WebSVN - FlightCtrl - Diff - Rev 741 and 754 - /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"
#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)
        {
#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 741	Rev 754
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	#include "mm3.h"	9	#include "mm3.h"
-		10	#endif
-		11	#ifdef USE_CMPS03
-		12	#include "cmps03.h"
-		13	#endif
9		14
10	volatile uint16_t CountMilliseconds = 0;	15	volatile uint16_t CountMilliseconds = 0;
11	volatile uint8_t UpdateMotor = 0;	16	volatile uint8_t UpdateMotor = 0;
12	volatile uint16_t cntKompass = 0;	17	volatile uint16_t cntKompass = 0;
13	volatile uint16_t BeepTime = 0;	18	volatile uint16_t BeepTime = 0;
14	volatile uint16_t BeepModulation = 0xFFFF;	19	volatile uint16_t BeepModulation = 0xFFFF;
15		20
16		21
17		22
18	/*****************************************************/	23	/*****************************************************/
19	/* Initialize Timer 0 */	24	/* Initialize Timer 0 */
20	/*****************************************************/	25	/*****************************************************/
21	// 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
22	// 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
23	void TIMER0_Init(void)	28	void TIMER0_Init(void)
24	{	29	{
25	uint8_t sreg = SREG;	30	uint8_t sreg = SREG;
26		31
27	// disable all interrupts before reconfiguration	32	// disable all interrupts before reconfiguration
28	cli();	33	cli();
29		34
30	// configure speaker port as output	35	// configure speaker port as output
31	if(BoardRelease == 10)	36	if(BoardRelease == 10)
32	{ // Speaker at PD2	37	{ // Speaker at PD2
33	DDRD \|= (1<<DDD2);	38	DDRD \|= (1<<DDD2);
34	PORTD &= ~(1<<PORTD2);	39	PORTD &= ~(1<<PORTD2);
35	}	40	}
36	else	41	else
37	{ // Speaker at PC7	42	{ // Speaker at PC7
38	DDRC \|= (1<<DDC7);	43	DDRC \|= (1<<DDC7);
39	PORTC &= ~(1<<PORTC7);	44	PORTC &= ~(1<<PORTC7);
40	}	45	}
41		46
42	// 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
43	DDRB \|= (1<<DDB4)\|(1<<DDB3);	48	DDRB \|= (1<<DDB4)\|(1<<DDB3);
44	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));	49	PORTB &= ~((1<<PORTB4)\|(1<<PORTB3));
45		50
46	if(BoardRelease == 10)	51	if(BoardRelease == 10)
47	{	52	{
48	DDRD \|= (1<<DDD2);	53	DDRD \|= (1<<DDD2);
49	PORTD &= ~(1<<PORTD2);	54	PORTD &= ~(1<<PORTD2);
50		55
51	}	56	}
52	else	57	else
53	{	58	{
54	DDRC \|= (1<<DDC7);	59	DDRC \|= (1<<DDC7);
55	PORTC &= ~(1<<PORTC7);	60	PORTC &= ~(1<<PORTC7);
56	}	61	}
57		62
58	// Timer/Counter 0 Control Register A	63	// Timer/Counter 0 Control Register A
59		64
60	// 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)
61	// 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)
62	// 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)
63	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));	68	TCCR0A &= ~((1<<COM0A0)\|(1<<COM0B0));
64	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);	69	TCCR0A \|= (1<<COM0A1)\|(1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);
65		70
66	// Timer/Counter 0 Control Register B	71	// Timer/Counter 0 Control Register B
67		72
68	// 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
69	// 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
70	// 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
71		76
72	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)	77	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
73	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));	78	TCCR0B &= ~((1<<FOC0A)\|(1<<FOC0B)\|(1<<WGM02));
74	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);	79	TCCR0B = (TCCR0B & 0xF8)\|(0<<CS02)\|(1<<CS01)\|(0<<CS00);
75		80
76	// 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
77	OCR0A = 0; // for PB3	82	OCR0A = 0; // for PB3
78	OCR0B = 120; // for PB4	83	OCR0B = 120; // for PB4
79		84
80	// init Timer/Counter 0 Register	85	// init Timer/Counter 0 Register
81	TCNT0 = 0;	86	TCNT0 = 0;
82		87
83	// Timer/Counter 0 Interrupt Mask Register	88	// Timer/Counter 0 Interrupt Mask Register
84	// enable timer overflow interrupt only	89	// enable timer overflow interrupt only
85	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));	90	TIMSK0 &= ~((1<<OCIE0B)\|(1<<OCIE0A));
86	TIMSK0 \|= (1<<TOIE0);	91	TIMSK0 \|= (1<<TOIE0);
87		92
88	SREG = sreg;	93	SREG = sreg;
89	}	94	}
90		95
91		96
92		97
93	/*****************************************************/	98	/*****************************************************/
