Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 excample: 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 "main.h"
#include "fc.h"
#ifdef USE_KILLAGREG
#include "mm3.h"
#endif
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif

volatile uint16_t CountMilliseconds = 0;
volatile uint8_t UpdateMotor = 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)    // 9.765 kHz
{
        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++;
                cnt_1ms %= 2;
                if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 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(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
        {
        #ifdef USE_KILLAGREG
                MM3_Update(); // read out mm3 board
        #endif
        #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;
        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(ADReady)
                {
                        ADReady = 0;
                        ADC_Enable();
                }
        }
}