WebSVN - FlightCtrl - Diff - Rev 1887 and 1908 - /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"
 
#include "timer0.h"
// for debugging!
#include "uart0.h"
#include "output.h"
 
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif
 
volatile uint16_t millisecondsCount = 0;
volatile uint8_t  runFlightControl = 0;
volatile uint16_t cntKompass = 0;
volatile uint16_t beepTime = 0;
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
    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 (9.765625kHz/10 = 976.5625Hz)
    cnt = 9;
    cnt_1ms ^= 1;
    if (!cnt_1ms) {
      if (runFlightControl == 1)
        DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER;
      else
        DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
      runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
    }
    millisecondsCount++; // 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 = BEEP_MODULATION_NONE;
  }
 
  // 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 (millisecondsCount + t - 1);
}
 
// -----------------------------------------------------------------------
int8_t checkDelay(uint16_t t) {
  return (((t - millisecondsCount) & 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 1887 → 1908

Rev 1887		Rev 1908
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 example: 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	#include "timer0.h"
57	// for debugging!	58	// for debugging!
58	#include "uart0.h"	59	#include "uart0.h"
59	#include "output.h"	60	#include "output.h"
60		61
61	#ifdef USE_MK3MAG	62	#ifdef USE_MK3MAG
62	#include "mk3mag.h"	63	#include "mk3mag.h"
63	#endif	64	#endif
64		65
65	volatile uint16_t millisecondsCount = 0;	66	volatile uint16_t millisecondsCount = 0;
66	volatile uint8_t runFlightControl = 0;	67	volatile uint8_t runFlightControl = 0;
67	volatile uint16_t cntKompass = 0;	68	volatile uint16_t cntKompass = 0;
68	volatile uint16_t beepTime = 0;	69	volatile uint16_t beepTime = 0;
69	volatile uint16_t beepModulation = 0xFFFF;	70	volatile uint16_t beepModulation = BEEP_MODULATION_NONE;
70		71
71	#ifdef USE_NAVICTRL	72	#ifdef USE_NAVICTRL
72	volatile uint8_t SendSPI = 0;	73	volatile uint8_t SendSPI = 0;
73	#endif	74	#endif
74		75
75	/*****************************************************	76	/*****************************************************
76	* Initialize Timer 0	77	* Initialize Timer 0
77	*****************************************************/	78	*****************************************************/
78	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor	79	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
79	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate	80	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
80	void timer0_init(void) {	81	void timer0_init(void) {
81	uint8_t sreg = SREG;	82	uint8_t sreg = SREG;
82		83
83	// disable all interrupts before reconfiguration	84	// disable all interrupts before reconfiguration
84	cli();	85	cli();
85		86
86	// Configure speaker port as output.	87	// Configure speaker port as output.
87		88
88	if (BoardRelease == 10) { // Speaker at PD2	89	if (BoardRelease == 10) { // Speaker at PD2
89	DDRD \|= (1 << DDD2);	90	DDRD \|= (1 << DDD2);
90	PORTD &= ~(1 << PORTD2);	91	PORTD &= ~(1 << PORTD2);
91	} else { // Speaker at PC7	92	} else { // Speaker at PC7
92	DDRC \|= (1 << DDC7);	93	DDRC \|= (1 << DDC7);
93	PORTC &= ~(1 << PORTC7);	94	PORTC &= ~(1 << PORTC7);
94	}	95	}
95		96
96	// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor	97	// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor
97	DDRB \|= (1 << DDB4) \| (1 << DDB3);	98	DDRB \|= (1 << DDB4) \| (1 << DDB3);
98	PORTB &= ~((1 << PORTB4) \| (1 << PORTB3));	99	PORTB &= ~((1 << PORTB4) \| (1 << PORTB3));
