Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
  }

  // Beeper remains silent till the first time a control signal was received.
  if (beeper_On & controlMixer_didReceiveSignal) {
    // 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) {
  uint16_t t_stop;
  t_stop = setDelay(w);
  while (!checkDelay(t_stop)) {
    if (analogDataReady) {
      analog_update();
      startAnalogConversionCycle();
    }
  }
}