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796 | joko | 1 | #include "main.h" |
2 | |||
3 | volatile unsigned int CountMilliseconds = 0; |
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4 | volatile unsigned char UpdateMotor = 0; |
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5 | volatile unsigned int beeptime = 0; |
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6 | volatile unsigned int cntKompass = 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) // 20MHz/8/256 = 9,765KHz |
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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 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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27 | |||
28 | if(!cnt--) |
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29 | { |
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30 | //***Info aus Email von Walter |
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31 | //durch cnt kann die Updatefrequenz der Motoren beeinflusst werden. Bei cnt=9 sind es etwa 500hz. |
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32 | //mit "cnt = 9;" sind es 488,28 Hz (alle 2,048 ms); (20000000 / 8 / 256 / 10 / 2) |
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33 | //mit "cnt = 10;" nur noch 443,89 Hz (alle 2,253 ms); (20000000 / 8 / 256 / 11 / 2) |
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34 | //***Info aus Email von Walter |
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35 | |||
36 | cnt = 9; |
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37 | cnt_1ms++; |
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38 | cnt_1ms %= 2; |
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39 | if(!cnt_1ms) UpdateMotor = 1; |
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40 | CountMilliseconds++; |
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41 | } |
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42 | |||
43 | if(beeptime > 1) |
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44 | { |
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45 | beeptime--; |
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46 | if(beeptime & BeepMuster) |
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47 | { |
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48 | pieper_ein = 1; |
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49 | } |
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50 | else pieper_ein = 0; |
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51 | } |
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52 | else |
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53 | { |
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54 | pieper_ein = 0; |
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55 | BeepMuster = 0xffff; |
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56 | } |
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57 | |||
58 | |||
59 | if(pieper_ein) |
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60 | { |
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61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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63 | } |
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64 | else |
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65 | { |
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66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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67 | else PORTC &= ~(1<<7); |
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68 | } |
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69 | /* MM3 Magentometer 131207WM */ |
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70 | #ifdef MM3IS |
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71 | //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
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72 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) timer0_MM3(); |
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73 | #endif |
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74 | |||
75 | #ifndef MM3IS |
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76 | //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
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77 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
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78 | { |
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79 | if(PINC & 0x10) |
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80 | { |
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81 | cntKompass++; |
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82 | } |
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83 | else |
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84 | { |
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85 | if((cntKompass) && (cntKompass < 4000)) |
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86 | { |
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87 | KompassValue = cntKompass; |
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88 | } |
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89 | // if(cntKompass < 10) cntKompass = 10; |
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90 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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91 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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92 | cntKompass = 0; |
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93 | } |
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94 | } |
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95 | #endif |
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96 | |||
97 | } |
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98 | |||
99 | |||
100 | void Timer_Init(void) |
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101 | { |
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102 | TCCR0B = CK8; |
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103 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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104 | OCR0A = 0; |
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105 | OCR0B = 120; |
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106 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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107 | //OCR1 = 0x00; |
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108 | |||
109 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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110 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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111 | |||
112 | // TIMSK2 |= _BV(TOIE2); |
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113 | TIMSK2 |= _BV(OCIE2A); |
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114 | |||
115 | TIMSK0 |= _BV(TOIE0); |
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116 | OCR2A = 10; |
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117 | TCNT2 = 0; |
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118 | |||
119 | } |
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120 | |||
121 | // ----------------------------------------------------------------------- |
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122 | |||
123 | unsigned int SetDelay (unsigned int t) |
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124 | { |
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125 | // TIMSK0 &= ~_BV(TOIE0); |
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126 | return(CountMilliseconds + t + 1); |
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127 | // TIMSK0 |= _BV(TOIE0); |
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128 | } |
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129 | |||
130 | // ----------------------------------------------------------------------- |
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131 | char CheckDelay(unsigned int t) |
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132 | { |
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133 | // TIMSK0 &= ~_BV(TOIE0); |
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134 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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135 | // TIMSK0 |= _BV(TOIE0); |
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136 | } |
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137 | |||
138 | // ----------------------------------------------------------------------- |
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139 | void Delay_ms(unsigned int w) |
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140 | { |
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141 | unsigned int akt; |
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142 | akt = SetDelay(w); |
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143 | while (!CheckDelay(akt)); |
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144 | } |
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145 | |||
146 | void Delay_ms_Mess(unsigned int w) |
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147 | { |
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148 | unsigned int akt; |
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149 | akt = SetDelay(w); |
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150 | while (!CheckDelay(akt)) ANALOG_ON; |
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151 | } |
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152 | |||
153 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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154 | // Servo ansteuern |
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155 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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157 | { |
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158 | static unsigned char timer = 10; |
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159 | |||
160 | if(!timer--) |
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161 | { |
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162 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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163 | ServoValue = Parameter_ServoNickControl; |
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164 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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165 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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166 | |||
167 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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168 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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169 | |||
170 | OCR2A = ServoValue;// + 75; |
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171 | timer = EE_Parameter.ServoNickRefresh; |
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172 | } |
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173 | else |
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174 | { |
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175 | TCCR2A =3; |
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176 | PORTD&=~0x80; |
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177 | } |
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178 | } |