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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 308 | osiair | 1 | #include "main.h" |
| 2 | |||
| 3 | volatile unsigned int CountMilliseconds = 0; |
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| 4 | volatile static unsigned int tim_main; |
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| 5 | volatile unsigned char UpdateMotor = 0; |
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| 309 | osiair | 6 | volatile unsigned int beeptime = 0; |
| 308 | osiair | 7 | volatile unsigned int cntKompass = 0; |
| 8 | int ServoValue = 0; |
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| 309 | osiair | 9 | /*Salvo 8.9.2007 |
| 10 | volatile uint8_t Kompass_Neuer_Wert= 0; |
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| 11 | volatile unsigned int Kompass_Value_Old = 0; |
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| 12 | // Salvo End |
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| 13 | //Salvo 21.9.2007 |
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| 14 | short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
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| 15 | // Salvo End */ |
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| 308 | osiair | 16 | enum { |
| 17 | STOP = 0, |
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| 18 | CK = 1, |
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| 19 | CK8 = 2, |
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| 20 | CK64 = 3, |
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| 21 | CK256 = 4, |
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| 22 | CK1024 = 5, |
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| 23 | T0_FALLING_EDGE = 6, |
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| 24 | T0_RISING_EDGE = 7 |
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| 25 | }; |
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| 26 | |||
| 27 | |||
| 28 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 29 | { |
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| 30 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 31 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 32 | |||
| 33 | if(!cnt--) |
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| 34 | { |
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| 309 | osiair | 35 | // if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
| 308 | osiair | 36 | cnt = 9; |
| 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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| 309 | osiair | 41 | if(Timeout) Timeout--; |
| 308 | osiair | 42 | } |
| 43 | |||
| 44 | if(beeptime > 1) |
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| 45 | { |
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| 46 | beeptime--; |
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| 47 | if(beeptime & BeepMuster) |
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| 48 | { |
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| 49 | pieper_ein = 1; |
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| 50 | } |
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| 51 | else pieper_ein = 0; |
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| 52 | } |
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| 53 | else |
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| 54 | { |
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| 55 | pieper_ein = 0; |
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| 56 | BeepMuster = 0xffff; |
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| 57 | } |
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| 58 | |||
| 59 | |||
| 60 | if(pieper_ein) |
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| 61 | { |
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| 62 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 63 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 64 | } |
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| 65 | else |
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| 66 | { |
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| 67 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 68 | else PORTC &= ~(1<<7); |
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| 69 | } |
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| 70 | |||
| 71 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
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| 72 | { |
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| 73 | // if(PINC & 0x10) |
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| 74 | // { |
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| 75 | // cntKompass++; |
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| 76 | // } |
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| 77 | // else |
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| 78 | // { |
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| 79 | // if((cntKompass) && (cntKompass < 4000)) |
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| 80 | // { |
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| 81 | // KompassValue = cntKompass; |
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| 82 | // } |
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| 83 | // if(cntKompass < 10) cntKompass = 10; |
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| 84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 85 | // KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 86 | // cntKompass = 0; |
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| 87 | // } |
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| 88 | // } |
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| 89 | // |
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| 90 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 91 | // { |
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| 92 | MM3_timer0(); // Kompass auslesen |
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| 93 | |||
| 94 | if (!cntKompass--) // Aufruf mit 25 Hz |
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| 95 | { |
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| 313 | osiair | 96 | |
| 309 | osiair | 97 | |
| 313 | osiair | 98 | if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();} |
| 99 | if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;} |
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| 100 | |||
| 309 | osiair | 101 | |
| 102 | |||
| 103 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
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| 104 | |||
| 105 | |||
| 308 | osiair | 106 | cntKompass = 320; |
| 107 | } |
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| 108 | } |
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| 309 | osiair | 109 | |
| 308 | osiair | 110 | |
| 309 | osiair | 111 | } |
| 308 | osiair | 112 | |
| 113 | |||
| 114 | void Timer_Init(void) |
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| 115 | { |
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| 116 | tim_main = SetDelay(10); |
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| 117 | TCCR0B = CK8; |
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| 118 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 119 | OCR0A = 0; |
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| 120 | OCR0B = 120; |
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| 121 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
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| 122 | //OCR1 = 0x00; |
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| 123 | |||
| 124 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 125 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 126 | |||
| 127 | // TIMSK2 |= _BV(TOIE2); |
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| 128 | TIMSK2 |= _BV(OCIE2A); |
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| 129 | |||
| 130 | TIMSK0 |= _BV(TOIE0); |
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| 131 | OCR2A = 10; |
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| 132 | TCNT2 = 0; |
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| 133 | |||
| 134 | } |
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| 135 | |||
| 136 | // ----------------------------------------------------------------------- |
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| 137 | |||
| 138 | unsigned int SetDelay (unsigned int t) |
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| 139 | { |
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| 140 | // TIMSK0 &= ~_BV(TOIE0); |
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| 141 | return(CountMilliseconds + t + 1); |
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| 142 | // TIMSK0 |= _BV(TOIE0); |
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| 143 | } |
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| 144 | |||
| 145 | // ----------------------------------------------------------------------- |
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| 146 | char CheckDelay(unsigned int t) |
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| 147 | { |
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| 148 | // TIMSK0 &= ~_BV(TOIE0); |
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| 149 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 150 | // TIMSK0 |= _BV(TOIE0); |
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| 151 | } |
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| 152 | |||
| 153 | // ----------------------------------------------------------------------- |
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| 154 | void Delay_ms(unsigned int w) |
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| 155 | { |
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| 156 | unsigned int akt; |
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| 157 | akt = SetDelay(w); |
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| 158 | while (!CheckDelay(akt)); |
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| 159 | } |
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| 160 | |||
| 161 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 162 | // Servo ansteuern |
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| 163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 164 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 165 | { |
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| 166 | static unsigned char timer = 10; |
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| 167 | |||
| 168 | if(!timer--) |
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| 169 | { |
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| 170 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 171 | ServoValue = Parameter_ServoNickControl; |
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| 172 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 173 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 174 | |||
| 175 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 176 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 177 | |||
| 309 | osiair | 178 | //DebugOut.Analog[10] = ServoValue; |
| 308 | osiair | 179 | OCR2A = ServoValue;// + 75; |
| 180 | timer = EE_Parameter.ServoNickRefresh; |
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| 181 | } |
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| 182 | else |
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| 183 | { |
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| 184 | TCCR2A =3; |
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| 185 | PORTD&=~0x80; |
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| 186 | } |
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| 187 | } |