Rev 979 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 838 | MikeW | 1 | #include "main.h" |
| 1042 | MikeW | 2 | #include "FlightControl.h" |
| 3 | |||
| 838 | MikeW | 4 | volatile unsigned long cnt_ms = 0; |
| 5 | volatile unsigned int CountMilliseconds = 0; |
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| 6 | volatile unsigned int Count8Khz = 0; |
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| 7 | |||
| 8 | volatile static unsigned int tim_main; |
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| 9 | volatile unsigned char UpdateMotor = 0; |
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| 10 | volatile unsigned int cntKompass = 0; |
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| 11 | volatile unsigned int beeptime = 0; |
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| 12 | unsigned int BeepMuster = 0xffff; |
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| 13 | int ServoValue = 0; |
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| 14 | extern void MM3_Update(void); |
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| 966 | MikeW | 15 | |
| 838 | MikeW | 16 | enum { |
| 17 | STOP = 0, |
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| 966 | MikeW | 18 | CK = 1, |
| 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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| 838 | MikeW | 25 | }; |
| 26 | |||
| 27 | |||
| 28 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 29 | { |
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| 966 | MikeW | 30 | static unsigned char cnt_1ms = 1,cnt = 0; |
| 31 | unsigned char pieper_ein = 0; |
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| 32 | |||
| 33 | Count8Khz++; |
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| 34 | |||
| 35 | if(!cnt--) |
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| 36 | { |
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| 37 | cnt = 9; |
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| 38 | cnt_1ms++; |
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| 39 | cnt_1ms %= 2; |
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| 40 | if(!cnt_1ms) |
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| 838 | MikeW | 41 | { |
| 966 | MikeW | 42 | UpdateMotor = 1; |
| 43 | } |
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| 44 | CountMilliseconds++; |
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| 45 | cnt_ms++; |
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| 46 | // update compass value if this option is enabled in the settings |
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| 979 | MikeW | 47 | #ifdef USE_COMPASS |
| 966 | MikeW | 48 | MM3_Update(); // read out mm3 board |
| 979 | MikeW | 49 | #endif |
| 966 | MikeW | 50 | } |
| 51 | |||
| 52 | if(beeptime > 1) |
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| 53 | { |
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| 54 | beeptime--; |
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| 55 | if(beeptime & BeepMuster) |
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| 838 | MikeW | 56 | { |
| 966 | MikeW | 57 | pieper_ein = 1; |
| 838 | MikeW | 58 | } |
| 966 | MikeW | 59 | else pieper_ein = 0; |
| 60 | } |
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| 61 | else |
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| 62 | { |
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| 63 | pieper_ein = 0; |
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| 64 | BeepMuster = 0xffff; |
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| 65 | } |
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| 66 | |||
| 67 | if(pieper_ein) |
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| 68 | { |
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| 69 | PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 70 | } |
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| 71 | else |
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| 72 | { |
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| 73 | PORTC &= ~(1<<7); |
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| 74 | } |
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| 75 | |||
| 76 | #if 0 |
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| 77 | if(PINC & 0x10) |
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| 78 | { |
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| 79 | cntKompass++; |
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| 80 | } |
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| 81 | else |
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| 82 | { |
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| 83 | if((cntKompass) && (cntKompass < 4000)) |
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| 84 | { |
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| 85 | if(cntKompass < 10) |
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| 86 | { |
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| 87 | cntKompass = 10; |
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| 88 | } |
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| 89 | KompassValue = (((int) cntKompass-10) * 36) / 35; |
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| 838 | MikeW | 90 | } |
| 966 | MikeW | 91 | cntKompass = 0; |
| 92 | } |
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| 838 | MikeW | 93 | #endif |
| 94 | } |
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| 95 | |||
| 96 | |||
| 97 | void Timer_Init(void) |
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| 98 | { |
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| 966 | MikeW | 99 | tim_main = SetDelay(10); |
| 100 | TCCR0B = CK8; |
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| 101 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 102 | OCR0A = 0; |
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| 103 | OCR0B = 120; |
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| 104 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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| 105 | |||
| 106 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 107 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 108 | TIMSK2 |= _BV(OCIE2A); |
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| 109 | |||
| 110 | TIMSK0 |= _BV(TOIE0); |
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| 111 | OCR2A = 10; |
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| 112 | TCNT2 = 0; |
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| 838 | MikeW | 113 | } |
| 114 | |||
| 115 | // ----------------------------------------------------------------------- |
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| 116 | |||
| 117 | unsigned int SetDelay (unsigned int t) |
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| 118 | { |
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| 966 | MikeW | 119 | // TIMSK0 &= ~_BV(TOIE0); |
| 838 | MikeW | 120 | return(CountMilliseconds + t + 1); |
| 966 | MikeW | 121 | // TIMSK0 |= _BV(TOIE0); |
| 838 | MikeW | 122 | } |
| 123 | |||
| 124 | // ----------------------------------------------------------------------- |
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| 125 | char CheckDelay(unsigned int t) |
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| 126 | { |
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| 966 | MikeW | 127 | // TIMSK0 &= ~_BV(TOIE0); |
| 838 | MikeW | 128 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
| 966 | MikeW | 129 | // TIMSK0 |= _BV(TOIE0); |
| 838 | MikeW | 130 | } |
| 131 | |||
| 132 | // ----------------------------------------------------------------------- |
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| 133 | void Delay_ms(unsigned int w) |
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| 134 | { |
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| 966 | MikeW | 135 | unsigned int akt; |
| 136 | akt = SetDelay(w); |
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| 137 | while (!CheckDelay(akt)); |
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| 838 | MikeW | 138 | } |
| 139 | |||
| 140 | void Delay_ms_Mess(unsigned int w) |
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| 141 | { |
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| 966 | MikeW | 142 | unsigned int akt; |
| 143 | akt = SetDelay(w); |
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| 144 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 838 | MikeW | 145 | } |
| 146 | |||
| 147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 148 | // Servo ansteuern |
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| 149 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 150 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 151 | { |
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| 152 | static unsigned char timer = 10; |
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| 153 | if(!timer--) |
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| 966 | MikeW | 154 | { |
| 979 | MikeW | 155 | |
| 156 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 157 | if(ServoValue < EE_Parameter.ServoNickMin) |
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| 158 | { |
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| 159 | ServoValue = EE_Parameter.ServoNickMin; |
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| 160 | } |
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| 161 | if(ServoValue > EE_Parameter.ServoNickMax) |
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| 162 | { |
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| 163 | ServoValue = EE_Parameter.ServoNickMax; |
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| 164 | } |
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| 966 | MikeW | 165 | |
| 979 | MikeW | 166 | OCR2A = ServoValue; |
| 966 | MikeW | 167 | timer = EE_Parameter.ServoNickRefresh; |
| 168 | } |
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| 169 | else |
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| 170 | { |
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| 171 | TCCR2A =3; |
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| 172 | PORTD&=~0x80; |
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| 979 | MikeW | 173 | } |
| 838 | MikeW | 174 | } |