WebSVN - FlightCtrl - Diff - Rev 1821 and 1868 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 example: 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
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
// +  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
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  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"
 
// for debugging!
#include "rc.h"
 
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif
 
volatile uint16_t CountMilliseconds = 0;
volatile uint8_t runFlightControl = 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 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
        // 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)
{ // 9765.625 Hz
        static uint8_t cnt_1ms = 1, cnt = 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_1ms ^= 1;
                if (!cnt_1ms) {
                        runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 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
        }
 
#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
                MK3MAG_Update(); // read out mk3mag pwm
#endif
        }
#endif
}
 
// -----------------------------------------------------------------------
uint16_t SetDelay(uint16_t t) {
        return (CountMilliseconds + t - 1);
}
 
// -----------------------------------------------------------------------
int8_t CheckDelay(uint16_t t) {
        return (((t - CountMilliseconds) & 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) {
        uint16_t t_stop;
        t_stop = SetDelay(w);
        while (!CheckDelay(t_stop)) {
                if (analogDataReady) {
                        analogDataReady = 0;
                        analog_start();
                }
        }
}
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/timer0.c - Rev 1821 → 1868

Rev 1821		Rev 1868
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt werden	18	// + eindeutig als Ursprung verlinkt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49	// + POSSIBILITY OF SUCH DAMAGE.	49	// + POSSIBILITY OF SUCH DAMAGE.
50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51	#include <inttypes.h>	51	#include <inttypes.h>
52	#include <avr/io.h>	52	#include <avr/io.h>
53	#include <avr/interrupt.h>	53	#include <avr/interrupt.h>
54	#include "eeprom.h"	54	#include "eeprom.h"
55	#include "analog.h"	55	#include "analog.h"
56		56
57	// for debugging!	57	// for debugging!
58	#include "rc.h"	58	#include "rc.h"
59		59
60	#ifdef USE_MK3MAG	60	#ifdef USE_MK3MAG
61	#include "mk3mag.h"	61	#include "mk3mag.h"
62	#endif	62	#endif
63		63
64	volatile uint16_t CountMilliseconds = 0;	64	volatile uint16_t CountMilliseconds = 0;
65	volatile uint8_t runFlightControl = 0;	65	volatile uint8_t runFlightControl = 0;
66	volatile uint16_t cntKompass = 0;	66	volatile uint16_t cntKompass = 0;
67	volatile uint16_t BeepTime = 0;	67	volatile uint16_t BeepTime = 0;
68	volatile uint16_t BeepModulation = 0xFFFF;	68	volatile uint16_t BeepModulation = 0xFFFF;
69		69
70	#ifdef USE_NAVICTRL	70	#ifdef USE_NAVICTRL
71	volatile uint8_t SendSPI = 0;	71	volatile uint8_t SendSPI = 0;
72	#endif	72	#endif
73		73
74	/*****************************************************	74	/*****************************************************
75	* Initialize Timer 0	75	* Initialize Timer 0
76	*****************************************************/	76	*****************************************************/
77	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor	77	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
78	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate	78	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
79	void timer0_init(void) {	79	void timer0_init(void) {
80	uint8_t sreg = SREG;	80	uint8_t sreg = SREG;
81		81
82	// disable all interrupts before reconfiguration	82	// disable all interrupts before reconfiguration
83	cli();	83	cli();
84		84
