WebSVN - FlightCtrl - Diff - Rev 1179 and 1180 - /branches/V0.72p Code Redesign killagreg/timer0.c

+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Copyright (c) 04.2007 Holger Buss
+// + Nur für den privaten Gebrauch
+// + www.MikroKopter.com
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
+// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
+// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
+// + bzgl. der Nutzungsbedingungen aufzunehmen.
+// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
+// + Verkauf von Luftbildaufnahmen, usw.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
+// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
+// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
+// + eindeutig als Ursprung verlinkt werden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
+// + Benutzung auf eigene Gefahr
+// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
+// + mit unserer Zustimmung zulässig
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
+// + this list of conditions and the following disclaimer.
+// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
+// +     from this software without specific prior written permission.
+// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
+// +     for non-commercial use (directly or indirectly)
+// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
+// +     with our written permission
+// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
+// +     clearly linked as origin
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+// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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+// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// +  POSSIBILITY OF SUCH DAMAGE.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #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_KILLAGREG
 #include "mm3.h"
 #endif
 #ifdef USE_MK3MAG
 #include "mk3mag.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;
 #ifdef USE_NAVICTRL
 volatile uint8_t SendSPI = 0;
 #endif
 /*****************************************************/
 /*              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 offset for the pressure sensor
         DDRB |= (1<<DDB4)|(1<<DDB3);
         PORTB &= ~((1<<PORTB4)|(1<<PORTB3));
         // 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 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)
+        // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
-    TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0));
+        TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0));
-    TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00);
+        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
+        // set clock divider 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);
+        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
+        OCR0A =  0;  // for PB3
-    OCR0B = 120; // for PB4
+        OCR0B = 120; // for PB4
         // init Timer/Counter 0 Register
-    TCNT0 = 0;
+        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;
+        static uint8_t cnt_1ms = 1,cnt = 0;
-    uint8_t Beeper_On = 0;
+        uint8_t Beeper_On = 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
         if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
+        {
-         cnt = 9;
+                cnt = 9;
-         cnt_1ms++;
+                cnt_1ms++;
-         cnt_1ms %= 2;
+                cnt_1ms %= 2;
-         if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
+                if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
-         CountMilliseconds++; // increment millisecond counter
+                CountMilliseconds++; // increment millisecond counter
+        }
         // beeper on if duration is not over
         if(BeepTime)
+        {
-           BeepTime--; // decrement BeepTime
+                BeepTime--; // decrement BeepTime
-           if(BeepTime & BeepModulation) Beeper_On = 1;
+                if(BeepTime & BeepModulation) Beeper_On = 1;
-           else Beeper_On = 0;
+                else Beeper_On = 0;
+        }
         else // beeper off if duration is over
+        {
-           Beeper_On = 0;
+                Beeper_On = 0;
-           BeepModulation = 0xFFFF;
+                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
+        }
         #ifndef USE_NAVICTRL
         // update compass value if this option is enabled in the settings
         if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
+        {
         #ifdef USE_KILLAGREG
                 MM3_Update(); // read out mm3 board
         #endif
         #ifdef USE_MK3MAG
                 MK3MAG_Update(); // read out mk3mag pwm
         #endif
+        }
         #endif
+}
 // -----------------------------------------------------------------------
 uint16_t SetDelay (uint16_t t)
+{
-  return(CountMilliseconds + t - 1);
+        return(CountMilliseconds + t - 1);
+}
 // -----------------------------------------------------------------------
 int8_t CheckDelay(uint16_t t)
+{
-  return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
+        return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
+}
 // -----------------------------------------------------------------------
 void Delay_ms(uint16_t w)
+{
- unsigned int t_stop;
+        uint16_t t_stop;
- t_stop = SetDelay(w);
+        t_stop = SetDelay(w);
- while (!CheckDelay(t_stop));
+        while (!CheckDelay(t_stop));
+}
 // -----------------------------------------------------------------------
 void Delay_ms_Mess(uint16_t w)
+{
- uint16_t t_stop;
+        uint16_t t_stop;
- t_stop = SetDelay(w);
+        t_stop = SetDelay(w);
- while (!CheckDelay(t_stop)) ADC_Enable();
+        while (!CheckDelay(t_stop))
+        {
+                if(ADReady)
+                {
+                        ADReady = 0;
+                        ADC_Enable();
+                }
+        }
+}

Subversion Repositories FlightCtrl

(root)/branches/V0.72p Code Redesign killagreg/timer0.c - Rev 1179 → 1180