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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 796 | joko | 1 | #include "main.h" |
| 2 | |||
| 3 | volatile unsigned int CountMilliseconds = 0; |
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| 4 | volatile unsigned char UpdateMotor = 0; |
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| 5 | volatile unsigned int beeptime = 0; |
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| 6 | volatile unsigned int cntKompass = 0; |
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| 7 | unsigned int BeepMuster = 0xffff; |
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| 8 | int ServoValue = 0; |
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| 9 | |||
| 10 | enum { |
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| 11 | STOP = 0, |
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| 12 | CK = 1, |
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| 13 | CK8 = 2, |
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| 14 | CK64 = 3, |
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| 15 | CK256 = 4, |
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| 16 | CK1024 = 5, |
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| 17 | T0_FALLING_EDGE = 6, |
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| 18 | T0_RISING_EDGE = 7 |
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| 19 | }; |
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| 20 | |||
| 21 | |||
| 22 | SIGNAL (SIG_OVERFLOW0) // 20MHz/8/256 = 9,765KHz |
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| 23 | { |
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| 24 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 25 | unsigned char pieper_ein = 0; |
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| 26 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 27 | |||
| 28 | if(!cnt--) |
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| 29 | { |
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| 30 | //***Info aus Email von Walter |
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| 31 | //durch cnt kann die Updatefrequenz der Motoren beeinflusst werden. Bei cnt=9 sind es etwa 500hz. |
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| 32 | //mit "cnt = 9;" sind es 488,28 Hz (alle 2,048 ms); (20000000 / 8 / 256 / 10 / 2) |
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| 33 | //mit "cnt = 10;" nur noch 443,89 Hz (alle 2,253 ms); (20000000 / 8 / 256 / 11 / 2) |
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| 34 | //***Info aus Email von Walter |
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| 35 | |||
| 36 | cnt = 9; |
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| 37 | cnt_1ms++; |
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| 38 | cnt_1ms %= 2; |
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| 39 | if(!cnt_1ms) UpdateMotor = 1; |
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| 40 | CountMilliseconds++; |
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| 41 | } |
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| 42 | |||
| 43 | if(beeptime > 1) |
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| 44 | { |
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| 45 | beeptime--; |
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| 46 | if(beeptime & BeepMuster) |
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| 47 | { |
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| 48 | pieper_ein = 1; |
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| 49 | } |
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| 50 | else pieper_ein = 0; |
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| 51 | } |
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| 52 | else |
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| 53 | { |
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| 54 | pieper_ein = 0; |
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| 55 | BeepMuster = 0xffff; |
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| 56 | } |
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| 57 | |||
| 58 | |||
| 59 | if(pieper_ein) |
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| 60 | { |
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| 61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 63 | } |
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| 64 | else |
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| 65 | { |
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| 66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 67 | else PORTC &= ~(1<<7); |
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| 68 | } |
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| 69 | /* MM3 Magentometer 131207WM */ |
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| 70 | #ifdef MM3IS |
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| 71 | //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
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| 72 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) timer0_MM3(); |
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| 73 | #endif |
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| 74 | |||
| 75 | #ifndef MM3IS |
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| 76 | //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
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| 77 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
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| 78 | { |
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| 79 | if(PINC & 0x10) |
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| 80 | { |
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| 81 | cntKompass++; |
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| 82 | } |
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| 83 | else |
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| 84 | { |
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| 85 | if((cntKompass) && (cntKompass < 4000)) |
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| 86 | { |
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| 87 | KompassValue = cntKompass; |
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| 88 | } |
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| 89 | // if(cntKompass < 10) cntKompass = 10; |
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| 90 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 91 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 92 | cntKompass = 0; |
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| 93 | } |
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| 94 | } |
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| 95 | #endif |
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| 96 | |||
| 97 | } |
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| 98 | |||
| 99 | |||
| 100 | void Timer_Init(void) |
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| 101 | { |
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| 102 | TCCR0B = CK8; |
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| 103 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 104 | OCR0A = 0; |
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| 105 | OCR0B = 120; |
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| 106 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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| 107 | //OCR1 = 0x00; |
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| 108 | |||
| 109 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 110 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 111 | |||
| 112 | // TIMSK2 |= _BV(TOIE2); |
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| 113 | TIMSK2 |= _BV(OCIE2A); |
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| 114 | |||
| 115 | TIMSK0 |= _BV(TOIE0); |
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| 116 | OCR2A = 10; |
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| 117 | TCNT2 = 0; |
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| 118 | |||
| 119 | } |
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| 120 | |||
| 121 | // ----------------------------------------------------------------------- |
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| 122 | |||
| 123 | unsigned int SetDelay (unsigned int t) |
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| 124 | { |
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| 125 | // TIMSK0 &= ~_BV(TOIE0); |
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| 126 | return(CountMilliseconds + t + 1); |
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| 127 | // TIMSK0 |= _BV(TOIE0); |
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| 128 | } |
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| 129 | |||
| 130 | // ----------------------------------------------------------------------- |
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| 131 | char CheckDelay(unsigned int t) |
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| 132 | { |
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| 133 | // TIMSK0 &= ~_BV(TOIE0); |
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| 134 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 135 | // TIMSK0 |= _BV(TOIE0); |
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| 136 | } |
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| 137 | |||
| 138 | // ----------------------------------------------------------------------- |
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| 139 | void Delay_ms(unsigned int w) |
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| 140 | { |
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| 141 | unsigned int akt; |
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| 142 | akt = SetDelay(w); |
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| 143 | while (!CheckDelay(akt)); |
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| 144 | } |
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| 145 | |||
| 146 | void Delay_ms_Mess(unsigned int w) |
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| 147 | { |
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| 148 | unsigned int akt; |
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| 149 | akt = SetDelay(w); |
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| 150 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 151 | } |
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| 152 | |||
| 153 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 154 | // Servo ansteuern |
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| 155 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 157 | { |
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| 158 | static unsigned char timer = 10; |
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| 159 | |||
| 160 | if(!timer--) |
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| 161 | { |
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| 162 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 163 | ServoValue = Parameter_ServoNickControl; |
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| 164 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 165 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 166 | |||
| 167 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 168 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 169 | |||
| 170 | OCR2A = ServoValue;// + 75; |
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| 171 | timer = EE_Parameter.ServoNickRefresh; |
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| 172 | } |
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| 173 | else |
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| 174 | { |
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| 175 | TCCR2A =3; |
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| 176 | PORTD&=~0x80; |
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| 177 | } |
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| 178 | } |