85	// Configure speaker port as output.	85	// Configure speaker port as output.
86		86
87	if (BoardRelease == 10) { // Speaker at PD2	87	if (BoardRelease == 10) { // Speaker at PD2
88	DDRD \|= (1 << DDD2);	88	DDRD \|= (1 << DDD2);
89	PORTD &= ~(1 << PORTD2);	89	PORTD &= ~(1 << PORTD2);
90	} else { // Speaker at PC7	90	} else { // Speaker at PC7
91	DDRC \|= (1 << DDC7);	91	DDRC \|= (1 << DDC7);
92	PORTC &= ~(1 << PORTC7);	92	PORTC &= ~(1 << PORTC7);
93	}	93	}
94		94
95	// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor	95	// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor
96	DDRB \|= (1 << DDB4) \| (1 << DDB3);	96	DDRB \|= (1 << DDB4) \| (1 << DDB3);
97	PORTB &= ~((1 << PORTB4) \| (1 << PORTB3));	97	PORTB &= ~((1 << PORTB4) \| (1 << PORTB3));
98		98
99	// Timer/Counter 0 Control Register A	99	// Timer/Counter 0 Control Register A
100		100
101	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)	101	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
102	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)	102	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
103	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)	103	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
104	TCCR0A &= ~((1 << COM0A0) \| (1 << COM0B0));	104	TCCR0A &= ~((1 << COM0A0) \| (1 << COM0B0));
105	TCCR0A \|= (1 << COM0A1) \| (1 << COM0B1) \| (1 << WGM01) \| (1 << WGM00);	105	TCCR0A \|= (1 << COM0A1) \| (1 << COM0B1) \| (1 << WGM01) \| (1 << WGM00);
106		106
107	// Timer/Counter 0 Control Register B	107	// Timer/Counter 0 Control Register B
108		108
109	// set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz	109	// set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
110	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz	110	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
111	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz	111	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
112		112
113	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)	113	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
114	TCCR0B &= ~((1 << FOC0A) \| (1 << FOC0B) \| (1 << WGM02));	114	TCCR0B &= ~((1 << FOC0A) \| (1 << FOC0B) \| (1 << WGM02));
115	TCCR0B = (TCCR0B & 0xF8) \| (0 << CS02) \| (1 << CS01) \| (0 << CS00);	115	TCCR0B = (TCCR0B & 0xF8) \| (0 << CS02) \| (1 << CS01) \| (0 << CS00);
116		116
117	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4	117	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
118	OCR0A = 0; // for PB3	118	OCR0A = 0; // for PB3
119	OCR0B = 120; // for PB4	119	OCR0B = 120; // for PB4
120		120
121	// init Timer/Counter 0 Register	121	// init Timer/Counter 0 Register
122	TCNT0 = 0;	122	TCNT0 = 0;
123		123
124	// Timer/Counter 0 Interrupt Mask Register	124	// Timer/Counter 0 Interrupt Mask Register
125	// enable timer overflow interrupt only	125	// enable timer overflow interrupt only
126	TIMSK0 &= ~((1 << OCIE0B) \| (1 << OCIE0A));	126	TIMSK0 &= ~((1 << OCIE0B) \| (1 << OCIE0A));
127	TIMSK0 \|= (1 << TOIE0);	127	TIMSK0 \|= (1 << TOIE0);
128		128
129	SREG = sreg;	129	SREG = sreg;
130	}	130	}
131		131
132	/*****************************************************/	132	/*****************************************************/
133	/* Interrupt Routine of Timer 0 */	133	/* Interrupt Routine of Timer 0 */
134	/*****************************************************/	134	/*****************************************************/
135	ISR(TIMER0_OVF_vect)	135	ISR(TIMER0_OVF_vect)
136	{ // 9765.625 Hz	136	{ // 9765.625 Hz
137	static uint8_t cnt_1ms = 1, cnt = 0;	137	static uint8_t cnt_1ms = 1, cnt = 0;
138	uint8_t Beeper_On = 0;	138	uint8_t Beeper_On = 0;
139		139
140	#ifdef USE_NAVICTRL	140	#ifdef USE_NAVICTRL
141	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done	141	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
142	#endif	142	#endif
143		143
144	if (!cnt--) { // every 10th run (9.765kHz/10 = 976Hz)	144	if (!cnt--) { // every 10th run (9.765kHz/10 = 976Hz)