99		100
100	// Timer/Counter 0 Control Register A	101	// Timer/Counter 0 Control Register A
101		102
102	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)	103	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
103	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)	104	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
104	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)	105	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
105	TCCR0A &= ~((1 << COM0A0) \| (1 << COM0B0));	106	TCCR0A &= ~((1 << COM0A0) \| (1 << COM0B0));
106	TCCR0A \|= (1 << COM0A1) \| (1 << COM0B1) \| (1 << WGM01) \| (1 << WGM00);	107	TCCR0A \|= (1 << COM0A1) \| (1 << COM0B1) \| (1 << WGM01) \| (1 << WGM00);
107		108
108	// Timer/Counter 0 Control Register B	109	// Timer/Counter 0 Control Register B
109		110
110	// set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz	111	// set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
111	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz	112	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
112	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz	113	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
113		114
114	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)	115	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
115	TCCR0B &= ~((1 << FOC0A) \| (1 << FOC0B) \| (1 << WGM02));	116	TCCR0B &= ~((1 << FOC0A) \| (1 << FOC0B) \| (1 << WGM02));
116	TCCR0B = (TCCR0B & 0xF8) \| (0 << CS02) \| (1 << CS01) \| (0 << CS00);	117	TCCR0B = (TCCR0B & 0xF8) \| (0 << CS02) \| (1 << CS01) \| (0 << CS00);
117		118
118	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4	119	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
119	OCR0A = 0; // for PB3	120	OCR0A = 0; // for PB3
120	OCR0B = 120; // for PB4	121	OCR0B = 120; // for PB4
121		122
122	// init Timer/Counter 0 Register	123	// init Timer/Counter 0 Register
123	TCNT0 = 0;	124	TCNT0 = 0;
124		125
125	// Timer/Counter 0 Interrupt Mask Register	126	// Timer/Counter 0 Interrupt Mask Register
126	// enable timer overflow interrupt only	127	// enable timer overflow interrupt only
127	TIMSK0 &= ~((1 << OCIE0B) \| (1 << OCIE0A));	128	TIMSK0 &= ~((1 << OCIE0B) \| (1 << OCIE0A));
128	TIMSK0 \|= (1 << TOIE0);	129	TIMSK0 \|= (1 << TOIE0);
129		130
130	SREG = sreg;	131	SREG = sreg;
131	}	132	}
132		133
133	/*****************************************************/	134	/*****************************************************/
134	/* Interrupt Routine of Timer 0 */	135	/* Interrupt Routine of Timer 0 */
135	/*****************************************************/	136	/*****************************************************/
136	ISR(TIMER0_OVF_vect)	137	ISR(TIMER0_OVF_vect)
137	{ // 9765.625 Hz	138	{ // 9765.625 Hz
138	static uint8_t cnt_1ms = 1, cnt = 0;	139	static uint8_t cnt_1ms = 1, cnt = 0;
139	uint8_t beeper_On = 0;	140	uint8_t beeper_On = 0;
140		141
141	#ifdef USE_NAVICTRL	142	#ifdef USE_NAVICTRL
142	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done	143	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
143	#endif	144	#endif
144		145
145	if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)	146	if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)
146	cnt = 9;	147	cnt = 9;
147	cnt_1ms ^= 1;	148	cnt_1ms ^= 1;
148	if (!cnt_1ms) {	149	if (!cnt_1ms) {
149	if (runFlightControl == 1)	150	if (runFlightControl == 1)
150	DebugOut.Digital[1] \|= DEBUG_MAINLOOP_TIMER;	151	DebugOut.Digital[1] \|= DEBUG_MAINLOOP_TIMER;
151	else	152	else
152	DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;	153	DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
153	runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)	154	runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
154	}	155	}
