WebSVN - FlightCtrl - Diff - Rev 2015 and 2026 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur f�r den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zul�ssig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "controlMixer.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;
      beeper_On = 1; // shut up in dev!!!
    else
      beeper_On = 0;
  } else { // beeper off if duration is over
    beeper_On = 0;
    beepModulation = BEEP_MODULATION_NONE;
  }
 
 
  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.bitConfig & (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_with_adc_measurement(uint16_t w, uint8_t stop) {
  uint16_t t_stop;
  t_stop = setDelay(w);
  while (!checkDelay(t_stop)) {
        if (analogDataReady) {
          analog_update();
          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_rewrite/timer0.c - Rev 2015 → 2026

Rev 2015		Rev 2026
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur f�r den privaten Gebrauch	3	// + Nur f�r den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),	6	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen 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 ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt werden	18	// + eindeutig als Ursprung verlinkt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion	20	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den	22	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
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 zul�ssig	25	// + mit unserer Zustimmung zul�ssig
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	#include "controlMixer.h"	56	#include "controlMixer.h"
57		57
58	#include "timer0.h"	58	#include "timer0.h"
59	// for debugging!	59	// for debugging!
60	#include "uart0.h"	60	#include "uart0.h"
61	#include "output.h"	61	#include "output.h"
62		62
63	#ifdef USE_MK3MAG	63	#ifdef USE_MK3MAG
64	#include "mk3mag.h"	64	#include "mk3mag.h"
65	#endif	65	#endif
66		66
67	volatile uint16_t millisecondsCount = 0;	67	volatile uint16_t millisecondsCount = 0;
68	volatile uint8_t runFlightControl = 0;	68	volatile uint8_t runFlightControl = 0;
69	volatile uint16_t cntKompass = 0;	69	volatile uint16_t cntKompass = 0;
70	volatile uint16_t beepTime = 0;	70	volatile uint16_t beepTime = 0;
71	volatile uint16_t beepModulation = BEEP_MODULATION_NONE;	71	volatile uint16_t beepModulation = BEEP_MODULATION_NONE;
72		72
73	#ifdef USE_NAVICTRL	73	#ifdef USE_NAVICTRL
74	volatile uint8_t SendSPI = 0;	74	volatile uint8_t SendSPI = 0;
75	#endif	75	#endif
76		76
77	/*****************************************************	77	/*****************************************************
78	* Initialize Timer 0	78	* Initialize Timer 0
79	*****************************************************/	79	*****************************************************/
80	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor	80	// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor
81	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate	81	// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate
82	void timer0_init(void) {	82	void timer0_init(void) {
83	uint8_t sreg = SREG;	83	uint8_t sreg = SREG;
84		84
85	// disable all interrupts before reconfiguration	85	// disable all interrupts before reconfiguration
86	cli();	86	cli();
87		87
88	// Configure speaker port as output.	88	// Configure speaker port as output.
