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"

// 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();
                }
        }
}