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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 716 | Nick666 | 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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| 6 | volatile unsigned int beeptime = 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) // 9,8kHz |
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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 | |||
| 27 | if(!cnt--) |
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| 28 | { |
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| 29 | cnt = 10; |
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| 30 | cnt_1ms++; |
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| 31 | cnt_1ms %= 2; |
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| 32 | if(!cnt_1ms) UpdateMotor = 1; |
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| 33 | CountMilliseconds++; |
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| 34 | } |
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| 35 | |||
| 36 | if(beeptime > 1) |
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| 37 | { |
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| 38 | beeptime--; |
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| 39 | if(beeptime & BeepMuster) |
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| 40 | { |
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| 41 | pieper_ein = 1; |
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| 42 | } |
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| 43 | else pieper_ein = 0; |
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| 44 | } |
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| 45 | else |
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| 46 | { |
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| 47 | pieper_ein = 0; |
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| 48 | BeepMuster = 0xffff; |
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| 49 | } |
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| 50 | |||
| 51 | |||
| 52 | if(pieper_ein) |
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| 53 | { |
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| 54 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 55 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 56 | } |
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| 57 | else |
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| 58 | { |
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| 59 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 60 | else PORTC &= ~(1<<7); |
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| 61 | } |
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| 62 | |||
| 63 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
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| 64 | } |
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| 65 | |||
| 66 | |||
| 67 | void Timer_Init(void) |
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| 68 | { |
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| 69 | TCCR0B = CK8; |
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| 70 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 71 | OCR0A = 0; |
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| 72 | OCR0B = 120; |
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| 73 | |||
| 74 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 75 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 76 | |||
| 77 | // TIMSK2 |= _BV(TOIE2); |
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| 78 | TIMSK2 |= _BV(OCIE2A); |
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| 79 | |||
| 80 | TIMSK0 |= _BV(TOIE0); |
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| 81 | OCR2A = 10; |
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| 82 | TCNT2 = 0; |
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| 83 | |||
| 84 | } |
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| 85 | |||
| 86 | // ----------------------------------------------------------------------- |
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| 87 | |||
| 88 | unsigned int SetDelay (unsigned int t) |
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| 89 | { |
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| 728 | Nick666 | 90 | uint8_t tmp_sreg; |
| 91 | uint16_t CountMilliseconds_local; |
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| 92 | |||
| 93 | tmp_sreg = SREG; |
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| 94 | cli(); |
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| 95 | CountMilliseconds_local = CountMilliseconds; |
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| 96 | SREG = tmp_sreg; |
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| 97 | return(CountMilliseconds_local + t + 1); |
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| 716 | Nick666 | 98 | } |
| 99 | |||
| 100 | // ----------------------------------------------------------------------- |
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| 101 | char CheckDelay(unsigned int t) |
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| 102 | { |
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| 728 | Nick666 | 103 | uint8_t tmp_sreg; |
| 104 | uint16_t CountMilliseconds_local; |
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| 105 | |||
| 106 | tmp_sreg = SREG; |
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| 107 | cli(); |
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| 108 | CountMilliseconds_local = CountMilliseconds; |
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| 109 | SREG = tmp_sreg; |
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| 110 | return (((t - CountMilliseconds_local) & 0x8000) >> 9); |
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| 716 | Nick666 | 111 | } |
| 112 | |||
| 113 | // ----------------------------------------------------------------------- |
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| 114 | void Delay_ms(unsigned int w) |
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| 115 | { |
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| 116 | unsigned int akt; |
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| 117 | akt = SetDelay(w); |
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| 118 | while (!CheckDelay(akt)); |
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| 119 | } |
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| 120 | |||
| 121 | void Delay_ms_Mess(unsigned int w) |
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| 122 | { |
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| 123 | unsigned int akt; |
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| 124 | akt = SetDelay(w); |
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| 125 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 126 | } |
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| 127 | |||
| 128 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 129 | // Servo ansteuern |
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| 130 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 131 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 132 | { |
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| 133 | static unsigned char timer = 10; |
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| 134 | |||
| 135 | if(!timer--) |
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| 136 | { |
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| 137 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 138 | ServoValue = Parameter_ServoNickControl; |
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| 139 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 140 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 141 | |||
| 142 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 143 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 144 | |||
| 145 | OCR2A = ServoValue;// + 75; |
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| 146 | timer = EE_Parameter.ServoNickRefresh; |
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| 147 | } |
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| 148 | else |
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| 149 | { |
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| 150 | TCCR2A =3; |
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| 151 | PORTD&=~0x80; |
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| 152 | } |
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| 153 | } |