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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 333 | 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 cntKompass = 0; |
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| 7 | volatile unsigned int beeptime = 0; |
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| 8 | unsigned int BeepMuster = 0xffff; |
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| 9 | int ServoValue = 0; |
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| 10 | |||
| 11 | enum { |
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| 12 | STOP = 0, |
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| 13 | CK = 1, |
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| 14 | CK8 = 2, |
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| 15 | CK64 = 3, |
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| 16 | CK256 = 4, |
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| 17 | CK1024 = 5, |
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| 18 | T0_FALLING_EDGE = 6, |
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| 19 | T0_RISING_EDGE = 7 |
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| 20 | }; |
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| 21 | |||
| 22 | |||
| 23 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 24 | { |
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| 25 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 26 | unsigned char pieper_ein = 0; |
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| 27 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 28 | |||
| 29 | if(!cnt--) |
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| 30 | { |
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| 31 | cnt = 9; |
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| 32 | cnt_1ms++; |
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| 33 | cnt_1ms %= 2; |
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| 34 | if(!cnt_1ms) UpdateMotor = 1; |
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| 35 | CountMilliseconds++; |
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| 36 | } |
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| 37 | |||
| 38 | if(beeptime > 1) |
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| 39 | { |
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| 40 | beeptime--; |
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| 41 | if(beeptime & BeepMuster) |
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| 42 | { |
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| 43 | pieper_ein = 1; |
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| 44 | } |
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| 45 | else pieper_ein = 0; |
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| 46 | } |
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| 47 | else |
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| 48 | { |
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| 49 | pieper_ein = 0; |
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| 50 | BeepMuster = 0xffff; |
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| 51 | } |
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| 52 | |||
| 53 | |||
| 54 | if(pieper_ein) |
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| 55 | { |
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| 56 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 57 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 58 | } |
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| 59 | else |
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| 60 | { |
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| 61 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 62 | else PORTC &= ~(1<<7); |
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| 63 | } |
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| 64 | |||
| 65 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 66 | { |
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| 67 | |||
| 68 | MM3_timer0(); // Kompass auslesen |
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| 69 | |||
| 70 | if (!cntKompass--) // Aufruf mit 25 Hz |
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| 71 | { |
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| 72 | |||
| 73 | |||
| 74 | if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();} |
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| 75 | if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;} |
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| 76 | |||
| 77 | |||
| 78 | |||
| 79 | |||
| 80 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360)-180; |
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| 81 | cntKompass = 320; // 320 |
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| 82 | } |
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| 83 | } |
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| 84 | } |
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| 85 | |||
| 86 | |||
| 87 | |||
| 88 | void Timer_Init(void) |
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| 89 | { |
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| 90 | tim_main = SetDelay(10); |
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| 91 | TCCR0B = CK8; |
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| 92 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 93 | OCR0A = 0; |
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| 94 | OCR0B = 120; |
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| 95 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
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| 96 | //OCR1 = 0x00; |
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| 97 | |||
| 98 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 99 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 100 | |||
| 101 | // TIMSK2 |= _BV(TOIE2); |
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| 102 | TIMSK2 |= _BV(OCIE2A); |
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| 103 | |||
| 104 | TIMSK0 |= _BV(TOIE0); |
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| 105 | OCR2A = 10; |
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| 106 | TCNT2 = 0; |
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| 107 | |||
| 108 | } |
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| 109 | |||
| 110 | // ----------------------------------------------------------------------- |
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| 111 | |||
| 112 | unsigned int SetDelay (unsigned int t) |
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| 113 | { |
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| 114 | // TIMSK0 &= ~_BV(TOIE0); |
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| 115 | return(CountMilliseconds + t + 1); |
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| 116 | // TIMSK0 |= _BV(TOIE0); |
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| 117 | } |
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| 118 | |||
| 119 | // ----------------------------------------------------------------------- |
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| 120 | char CheckDelay(unsigned int t) |
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| 121 | { |
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| 122 | // TIMSK0 &= ~_BV(TOIE0); |
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| 123 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 124 | // TIMSK0 |= _BV(TOIE0); |
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| 125 | } |
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| 126 | |||
| 127 | // ----------------------------------------------------------------------- |
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| 128 | void Delay_ms(unsigned int w) |
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| 129 | { |
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| 130 | unsigned int akt; |
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| 131 | akt = SetDelay(w); |
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| 132 | while (!CheckDelay(akt)); |
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| 133 | } |
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| 134 | |||
| 135 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 136 | // Servo ansteuern |
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| 137 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 138 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 139 | { |
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| 140 | static unsigned char timer = 10; |
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| 141 | |||
| 142 | if(!timer--) |
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| 143 | { |
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| 144 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 145 | ServoValue = Parameter_ServoNickControl; |
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| 146 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 147 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 148 | |||
| 149 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 150 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 151 | |||
| 152 | OCR2A = ServoValue;// + 75; |
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| 153 | timer = EE_Parameter.ServoNickRefresh; |
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| 154 | } |
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| 155 | else |
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| 156 | { |
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| 157 | TCCR2A =3; |
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| 158 | PORTD&=~0x80; |
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| 159 | } |
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| 160 | } |