Enable();
164	}	161	}
165		162
166		163

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(root)/branches/V0.68d Code Redesign killagreg/timer0.c @ 703 - Rev 690 → 694