155	millisecondsCount++; // increment millisecond counter	156	millisecondsCount++; // increment millisecond counter
156	}	157	}
157		158
158	// beeper on if duration is not over	159	// beeper on if duration is not over
159	if (beepTime) {	160	if (beepTime) {
160	beepTime--; // decrement BeepTime	161	beepTime--; // decrement BeepTime
161	if (beepTime & beepModulation)	162	if (beepTime & beepModulation)
162	beeper_On = 1;	163	beeper_On = 1;
163	else	164	else
164	beeper_On = 0;	165	beeper_On = 0;
165	} else { // beeper off if duration is over	166	} else { // beeper off if duration is over
166	beeper_On = 0;	167	beeper_On = 0;
167	beepModulation = 0xFFFF;	168	beepModulation = BEEP_MODULATION_NONE;
168	}	169	}
169		170
170	// if beeper is on	171	// if beeper is on
171	if (beeper_On) {	172	if (beeper_On) {
172	// set speaker port to high.	173	// set speaker port to high.
173	if (BoardRelease == 10)	174	if (BoardRelease == 10)
174	PORTD \|= (1 << PORTD2); // Speaker at PD2	175	PORTD \|= (1 << PORTD2); // Speaker at PD2
175	else	176	else
176	PORTC \|= (1 << PORTC7); // Speaker at PC7	177	PORTC \|= (1 << PORTC7); // Speaker at PC7
177	} else { // beeper is off	178	} else { // beeper is off
178	// set speaker port to low	179	// set speaker port to low
179	if (BoardRelease == 10)	180	if (BoardRelease == 10)
180	PORTD &= ~(1 << PORTD2);// Speaker at PD2	181	PORTD &= ~(1 << PORTD2);// Speaker at PD2
181	else	182	else
182	PORTC &= ~(1 << PORTC7);// Speaker at PC7	183	PORTC &= ~(1 << PORTC7);// Speaker at PC7
183	}	184	}
184		185
185	#ifndef USE_NAVICTRL	186	#ifndef USE_NAVICTRL
186	// update compass value if this option is enabled in the settings	187	// update compass value if this option is enabled in the settings
187	if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {	188	if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {
188	#ifdef USE_MK3MAG	189	#ifdef USE_MK3MAG
189	MK3MAG_Update(); // read out mk3mag pwm	190	MK3MAG_Update(); // read out mk3mag pwm
190	#endif	191	#endif
191	}	192	}
192	#endif	193	#endif
193	}	194	}
194		195
195	// -----------------------------------------------------------------------	196	// -----------------------------------------------------------------------
196	uint16_t setDelay(uint16_t t) {	197	uint16_t setDelay(uint16_t t) {
197	return (millisecondsCount + t - 1);	198	return (millisecondsCount + t - 1);
198	}	199	}
199		200
200	// -----------------------------------------------------------------------	201	// -----------------------------------------------------------------------
201	int8_t checkDelay(uint16_t t) {	202	int8_t checkDelay(uint16_t t) {
202	return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit	203	return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit
203	}	204	}
204		205
205	// -----------------------------------------------------------------------	206	// -----------------------------------------------------------------------
206	void delay_ms(uint16_t w) {	207	void delay_ms(uint16_t w) {
207	uint16_t t_stop = setDelay(w);	208	uint16_t t_stop = setDelay(w);
208	while (!checkDelay(t_stop))	209	while (!checkDelay(t_stop))
209	;	210	;
210	}	211	}
211		212
212	// -----------------------------------------------------------------------	213	// -----------------------------------------------------------------------
213	void delay_ms_Mess(uint16_t w) {	214	void delay_ms_Mess(uint16_t w) {
214	uint16_t t_stop;	215	uint16_t t_stop;
215	t_stop = setDelay(w);	216	t_stop = setDelay(w);
216	while (!checkDelay(t_stop)) {	217	while (!checkDelay(t_stop)) {
217	if (analogDataReady) {	218	if (analogDataReady) {
218	analogDataReady = 0;	219	analogDataReady = 0;
219	analog_start();	220	analog_start();
220	}	221	}
221	}	222	}
222	}	223	}
223		224