94	/* Interrupt Routine of Timer 0 */	99	/* Interrupt Routine of Timer 0 */
95	/*****************************************************/	100	/*****************************************************/
96	ISR(TIMER0_OVF_vect) // 9.765 kHz	101	ISR(TIMER0_OVF_vect) // 9.765 kHz
97	{	102	{
98	static uint8_t cnt_1ms = 1,cnt = 0;	103	static uint8_t cnt_1ms = 1,cnt = 0;
99	uint8_t Beeper_On = 0;	104	uint8_t Beeper_On = 0;
100		105
101	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)	106	if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
102	{	107	{
103	cnt = 9;	108	cnt = 9;
104	cnt_1ms++;	109	cnt_1ms++;
105	cnt_1ms %= 2;	110	cnt_1ms %= 2;
106	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)
107	CountMilliseconds++; // increment millisecond counter	112	CountMilliseconds++; // increment millisecond counter
108	}	113	}
109		114
110		115
111	// beeper on if duration is not over	116	// beeper on if duration is not over
112	if(BeepTime)	117	if(BeepTime)
113	{	118	{
114	BeepTime--; // decrement BeepTime	119	BeepTime--; // decrement BeepTime
115	if(BeepTime & BeepModulation) Beeper_On = 1;	120	if(BeepTime & BeepModulation) Beeper_On = 1;
116	else Beeper_On = 0;	121	else Beeper_On = 0;
117	}	122	}
118	else // beeper off if duration is over	123	else // beeper off if duration is over
119	{	124	{
120	Beeper_On = 0;	125	Beeper_On = 0;
121	BeepModulation = 0xFFFF;	126	BeepModulation = 0xFFFF;
122	}	127	}
123		128
124	// if beeper is on	129	// if beeper is on
125	if(Beeper_On)	130	if(Beeper_On)
126	{	131	{
127	// set speaker port to high	132	// set speaker port to high
128	if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2	133	if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2
129	else PORTC \|= (1<<PORTC7); // Speaker at PC7	134	else PORTC \|= (1<<PORTC7); // Speaker at PC7
130	}	135	}
131	else // beeper is off	136	else // beeper is off
132	{	137	{
133	// set speaker port to low	138	// set speaker port to low
134	if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2	139	if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2
135	else PORTC &= ~(1<<PORTC7);// Speaker at PC7	140	else PORTC &= ~(1<<PORTC7);// Speaker at PC7
136	}	141	}
137		142
138	// update compass value if this option is enabled in the settings	143	// update compass value if this option is enabled in the settings
139	if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)	144	if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
140	{	145	{
-		146	#ifdef USE_MM3
141	MM3_Update(); // read out mm3 board	147	MM3_Update(); // read out mm3 board
-		148	#endif
-		149	#ifdef USE_CMPS03
-		150	CMPS03_Update(); // read out cmps03 pwm
-		151	#endif
142	}	152	}
143	}	153	}
144		154
145		155
146		156
147	// -----------------------------------------------------------------------	157	// -----------------------------------------------------------------------
148	uint16_t SetDelay (uint16_t t)	158	uint16_t SetDelay (uint16_t t)
149	{	159	{
150	return(CountMilliseconds + t + 1);	160	return(CountMilliseconds + t + 1);
151	}	161	}
152		162
153	// -----------------------------------------------------------------------	163	// -----------------------------------------------------------------------
154	int8_t CheckDelay(uint16_t t)	164	int8_t CheckDelay(uint16_t t)
155	{	165	{
156	return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit	166	return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit
157	}	167	}
158		168
159	// -----------------------------------------------------------------------	169	// -----------------------------------------------------------------------
160	void Delay_ms(uint16_t w)	170	void Delay_ms(uint16_t w)
161	{	171	{
162	unsigned int t_stop;	172	unsigned int t_stop;
163	t_stop = SetDelay(w);	173	t_stop = SetDelay(w);
164	while (!CheckDelay(t_stop));	174	while (!CheckDelay(t_stop));
165	}	175	}
166		176
167	// -----------------------------------------------------------------------	177	// -----------------------------------------------------------------------
168	void Delay_ms_Mess(uint16_t w)	178	void Delay_ms_Mess(uint16_t w)
169	{	179	{
170	uint16_t t_stop;	180	uint16_t t_stop;
171	t_stop = SetDelay(w);	181	t_stop = SetDelay(w);
172	while (!CheckDelay(t_stop)) ADC_Enable();	182	while (!CheckDelay(t_stop)) ADC_Enable();
173	}	183	}
174		184
175		185

Subversion Repositories FlightCtrl

(root)/branches/V0.68d Code Redesign killagreg/timer0.c - Rev 741 → 754