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| - | 1 | #include <inttypes.h> |
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| - | 2 | #include <avr/io.h> |
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| - | 3 | #include <avr/interrupt.h> |
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| - | 4 | #include "eeprom.h" |
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| - | 5 | #include "analog.h" |
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| 1 | #include "main.h" |
6 | #include "main.h" |
| 109 | } |
161 | } |
| Line -... | Line 162... | ||
| - | 162 | ||
| - | 163 | ||
| 110 | 164 | ||
| - | 165 | // ----------------------------------------------------------------------- |
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| - | 166 | uint16_t SetDelay (uint16_t t) |
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| - | 167 | { |
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| - | 168 | return(CountMilliseconds + t + 1); |
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| Line -... | Line 169... | ||
| - | 169 | } |
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| 111 | // ----------------------------------------------------------------------- |
170 | |
| 112 | 171 | // ----------------------------------------------------------------------- |
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| 113 | unsigned int SetDelay (unsigned int t) |
- | |
| 114 | { |
172 | int8_t CheckDelay(uint16_t t) |
| 115 | // TIMSK0 &= ~_BV(TOIE0); |
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| 116 | return(CountMilliseconds + t + 1); |
173 | { |
| Line 117... | Line 174... | ||
| 117 | // TIMSK0 |= _BV(TOIE0); |
174 | return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit |
| 118 | } |
175 | } |
| 119 | 176 | ||
| 120 | // ----------------------------------------------------------------------- |
177 | // ----------------------------------------------------------------------- |
| 121 | char CheckDelay(unsigned int t) |
178 | void Delay_ms(uint16_t w) |
| 122 | { |
179 | { |
| 123 | // TIMSK0 &= ~_BV(TOIE0); |
180 | unsigned int t_stop; |
| Line 124... | Line 181... | ||
| 124 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
181 | t_stop = SetDelay(w); |
| 125 | // TIMSK0 |= _BV(TOIE0); |
182 | while (!CheckDelay(t_stop)); |
| 126 | } |
183 | } |
| 127 | 184 | ||
| 128 | // ----------------------------------------------------------------------- |
185 | // ----------------------------------------------------------------------- |
| 129 | void Delay_ms(unsigned int w) |
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| 130 | { |
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| 131 | unsigned int akt; |
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| 132 | akt = SetDelay(w); |
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| 133 | while (!CheckDelay(akt)); |
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| 134 | } |
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| 135 | - | ||
| 136 | void Delay_ms_Mess(unsigned int w) |
186 | void Delay_ms_Mess(uint16_t w) |
| 137 | { |
- | |
| 138 | unsigned int akt; |
- | |
| 139 | akt = SetDelay(w); |
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| 140 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 141 | } |
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| 142 | - | ||
| 143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 144 | // Servo ansteuern |
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| 145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 147 | { |
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| 148 | static unsigned char timer = 10; |
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| 149 | - | ||
| 150 | if(!timer--) |
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| 151 | { |
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| 152 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 153 | ServoValue = Parameter_ServoNickControl; |
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| 154 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 155 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 156 | - | ||
| 157 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 158 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 159 | - | ||
| 160 | OCR2A = ServoValue;// + 75; |
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| 161 | timer = EE_Parameter.ServoNickRefresh; |
- | |
| 162 | } |
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| 163 | else |
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| 164 | { |
187 | { |
| - | 188 | uint16_t t_stop; |
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