Subversion Repositories FlightCtrl

#include "main.h"

volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int beeptime = 0;
unsigned int BeepMuster = 0xffff;
uint8_t 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)    // 9,8kHz
{
    static uint8_t cnt_1ms = 1,cnt = 0;
    uint8_t pieper_ein;

   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;
         }
         else pieper_ein = 0;
        }
    else
      {
       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
                  #endif
        }
    else  
        {
         #if (PlatinenVersion == 10)
                  PORTD &= ~(1<<2);
         #else
                  PORTC &= ~(1<<7);
                 #endif
        }
 
        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3();         // Kompass auslesen
}


void Timer_Init(void)
{
    TCCR0B = CK8;
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
    OCR0A =  0;
    OCR0B = 120;

    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)
{
  return(CountMilliseconds + t + 1);                                            
}

// -----------------------------------------------------------------------
char CheckDelay(unsigned int t)
{
  return(((t - CountMilliseconds) & 0x8000) >> 9);
}

// -----------------------------------------------------------------------
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 uint8_t timer = 10;
 
  if(!timer--)  
    {
     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
     //ServoValue =  Parameter_ServoNickControl;
         ServoValue = (((uint16_t)Parameter_ServoNickControl * Cam_Travel) /255) + EE_Parameter.ServoNickMin;
    if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((uint16_t)EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
    else ServoValue -= ((uint16_t)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;
    }
}