89		89
90	if (boardRelease == 10) { // Speaker at PD2	90	if (boardRelease == 10) { // Speaker at PD2
91	DDRD \|= (1 << DDD2);	91	DDRD \|= (1 << DDD2);
92	PORTD &= ~(1 << PORTD2);	92	PORTD &= ~(1 << PORTD2);
93	} else { // Speaker at PC7	93	} else { // Speaker at PC7
94	DDRC \|= (1 << DDC7);	94	DDRC \|= (1 << DDC7);
95	PORTC &= ~(1 << PORTC7);	95	PORTC &= ~(1 << PORTC7);
96	}	96	}
97		97
98	// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor	98	// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor
99	DDRB \|= (1 << DDB4) \| (1 << DDB3);	99	DDRB \|= (1 << DDB4) \| (1 << DDB3);
100	PORTB &= ~((1 << PORTB4) \| (1 << PORTB3));	100	PORTB &= ~((1 << PORTB4) \| (1 << PORTB3));
101		101
102	// Timer/Counter 0 Control Register A	102	// Timer/Counter 0 Control Register A
103		103
104	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)	104	// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
105	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)	105	// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
106	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)	106	// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
107	TCCR0A &= ~((1 << COM0A0) \| (1 << COM0B0));	107	TCCR0A &= ~((1 << COM0A0) \| (1 << COM0B0));
108	TCCR0A \|= (1 << COM0A1) \| (1 << COM0B1) \| (1 << WGM01) \| (1 << WGM00);	108	TCCR0A \|= (1 << COM0A1) \| (1 << COM0B1) \| (1 << WGM01) \| (1 << WGM00);
109		109
110	// Timer/Counter 0 Control Register B	110	// Timer/Counter 0 Control Register B
111		111
112	// set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz	112	// set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
113	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz	113	// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
114	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz	114	// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
115		115
116	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)	116	// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
117	TCCR0B &= ~((1 << FOC0A) \| (1 << FOC0B) \| (1 << WGM02));	117	TCCR0B &= ~((1 << FOC0A) \| (1 << FOC0B) \| (1 << WGM02));
118	TCCR0B = (TCCR0B & 0xF8) \| (0 << CS02) \| (1 << CS01) \| (0 << CS00);	118	TCCR0B = (TCCR0B & 0xF8) \| (0 << CS02) \| (1 << CS01) \| (0 << CS00);
119		119
120	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4	120	// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
121	OCR0A = 0; // for PB3	121	OCR0A = 0; // for PB3
122	OCR0B = 120; // for PB4	122	OCR0B = 120; // for PB4
123		123
124	// init Timer/Counter 0 Register	124	// init Timer/Counter 0 Register
125	TCNT0 = 0;	125	TCNT0 = 0;
126		126
127	// Timer/Counter 0 Interrupt Mask Register	127	// Timer/Counter 0 Interrupt Mask Register
128	// enable timer overflow interrupt only	128	// enable timer overflow interrupt only
129	TIMSK0 &= ~((1 << OCIE0B) \| (1 << OCIE0A));	129	TIMSK0 &= ~((1 << OCIE0B) \| (1 << OCIE0A));
130	TIMSK0 \|= (1 << TOIE0);	130	TIMSK0 \|= (1 << TOIE0);
131		131
132	SREG = sreg;	132	SREG = sreg;
133	}	133	}
134		134
135	/*****************************************************/	135	/*****************************************************/
136	/* Interrupt Routine of Timer 0 */	136	/* Interrupt Routine of Timer 0 */
137	/*****************************************************/	137	/*****************************************************/
138	ISR(TIMER0_OVF_vect)	138	ISR(TIMER0_OVF_vect)
139	{ // 9765.625 Hz	139	{ // 9765.625 Hz
140	static uint8_t cnt_1ms = 1, cnt = 0;	140	static uint8_t cnt_1ms = 1, cnt = 0;
141	uint8_t beeper_On = 0;	141	uint8_t beeper_On = 0;
142		142
143	#ifdef USE_NAVICTRL	143	#ifdef USE_NAVICTRL
144	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done	144	if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
145	#endif	145	#endif
146		146
147	if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)	147	if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)
148	cnt = 9;	148	cnt = 9;
149	cnt_1ms ^= 1;	149	cnt_1ms ^= 1;
150	if (!cnt_1ms) {	150	if (!cnt_1ms) {
151	if (runFlightControl == 1)	151	if (runFlightControl == 1)
152	debugOut.digital[1] \|= DEBUG_MAINLOOP_TIMER;	152	debugOut.digital[1] \|= DEBUG_MAINLOOP_TIMER;
153	else	153	else
154	debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;	154	debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
155	runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)	155	runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
156	}	156	}
157	millisecondsCount++; // increment millisecond counter	157	millisecondsCount++; // increment millisecond counter
158	}	158	}
159		159
160	// beeper on if duration is not over	160	// beeper on if duration is not over
161	if (beepTime) {	161	if (beepTime) {
162	beepTime--; // decrement BeepTime	162	beepTime--; // decrement BeepTime
163	if (beepTime & beepModulation)	163	if (beepTime & beepModulation)
164	// beeper_On = 1;	164	// beeper_On = 1;
165	beeper_On = 1; // shut up in dev!!!	165	beeper_On = 1; // shut up in dev!!!
