WebSVN - FlightCtrl - Diff - Rev 1869 and 1872 - /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.
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 // + 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
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 // + 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
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 // +     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
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 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include <inttypes.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include "eeprom.h"
 #include "analog.h"
 // for debugging!
 #include "uart0.h"
 #include "output.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;
+  uint8_t sreg = SREG;
-        // disable all interrupts before reconfiguration
+  // disable all interrupts before reconfiguration
-        cli();
+  cli();
-        // Configure speaker port as output.
+  // Configure speaker port as output.
-        if (BoardRelease == 10) { // Speaker at PD2
+  if (BoardRelease == 10) { // Speaker at PD2
-                DDRD |= (1 << DDD2);
+    DDRD |= (1 << DDD2);
-                PORTD &= ~(1 << PORTD2);
+    PORTD &= ~(1 << PORTD2);
-        } else { // Speaker at PC7
+  } else { // Speaker at PC7
-                DDRC |= (1 << DDC7);
+    DDRC |= (1 << DDC7);
-                PORTC &= ~(1 << PORTC7);
+    PORTC &= ~(1 << PORTC7);
-        }
+  }
-        // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor
+  // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor
-        DDRB |= (1 << DDB4) | (1 << DDB3);
+  DDRB |= (1 << DDB4) | (1 << DDB3);
-        PORTB &= ~((1 << PORTB4) | (1 << PORTB3));
+  PORTB &= ~((1 << PORTB4) | (1 << PORTB3));
-        // Timer/Counter 0 Control Register A
+  // Timer/Counter 0 Control Register A
-        // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
+  // 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
+  // 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 SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
-        // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
+  // 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)
+  // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
-        TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02));
+  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
+  // 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
+  // init Timer/Counter 0 Register
-        TCNT0 = 0;
+  TCNT0 = 0;
-        // Timer/Counter 0 Interrupt Mask Register
+  // Timer/Counter 0 Interrupt Mask Register
-        // enable timer overflow interrupt only
+  // enable timer overflow interrupt only
-        TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A));
+  TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A));
-        TIMSK0 |= (1 << TOIE0);
+  TIMSK0 |= (1 << TOIE0);
-        SREG = sreg;
+  SREG = sreg;
+}
 /*****************************************************/
 /*          Interrupt Routine of Timer 0             */
 /*****************************************************/
 ISR(TIMER0_OVF_vect)
 { // 9765.625 Hz
-        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
+  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)
+  if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)
-                cnt = 9;
+    cnt = 9;
-                cnt_1ms ^= 1;
+    cnt_1ms ^= 1;
-                if (!cnt_1ms) {
+    if (!cnt_1ms) {
+      if (runFlightControl == 1)
+        DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER;
+      else
-                        runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
+        DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
-                        DebugOut.Digital[0] |= DEBUG_MAINLOOP_TIMER;
+      runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
-                }
+    }
-                CountMilliseconds++; // increment millisecond counter
+    CountMilliseconds++; // increment millisecond counter
-        }
+  }
-        // beeper on if duration is not over
+  // beeper on if duration is not over
-        if (BeepTime) {
+  if (BeepTime) {
-                BeepTime--; // decrement BeepTime
+    BeepTime--; // decrement BeepTime
-                if (BeepTime & BeepModulation)
+    if (BeepTime & BeepModulation)
-                        Beeper_On = 1;
+      Beeper_On = 1;
-                else
+    else
-                        Beeper_On = 0;
+      Beeper_On = 0;
-        } else { // beeper off if duration is over
+  } else { // beeper off if duration is over
-                Beeper_On = 0;
+    Beeper_On = 0;
-                BeepModulation = 0xFFFF;
+    BeepModulation = 0xFFFF;
-        }
+  }
-        // if beeper is on
+  // if beeper is on
-        if (Beeper_On) {
+  if (Beeper_On) {
-                // set speaker port to high.
+    // set speaker port to high.
-                if (BoardRelease == 10)
+    if (BoardRelease == 10)
-                        PORTD |= (1 << PORTD2); // Speaker at PD2
+      PORTD |= (1 << PORTD2); // Speaker at PD2
-                else
+    else
-                        PORTC |= (1 << PORTC7); // Speaker at PC7
+      PORTC |= (1 << PORTC7); // Speaker at PC7
-        } else { // beeper is off
+  } else { // beeper is off
-                // set speaker port to low
+    // set speaker port to low
-                if (BoardRelease == 10)
+    if (BoardRelease == 10)
-                        PORTD &= ~(1 << PORTD2);// Speaker at PD2
+      PORTD &= ~(1 << PORTD2);// Speaker at PD2
-                else
+    else
-                        PORTC &= ~(1 << PORTC7);// Speaker at PC7
+      PORTC &= ~(1 << PORTC7);// Speaker at PC7
-        }
+  }
 #ifndef USE_NAVICTRL
-        // update compass value if this option is enabled in the settings
+  // update compass value if this option is enabled in the settings
-        if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
+  if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
 #ifdef USE_MK3MAG
-                MK3MAG_Update(); // read out mk3mag pwm
+    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) {
-        uint16_t t_stop = SetDelay(w);
+  uint16_t 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)) {
+  while (!CheckDelay(t_stop)) {
-                if (analogDataReady) {
+    if (analogDataReady) {
-                        analogDataReady = 0;
+      analogDataReady = 0;
-                        analog_start();
+      analog_start();
-                }
+    }
-        }
+  }
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/timer0.c - Rev 1869 → 1872