WebSVN - FlightCtrl - Diff - Rev 859 and 863 - /branches/V0.68d


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 0;
volatile unsigned int beeptime = 0;
unsigned int BeepMuster = 0xffff;
int ServoValue = 0;
 
enum {
  STOP             = 0,
  CK               = 1,
  CK8              = 2,
  CK64             = 3,
  CK256            = 4,
  CK1024           = 5,
  T0_FALLING_EDGE  = 6,
  T0_RISING_EDGE   = 7
};
 
 
SIGNAL (SIG_OVERFLOW0)    // 8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
    unsigned char pieper_ein = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
   if(!cnt--)
    {
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
     }  
 
     if(beeptime > 1)
        {
        beeptime--;      
        if(beeptime & BeepMuster)
         {
          pieper_ein = 1;
          EXT1OUT_INV_OFF;
         }
         else
         {
                pieper_ein = 0;
                EXT1OUT_INV_ON;
         }
 
        }
     else
      {
        EXT1OUT_INV_ON;
       pieper_ein = 0;
       BeepMuster = 0xffff;
      }
 
 
     if(pieper_ein)
        {
          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
          else                      PORTC |= (1<<7); // Speaker an PORTC.7
        }
     else  
        {
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
         else                      PORTC &= ~(1<<7);
        }
 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 4000))
    {
     KompassValue = cntKompass;
    }
//     if(cntKompass < 10) cntKompass = 10;
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
    cntKompass = 0;
   }
 }
}
 
 
void Timer_Init(void)
{
    tim_main = SetDelay(10);
    TCCR0B = CK8;
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
    OCR0A =  0;
    OCR0B = 120;
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
    //OCR1  = 0x00;
 
    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
   
//    TIMSK2 |= _BV(TOIE2);
TIMSK2 |= _BV(OCIE2A);
 
    TIMSK0 |= _BV(TOIE0);
    OCR2A = 10;
    TCNT2 = 0;
   
}
 
// -----------------------------------------------------------------------
 
unsigned int SetDelay (unsigned int t)
{
//  TIMSK0 &= ~_BV(TOIE0);
  return(CountMilliseconds + t + 1);                                            
//  TIMSK0 |= _BV(TOIE0);
}
 
// -----------------------------------------------------------------------
char CheckDelay(unsigned int t)
{
//  TIMSK0 &= ~_BV(TOIE0);
  return(((t - CountMilliseconds) & 0x8000) >> 9);
//  TIMSK0 |= _BV(TOIE0);
}
 
// -----------------------------------------------------------------------
void Delay_ms(unsigned int w)
{
 unsigned int akt;
 akt = SetDelay(w);
 while (!CheckDelay(akt));
}
 
void Delay_ms_Mess(unsigned int w)
{
 unsigned int akt;
 akt = SetDelay(w);
 while (!CheckDelay(akt)) ANALOG_ON;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
//  Servo ansteuern
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
SIGNAL(SIG_OUTPUT_COMPARE2A)
{
  static unsigned char timer = 10;
 
  if(!timer--)  
    {
     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
     ServoValue =  Parameter_ServoNickControl;
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
     else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
     
     if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
 
     OCR2A = ServoValue;// + 75;
     timer = EE_Parameter.ServoNickRefresh;
    }
    else
    {
     TCCR2A =3;
     PORTD&=~0x80;
    }
}
 

