WebSVN - FlightCtrl - Diff - Rev 1910 and 2099 - /branches/dongfang_FC

 #include <inttypes.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "eeprom.h"
 #include "analog.h"
+#include "controlMixer.h"
-// for debugging!
-#include "uart0.h"
+#include "timer0.h"
 #include "output.h"
 #ifdef USE_MK3MAG
 #include "mk3mag.h"
 #endif
-volatile uint16_t millisecondsCount = 0;
+volatile uint32_t globalMillisClock = 0;
-volatile uint8_t  runFlightControl = 0;
-volatile uint16_t cntKompass = 0;
+volatile uint8_t  runFlightControl = 0;
 volatile uint16_t beepTime = 0;
-volatile uint16_t beepModulation = 0xFFFF;
+volatile uint16_t beepModulation = BEEP_MODULATION_NONE;
 #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
+  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 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 divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
+  // set clock divider for timer 0 to SYSCLOCK/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
+  // 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)
+ISR(TIMER0_OVF_vect) { // 9765.625 Hz
-{ // 9765.625 Hz
   static uint8_t cnt_1ms = 1, cnt = 0;
-  uint8_t beeper_On = 0;
+  uint8_t beeperOn = 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 (9.765625kHz/10 = 976.5625Hz)
     cnt = 9;
     cnt_1ms ^= 1;
     if (!cnt_1ms) {
       if (runFlightControl == 1)
-        DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER;
+        debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
       else
-        DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
+        debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
       runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
+    }
-    millisecondsCount++; // increment millisecond counter
+    globalMillisClock++; // increment millisecond counter
+  }
   // beeper on if duration is not over
   if (beepTime) {
     beepTime--; // decrement BeepTime
     if (beepTime & beepModulation)
-      beeper_On = 1;
+      beeperOn = 1;
     else
-      beeper_On = 0;
+      beeperOn = 0;
   } else { // beeper off if duration is over
-    beeper_On = 0;
+    beeperOn = 0;
-    beepModulation = 0xFFFF;
+    beepModulation = BEEP_MODULATION_NONE;
+  }
-  // if beeper is on
-  if (beeper_On) {
+  if (beeperOn) {
     // set speaker port to high.
-    if (BoardRelease == 10)
+    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)
+    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 (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
+#ifdef USE_MK3MAG
+  // update compass value if this option is enabled in the settings
-#ifdef USE_MK3MAG
+  if (staticParams.bitConfig & CFG_COMPASS_ENABLED) {
-    MK3MAG_Update(); // read out mk3mag pwm
-#endif
+    MK3MAG_periodicTask(); // read out mk3mag pwm
+  }
 #endif
+}
 // -----------------------------------------------------------------------
 uint16_t setDelay(uint16_t t) {
-  return (millisecondsCount + t - 1);
+  return (globalMillisClock + t - 1);
+}
 // -----------------------------------------------------------------------
 int8_t checkDelay(uint16_t t) {
-  return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit
+  return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit
+}
 // -----------------------------------------------------------------------
 void delay_ms(uint16_t w) {
   uint16_t t_stop = setDelay(w);
   while (!checkDelay(t_stop))
+    ;
+}
 // -----------------------------------------------------------------------
-void delay_ms_Mess(uint16_t w) {
+void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) {
   uint16_t t_stop;
   t_stop = setDelay(w);
   while (!checkDelay(t_stop)) {
-    if (analogDataReady) {
+        if (analogDataReady) {
-      analogDataReady = 0;
+          analog_update();
-      analog_start();
+          startAnalogConversionCycle();
-    }
+        }
+  }
+  if (stop) {
+  // Wait for new samples to get prepared but do not restart AD conversion after that!
+  // Caller MUST to that.
+        while (!analogDataReady);
+  }
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/timer0.c - Rev 1910 → 2099