145	cnt = 9;	145	cnt = 9;
146	cnt_1ms ^= 1;	146	cnt_1ms ^= 1;
147	if (!cnt_1ms) {	147	if (!cnt_1ms) {
148	runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)	148	runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
149	}	149	}
150	CountMilliseconds++; // increment millisecond counter	150	CountMilliseconds++; // increment millisecond counter
151	}	151	}
152		152
153	// beeper on if duration is not over	153	// beeper on if duration is not over
154	if (BeepTime) {	154	if (BeepTime) {
155	BeepTime--; // decrement BeepTime	155	BeepTime--; // decrement BeepTime
156	if (BeepTime & BeepModulation)	156	if (BeepTime & BeepModulation)
157	Beeper_On = 1;	157	Beeper_On = 1;
158	else	158	else
159	Beeper_On = 0;	159	Beeper_On = 0;
160	} else { // beeper off if duration is over	160	} else { // beeper off if duration is over
161	Beeper_On = 0;	161	Beeper_On = 0;
162	BeepModulation = 0xFFFF;	162	BeepModulation = 0xFFFF;
163	}	163	}
164		164
165	// if beeper is on	165	// if beeper is on
166	if (Beeper_On) {	166	if (Beeper_On) {
167	// set speaker port to high.	167	// set speaker port to high.
168	if (BoardRelease == 10)	168	if (BoardRelease == 10)
169	PORTD \|= (1 << PORTD2); // Speaker at PD2	169	PORTD \|= (1 << PORTD2); // Speaker at PD2
170	else	170	else
171	PORTC \|= (1 << PORTC7); // Speaker at PC7	171	PORTC \|= (1 << PORTC7); // Speaker at PC7
172	} else { // beeper is off	172	} else { // beeper is off
173	// set speaker port to low	173	// set speaker port to low
174	if (BoardRelease == 10)	174	if (BoardRelease == 10)
175	PORTD &= ~(1 << PORTD2);// Speaker at PD2	175	PORTD &= ~(1 << PORTD2);// Speaker at PD2
176	else	176	else
177	PORTC &= ~(1 << PORTC7);// Speaker at PC7	177	PORTC &= ~(1 << PORTC7);// Speaker at PC7
178	}	178	}
179		179
180	#ifndef USE_NAVICTRL	180	#ifndef USE_NAVICTRL
181	// update compass value if this option is enabled in the settings	181	// update compass value if this option is enabled in the settings
182	if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {	182	if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {
183	#ifdef USE_MK3MAG	183	#ifdef USE_MK3MAG
184	MK3MAG_Update(); // read out mk3mag pwm	184	MK3MAG_Update(); // read out mk3mag pwm
185	#endif	185	#endif
186	}	186	}
187	#endif	187	#endif
188	}	188	}
189		189
190	// -----------------------------------------------------------------------	190	// -----------------------------------------------------------------------
191	uint16_t SetDelay(uint16_t t) {	191	uint16_t SetDelay(uint16_t t) {
192	return (CountMilliseconds + t - 1);	192	return (CountMilliseconds + t - 1);
193	}	193	}
194		194
195	// -----------------------------------------------------------------------	195	// -----------------------------------------------------------------------
196	int8_t CheckDelay(uint16_t t) {	196	int8_t CheckDelay(uint16_t t) {
197	return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit	197	return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
198	}	198	}
199		199
200	// -----------------------------------------------------------------------	200	// -----------------------------------------------------------------------
201	void Delay_ms(uint16_t w) {	201	void Delay_ms(uint16_t w) {
202	uint16_t t_stop = SetDelay(w);	202	uint16_t t_stop = SetDelay(w);
203	while (!CheckDelay(t_stop))	203	while (!CheckDelay(t_stop))
204	;	204	;
205	}	205	}
206		206
207	// -----------------------------------------------------------------------	207	// -----------------------------------------------------------------------
208	void Delay_ms_Mess(uint16_t w) {	208	void Delay_ms_Mess(uint16_t w) {
209	uint16_t t_stop;	209	uint16_t t_stop;
210	t_stop = SetDelay(w);	210	t_stop = SetDelay(w);
211	while (!CheckDelay(t_stop)) {	211	while (!CheckDelay(t_stop)) {
212	if (analogDataReady) {	212	if (analogDataReady) {
213	analogDataReady = 0;	213	analogDataReady = 0;
214	analog_start();	214	analog_start();
215	}	215	}
216	}	216	}
217	}	217	}
218		218