Rev 859	Rev 863
1	#include "main.h"	1	#include "main.h"
2		2
3	volatile unsigned int CountMilliseconds = 0;	3	volatile unsigned int CountMilliseconds = 0;
4	volatile static unsigned int tim_main;	4	volatile static unsigned int tim_main;
5	volatile unsigned char UpdateMotor = 0;	5	volatile unsigned char UpdateMotor = 0;
6	volatile unsigned int cntKompass = 0;	6	volatile unsigned int cntKompass = 0;
7	volatile unsigned int beeptime = 0;	7	volatile unsigned int beeptime = 0;
8	unsigned int BeepMuster = 0xffff;	8	unsigned int BeepMuster = 0xffff;
9	int ServoValue = 0;	9	int ServoValue = 0;
10		10
11	enum {	11	enum {
12	STOP = 0,	12	STOP = 0,
13	CK = 1,	13	CK = 1,
14	CK8 = 2,	14	CK8 = 2,
15	CK64 = 3,	15	CK64 = 3,
16	CK256 = 4,	16	CK256 = 4,
17	CK1024 = 5,	17	CK1024 = 5,
18	T0_FALLING_EDGE = 6,	18	T0_FALLING_EDGE = 6,
19	T0_RISING_EDGE = 7	19	T0_RISING_EDGE = 7
20	};	20	};
21		21
22		22
23	SIGNAL (SIG_OVERFLOW0) // 8kHz	23	SIGNAL (SIG_OVERFLOW0) // 8kHz
24	{	24	{
25	static unsigned char cnt_1ms = 1,cnt = 0;	25	static unsigned char cnt_1ms = 1,cnt = 0;
26	unsigned char pieper_ein = 0;	26	unsigned char pieper_ein = 0;
27	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	27	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
28		28
29	if(!cnt--)	29	if(!cnt--)
30	{	30	{
31	cnt = 9;	31	cnt = 9;
32	cnt_1ms++;	32	cnt_1ms++;
33	cnt_1ms %= 2;	33	cnt_1ms %= 2;
34	if(!cnt_1ms) UpdateMotor = 1;	34	if(!cnt_1ms) UpdateMotor = 1;
35	CountMilliseconds++;	35	CountMilliseconds++;
36	}	36	}
37		37
38	if(beeptime > 1)	38	if(beeptime > 1)
39	{	39	{
40	beeptime--;	40	beeptime--;
41	if(beeptime & BeepMuster)	41	if(beeptime & BeepMuster)
42	{	42	{
43	pieper_ein = 1;	43	pieper_ein = 1;
-		44	EXT1OUT_INV_OFF;
-		45	}
-		46	else
-		47	{
-		48	pieper_ein = 0;
-		49	EXT1OUT_INV_ON;
44	}	50	}
45	else pieper_ein = 0;	-
46	}	51	}
47	else	52	else
48	{	53	{
-		54	EXT1OUT_INV_ON;
49	pieper_ein = 0;	55	pieper_ein = 0;
50	BeepMuster = 0xffff;	56	BeepMuster = 0xffff;
51	}	57	}
52		58
53		59
54	if(pieper_ein)	60	if(pieper_ein)
55	{	61	{
56	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2	62	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
57	else PORTC \|= (1<<7); // Speaker an PORTC.7	63	else PORTC \|= (1<<7); // Speaker an PORTC.7
58	}	64	}
59	else	65	else
60	{	66	{
61	if(PlatinenVersion == 10) PORTD &= ~(1<<2);	67	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
62	else PORTC &= ~(1<<7);	68	else PORTC &= ~(1<<7);
63	}	69	}
64		70
65	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	71	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
66	{	72	{
67	if(PINC & 0x10)	73	if(PINC & 0x10)
68	{	74	{
69	cntKompass++;	75	cntKompass++;
70	}	76	}
71	else	77	else
72	{	78	{
73	if((cntKompass) && (cntKompass < 4000))	79	if((cntKompass) && (cntKompass < 4000))
74	{	80	{
75	KompassValue = cntKompass;	81	KompassValue = cntKompass;
76	}	82	}
77	// if(cntKompass < 10) cntKompass = 10;	83	// if(cntKompass < 10) cntKompass = 10;
78	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	84	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
79	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	85	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
80	cntKompass = 0;	86	cntKompass = 0;
81	}	87	}
82	}	88	}
83	}	89	}
84		90
85		91
86	void Timer_Init(void)	92	void Timer_Init(void)
87	{	93	{
88	tim_main = SetDelay(10);	94	tim_main = SetDelay(10);
89	TCCR0B = CK8;	95	TCCR0B = CK8;
90	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	96	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
91	OCR0A = 0;	97	OCR0A = 0;
92	OCR0B = 120;	98	OCR0B = 120;
93	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload	99	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
94	//OCR1 = 0x00;	100	//OCR1 = 0x00;
