Subversion Repositories FlightCtrl

#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
//#include "eeprom.h"
#include "profiler.h"
#include "controlMixer.h"
#include "configuration.h"
#include "analog.h"
#include "timer0.h"
#include "debug.h"
#include "beeper.h"
#include "output.h"
#include "commands.h"
#include "flight.h"
#include "uart0.h"
#include "twimaster.h"

#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif

#define MILLIS_DIVIDER 10

volatile uint32_t jiffiesClock;
volatile uint32_t millisClock;
volatile uint8_t  loopJiffiesClock;
volatile uint16_t beepTime;
volatile uint16_t beepModulation = BEEP_MODULATION_NONE;

volatile uint8_t flightControlStatus;

/*****************************************************
 * 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 SYSCLOCK/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;
}

void runFlightControlTask(void) {
        if (flightControlStatus != NOT_RUNNING) {
                // Previous execution not completed! It is dangerous to start another.
                debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
                return;
        }

        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;

        controlMixer_periodicTask();
        commands_handleCommands();
        flightControlStatus = RUNNING;

    if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout
         if (!I2CTimeout) {
             I2C_reset();
             I2CTimeout = 5;
         }
         beepI2CAlarm();
     }
       
        if (analog_controlDataStatus != CONTROL_SENSOR_DATA_READY) {
                // Analog data should have been ready but is not!!
                debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
        } else {
                debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
                J4HIGH;
                analog_sumAttitudeData();
                analog_updateControlData();
                flight_control();
                output_applyMulticopterMixer();
                I2C_start(TWI_STATE_MOTOR_TX);
                J4LOW;
        }

        flightControlStatus = NOT_RUNNING;
}

/*****************************************************/
/*          Interrupt Routine of Timer 0             */
/*****************************************************/
ISR (TIMER0_OVF_vect) { // 9765.625 Hz
        static uint8_t millisDivider = MILLIS_DIVIDER;
        static uint8_t controlLoopDivider = CONTROLLOOP_DIVIDER;
        static uint8_t serialLoopDivider = SERIALLOOP_DIVIDER /2;
    static uint8_t outputLoopDivider = OUTPUTLOOP_DIVIDER /3;
        uint8_t beeperOn = 0;

        jiffiesClock++;
        loopJiffiesClock++;
        // profiler_scoreTimerHit();

        sei();

        if (!--millisDivider) {
                millisClock++;
                millisDivider = MILLIS_DIVIDER;
        }

        if (!--controlLoopDivider) {
            //sei();
                controlLoopDivider= CONTROLLOOP_DIVIDER;
                runFlightControlTask();
                //cli();
        }

    if (!--serialLoopDivider) {
        //sei();
        serialLoopDivider= SERIALLOOP_DIVIDER;
        // Allow serial data transmission if there is still time, or if we are not flying anyway.
        usart0_transmitTxData();
        usart0_processRxData();
        //cli();
    }

    if (!--outputLoopDivider) {
        //sei();
        outputLoopDivider= OUTPUTLOOP_DIVIDER;
        output_update();
        //cli();
    }

        // beeper on if duration is not over
        if (beepTime) {
                beepTime--; // decrement BeepTime
                if (beepTime & beepModulation)
                        beeperOn = 1;
                else
                        beeperOn = 0;
        } else { // beeper off if duration is over
                beeperOn = 0;
                beepModulation = BEEP_MODULATION_NONE;
        }

        if (beeperOn) {
                // 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
        }

#ifdef USE_MK3MAG
        // update compass value if this option is enabled in the settings
        if (staticParams.bitConfig & CFG_COMPASS_ENABLED) {
                MK3MAG_periodicTask(); // read out mk3mag pwm
        }
#endif
}

// -----------------------------------------------------------------------
uint16_t setDelay(uint16_t t) {
        return (millisClock + t - 1);
}

// -----------------------------------------------------------------------
int8_t checkDelay(uint16_t t) {
        return (((t - millisClock) & 0x8000) >> 8); // check sign bit
}

// -----------------------------------------------------------------------
void delay_ms(uint16_t w) {
        uint16_t t_stop = setDelay(w);
        while (!checkDelay(t_stop))
                ;
}