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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 308 | osiair | 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 | volatile unsigned int cntKompass = 0; |
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| 8 | int ServoValue = 0; |
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| 9 | /*Salvo 8.9.2007 |
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| 10 | volatile uint8_t Kompass_Neuer_Wert= 0; |
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| 11 | volatile unsigned int Kompass_Value_Old = 0; |
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| 12 | // Salvo End |
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| 13 | //Salvo 21.9.2007 |
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| 14 | short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
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| 15 | // Salvo End */ |
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| 16 | enum { |
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| 17 | STOP = 0, |
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| 18 | CK = 1, |
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| 19 | CK8 = 2, |
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| 20 | CK64 = 3, |
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| 21 | CK256 = 4, |
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| 22 | CK1024 = 5, |
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| 23 | T0_FALLING_EDGE = 6, |
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| 24 | T0_RISING_EDGE = 7 |
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| 25 | }; |
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| 26 | |||
| 27 | // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007 |
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| 28 | /* |
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| 29 | Driftkompensation fuer Gyros verbessert |
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| 30 | Linearsensor mit fixem Neutralwert |
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| 31 | Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
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| 32 | */ |
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| 33 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 34 | { |
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| 35 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 36 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 37 | |||
| 38 | if(!cnt--) |
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| 39 | { |
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| 40 | // if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
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| 41 | cnt = 9; |
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| 42 | cnt_1ms++; |
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| 43 | cnt_1ms %= 2; |
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| 44 | if(!cnt_1ms) UpdateMotor = 1; |
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| 45 | CountMilliseconds++; |
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| 46 | if(Timeout) Timeout--; |
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| 47 | } |
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| 48 | |||
| 49 | if(beeptime > 1) |
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| 50 | { |
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| 51 | beeptime--; |
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| 52 | PORTD |= (1<<PD2); |
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| 53 | } |
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| 54 | else |
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| 55 | PORTD &= ~(1<<PD2); |
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| 56 | |||
| 57 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 58 | { |
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| 59 | MM3_timer0(); // Kompass auslesen |
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| 60 | |||
| 61 | if (!cntKompass--) // Aufruf mit 25 Hz |
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| 62 | { |
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| 312 | osiair | 63 | |
| 309 | osiair | 64 | |
| 312 | osiair | 65 | if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();} |
| 66 | if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;} |
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| 309 | osiair | 67 | |
| 323 | osiair | 68 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360)- 180; |
| 309 | osiair | 69 | |
| 323 | osiair | 70 | cntKompass = 320; |
| 308 | osiair | 71 | } |
| 72 | } |
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| 73 | |||
| 74 | |||
| 75 | } |
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| 76 | |||
| 77 | |||
| 78 | void Timer_Init(void) |
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| 79 | { |
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| 80 | tim_main = SetDelay(10); |
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| 81 | TCCR0B = CK8; |
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| 82 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 83 | OCR0A = 0; |
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| 84 | OCR0B = 120; |
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| 85 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
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| 86 | //OCR1 = 0x00; |
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| 87 | |||
| 88 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 89 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 90 | |||
| 91 | // TIMSK2 |= _BV(TOIE2); |
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| 92 | TIMSK2 |= _BV(OCIE2A); |
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| 93 | |||
| 94 | TIMSK0 |= _BV(TOIE0); |
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| 95 | OCR2A = 10; |
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| 96 | TCNT2 = 0; |
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| 97 | |||
| 98 | } |
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| 99 | |||
| 100 | // ----------------------------------------------------------------------- |
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| 101 | |||
| 102 | unsigned int SetDelay (unsigned int t) |
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| 103 | { |
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| 104 | // TIMSK0 &= ~_BV(TOIE0); |
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| 105 | return(CountMilliseconds + t + 1); |
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| 106 | // TIMSK0 |= _BV(TOIE0); |
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| 107 | } |
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| 108 | |||
| 109 | // ----------------------------------------------------------------------- |
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| 110 | char CheckDelay(unsigned int t) |
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| 111 | { |
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| 112 | // TIMSK0 &= ~_BV(TOIE0); |
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| 113 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 114 | // TIMSK0 |= _BV(TOIE0); |
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| 115 | } |
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| 116 | |||
| 117 | // ----------------------------------------------------------------------- |
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| 118 | void Delay_ms(unsigned int w) |
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| 119 | { |
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| 120 | unsigned int akt; |
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| 121 | akt = SetDelay(w); |
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| 122 | while (!CheckDelay(akt)); |
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| 123 | } |
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| 124 | |||
| 125 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 126 | // Servo ansteuern |
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| 127 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 128 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 129 | { |
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| 130 | static unsigned char timer = 10; |
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| 131 | |||
| 132 | if(!timer--) |
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| 133 | { |
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| 134 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 135 | ServoValue = Parameter_ServoNickControl; |
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| 136 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 137 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 138 | |||
| 139 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 140 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 141 | |||
| 142 | //DebugOut.Analog[10] = ServoValue; |
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| 143 | OCR2A = ServoValue;// + 75; |
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| 144 | timer = EE_Parameter.ServoNickRefresh; |
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| 145 | } |
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| 146 | else |
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| 147 | { |
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| 148 | TCCR2A =3; |
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| 149 | PORTD&=~0x80; |
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| 150 | } |
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| 151 | } |