95		101
96	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	102	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
97	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	103	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
98		104
99	// TIMSK2 \|= _BV(TOIE2);	105	// TIMSK2 \|= _BV(TOIE2);
100	TIMSK2 \|= _BV(OCIE2A);	106	TIMSK2 \|= _BV(OCIE2A);
101		107
102	TIMSK0 \|= _BV(TOIE0);	108	TIMSK0 \|= _BV(TOIE0);
103	OCR2A = 10;	109	OCR2A = 10;
104	TCNT2 = 0;	110	TCNT2 = 0;
105		111
106	}	112	}
107		113
108	// -----------------------------------------------------------------------	114	// -----------------------------------------------------------------------
109		115
110	unsigned int SetDelay (unsigned int t)	116	unsigned int SetDelay (unsigned int t)
111	{	117	{
112	// TIMSK0 &= ~_BV(TOIE0);	118	// TIMSK0 &= ~_BV(TOIE0);
113	return(CountMilliseconds + t + 1);	119	return(CountMilliseconds + t + 1);
114	// TIMSK0 \|= _BV(TOIE0);	120	// TIMSK0 \|= _BV(TOIE0);
115	}	121	}
116		122
117	// -----------------------------------------------------------------------	123	// -----------------------------------------------------------------------
118	char CheckDelay(unsigned int t)	124	char CheckDelay(unsigned int t)
119	{	125	{
120	// TIMSK0 &= ~_BV(TOIE0);	126	// TIMSK0 &= ~_BV(TOIE0);
121	return(((t - CountMilliseconds) & 0x8000) >> 9);	127	return(((t - CountMilliseconds) & 0x8000) >> 9);
122	// TIMSK0 \|= _BV(TOIE0);	128	// TIMSK0 \|= _BV(TOIE0);
123	}	129	}
124		130
125	// -----------------------------------------------------------------------	131	// -----------------------------------------------------------------------
126	void Delay_ms(unsigned int w)	132	void Delay_ms(unsigned int w)
127	{	133	{
128	unsigned int akt;	134	unsigned int akt;
129	akt = SetDelay(w);	135	akt = SetDelay(w);
130	while (!CheckDelay(akt));	136	while (!CheckDelay(akt));
131	}	137	}
132		138
133	void Delay_ms_Mess(unsigned int w)	139	void Delay_ms_Mess(unsigned int w)
134	{	140	{
135	unsigned int akt;	141	unsigned int akt;
136	akt = SetDelay(w);	142	akt = SetDelay(w);
137	while (!CheckDelay(akt)) ANALOG_ON;	143	while (!CheckDelay(akt)) ANALOG_ON;
138	}	144	}
139		145
140	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	146	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
141	// Servo ansteuern	147	// Servo ansteuern
142	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	148	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
143	SIGNAL(SIG_OUTPUT_COMPARE2A)	149	SIGNAL(SIG_OUTPUT_COMPARE2A)
144	{	150	{
145	static unsigned char timer = 10;	151	static unsigned char timer = 10;
146		152
147	if(!timer--)	153	if(!timer--)
148	{	154	{
149	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	155	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
150	ServoValue = Parameter_ServoNickControl;	156	ServoValue = Parameter_ServoNickControl;
151	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	157	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
152	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	158	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
153		159
154	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	160	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
155	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	161	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
156		162
157	OCR2A = ServoValue;// + 75;	163	OCR2A = ServoValue;// + 75;
158	timer = EE_Parameter.ServoNickRefresh;	164	timer = EE_Parameter.ServoNickRefresh;
159	}	165	}
160	else	166	else
161	{	167	{
162	TCCR2A =3;	168	TCCR2A =3;
163	PORTD&=~0x80;	169	PORTD&=~0x80;
164	}	170	}
165	}	171	}
166		172

Subversion Repositories FlightCtrl

(root)/branches/V0.68d_DarkMod/timer0.c - Rev 859 → 863