166	else	166	else
167	beeper_On = 0;	167	beeper_On = 0;
168	} else { // beeper off if duration is over	168	} else { // beeper off if duration is over
169	beeper_On = 0;	169	beeper_On = 0;
170	beepModulation = BEEP_MODULATION_NONE;	170	beepModulation = BEEP_MODULATION_NONE;
171	}	171	}
172		-
173	// Beeper remains silent till the first time a control signal was received.	172
174	if (beeper_On & controlMixer_didReceiveSignal) {	173	if (beeper_On) {
175	// set speaker port to high.	174	// set speaker port to high.
176	if (boardRelease == 10)	175	if (boardRelease == 10)
177	PORTD \|= (1 << PORTD2); // Speaker at PD2	176	PORTD \|= (1 << PORTD2); // Speaker at PD2
178	else	177	else
179	PORTC \|= (1 << PORTC7); // Speaker at PC7	178	PORTC \|= (1 << PORTC7); // Speaker at PC7
180	} else { // beeper is off	179	} else { // beeper is off
181	// set speaker port to low	180	// set speaker port to low
182	if (boardRelease == 10)	181	if (boardRelease == 10)
183	PORTD &= ~(1 << PORTD2);// Speaker at PD2	182	PORTD &= ~(1 << PORTD2);// Speaker at PD2
184	else	183	else
185	PORTC &= ~(1 << PORTC7);// Speaker at PC7	184	PORTC &= ~(1 << PORTC7);// Speaker at PC7
186	}	185	}
187		186
188	#ifndef USE_NAVICTRL	187	#ifndef USE_NAVICTRL
189	// update compass value if this option is enabled in the settings	188	// update compass value if this option is enabled in the settings
190	if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {	189	if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE \| CFG_GPS_ACTIVE)) {
191	#ifdef USE_MK3MAG	190	#ifdef USE_MK3MAG
192	MK3MAG_Update(); // read out mk3mag pwm	191	MK3MAG_Update(); // read out mk3mag pwm
193	#endif	192	#endif
194	}	193	}
195	#endif	194	#endif
196	}	195	}
197		196
198	// -----------------------------------------------------------------------	197	// -----------------------------------------------------------------------
199	uint16_t setDelay(uint16_t t) {	198	uint16_t setDelay(uint16_t t) {
200	return (millisecondsCount + t - 1);	199	return (millisecondsCount + t - 1);
201	}	200	}
202		201
203	// -----------------------------------------------------------------------	202	// -----------------------------------------------------------------------
204	int8_t checkDelay(uint16_t t) {	203	int8_t checkDelay(uint16_t t) {
205	return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit	204	return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit
206	}	205	}
207		206
208	// -----------------------------------------------------------------------	207	// -----------------------------------------------------------------------
209	void delay_ms(uint16_t w) {	208	void delay_ms(uint16_t w) {
210	uint16_t t_stop = setDelay(w);	209	uint16_t t_stop = setDelay(w);
211	while (!checkDelay(t_stop))	210	while (!checkDelay(t_stop))
212	;	211	;
213	}	212	}
214		213
215	// -----------------------------------------------------------------------	214	// -----------------------------------------------------------------------
216	void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) {	215	void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) {
217	uint16_t t_stop;	216	uint16_t t_stop;
218	t_stop = setDelay(w);	217	t_stop = setDelay(w);
219	while (!checkDelay(t_stop)) {	218	while (!checkDelay(t_stop)) {
220	if (analogDataReady) {	219	if (analogDataReady) {
221	analog_update();	220	analog_update();
222	startAnalogConversionCycle();	221	startAnalogConversionCycle();
223	}	222	}
224	}	223	}
225	if (stop) {	224	if (stop) {
226	// Wait for new samples to get prepared but do not restart AD conversion after that!	225	// Wait for new samples to get prepared but do not restart AD conversion after that!
227	// Caller MUST to that.	226	// Caller MUST to that.
228	while (!analogDataReady);	227	while (!analogDataReady);
229	}	228	}
230	}	229	}
231		230