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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 376 | 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 = 800; |
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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 | PORTD |= (1<<PD2); |
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| 42 | if(beeptime & BeepMuster) |
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| 43 | { |
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| 44 | pieper_ein = 1; |
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| 45 | } |
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| 46 | else pieper_ein = 0; |
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| 47 | } |
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| 48 | else |
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| 49 | { |
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| 50 | pieper_ein = 0; |
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| 51 | BeepMuster = 0xffff; |
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| 52 | } |
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| 53 | |||
| 54 | |||
| 55 | if(pieper_ein) |
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| 56 | { |
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| 57 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 58 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 59 | } |
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| 60 | else |
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| 61 | { |
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| 62 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 63 | else PORTC &= ~(1<<7); |
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| 64 | } |
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| 65 | |||
| 66 | PORTD &= ~(1<<PD2); |
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| 67 | |||
| 68 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 69 | { |
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| 70 | MM3_timer0(); // Kompass auslesen |
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| 71 | |||
| 72 | if (!cntKompass--) // Aufruf mit 10 Hz |
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| 73 | { |
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| 74 | // KompassValue = MM3_heading(); |
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| 75 | |||
| 76 | // OsiAir hier machen wir den den KompassValue zu 0-359 damit das GPS damit weiterarbeiten kann |
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| 77 | if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();} |
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| 78 | if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;} |
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| 79 | |||
| 80 | |||
| 81 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 82 | cntKompass = 800; |
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| 83 | } |
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| 84 | } |
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| 85 | |||
| 86 | } |
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| 87 | |||
| 88 | |||
| 89 | /* |
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| 90 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
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| 91 | { |
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| 92 | if(PINC & 0x10) |
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| 93 | { |
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| 94 | cntKompass++; |
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| 95 | } |
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| 96 | else |
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| 97 | { |
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| 98 | if((cntKompass) && (cntKompass < 4000)) |
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| 99 | { |
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| 100 | KompassValue = cntKompass; |
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| 101 | } |
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| 102 | // if(cntKompass < 10) cntKompass = 10; |
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| 103 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 104 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 105 | cntKompass = 0; |
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| 106 | } |
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| 107 | } |
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| 108 | } |
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| 109 | */ |
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| 110 | |||
| 111 | void Timer_Init(void) |
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| 112 | { |
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| 113 | tim_main = SetDelay(10); |
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| 114 | TCCR0B = CK8; |
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| 115 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 116 | OCR0A = 0; |
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| 117 | OCR0B = 120; |
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| 118 | //TCNT0 = -TIMER_RELOAD_VALUE; // reload |
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| 119 | //OCR1 = 0x00; |
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| 120 | |||
| 121 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 122 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 123 | |||
| 124 | // TIMSK2 |= _BV(TOIE2); |
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| 125 | TIMSK2 |= _BV(OCIE2A); |
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| 126 | |||
| 127 | TIMSK0 |= _BV(TOIE0); |
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| 128 | OCR2A = 10; |
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| 129 | TCNT2 = 0; |
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| 130 | |||
| 131 | } |
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| 132 | |||
| 133 | // ----------------------------------------------------------------------- |
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| 134 | |||
| 135 | unsigned int SetDelay (unsigned int t) |
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| 136 | { |
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| 137 | // TIMSK0 &= ~_BV(TOIE0); |
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| 138 | return(CountMilliseconds + t + 1); |
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| 139 | // TIMSK0 |= _BV(TOIE0); |
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| 140 | } |
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| 141 | |||
| 142 | // ----------------------------------------------------------------------- |
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| 143 | char CheckDelay(unsigned int t) |
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| 144 | { |
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| 145 | // TIMSK0 &= ~_BV(TOIE0); |
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| 146 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 147 | // TIMSK0 |= _BV(TOIE0); |
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| 148 | } |
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| 149 | |||
| 150 | // ----------------------------------------------------------------------- |
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| 151 | void Delay_ms(unsigned int w) |
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| 152 | { |
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| 153 | unsigned int akt; |
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| 154 | akt = SetDelay(w); |
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| 155 | while (!CheckDelay(akt)); |
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| 156 | } |
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| 157 | |||
| 158 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 159 | // Servo ansteuern |
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| 160 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 161 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 162 | { |
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| 163 | static unsigned char timer = 10; |
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| 164 | |||
| 165 | if(!timer--) |
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| 166 | { |
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| 167 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 168 | ServoValue = Parameter_ServoNickControl; |
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| 169 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 170 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 171 | |||
| 172 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 173 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 174 | |||
| 175 | OCR2A = ServoValue;// + 75; |
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| 176 | timer = EE_Parameter.ServoNickRefresh; |
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| 177 | } |
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| 178 | else |
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| 179 | { |
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| 180 | TCCR2A =3; |
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| 181 | PORTD&=~0x80; |
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| 182 | } |
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| 183 | } |