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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 787 | Nick666 | 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 | unsigned int BeepMuster = 0xffff; |
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| 857 | Nick666 | 8 | uint8_t ServoValue = 0; |
| 787 | Nick666 | 9 | |
| 857 | Nick666 | 10 | enum |
| 11 | { |
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| 787 | Nick666 | 12 | STOP = 0, |
| 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) // 9,8kHz |
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| 24 | { |
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| 25 | static uint8_t cnt_1ms = 1,cnt = 0; |
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| 857 | Nick666 | 26 | uint8_t pieper_ein; |
| 787 | Nick666 | 27 | |
| 28 | if(!cnt--) |
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| 29 | { |
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| 30 | cnt = 9; |
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| 31 | cnt_1ms++; |
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| 32 | cnt_1ms %= 2; |
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| 33 | if(!cnt_1ms) UpdateMotor = 1; |
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| 34 | CountMilliseconds++; |
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| 857 | Nick666 | 35 | } |
| 787 | Nick666 | 36 | |
| 857 | Nick666 | 37 | if(beeptime > 1) |
| 787 | Nick666 | 38 | { |
| 39 | beeptime--; |
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| 40 | if(beeptime & BeepMuster) |
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| 41 | { |
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| 42 | pieper_ein = 1; |
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| 43 | } |
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| 44 | else pieper_ein = 0; |
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| 45 | } |
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| 857 | Nick666 | 46 | else |
| 787 | Nick666 | 47 | { |
| 48 | pieper_ein = 0; |
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| 49 | BeepMuster = 0xffff; |
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| 50 | } |
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| 51 | |||
| 52 | |||
| 857 | Nick666 | 53 | if(pieper_ein) |
| 787 | Nick666 | 54 | { |
| 857 | Nick666 | 55 | #if (PlatinenVersion == 10) |
| 56 | PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 57 | #else |
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| 58 | PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 59 | #endif |
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| 787 | Nick666 | 60 | } |
| 857 | Nick666 | 61 | else |
| 787 | Nick666 | 62 | { |
| 857 | Nick666 | 63 | #if (PlatinenVersion == 10) |
| 64 | PORTD &= ~(1<<2); |
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| 65 | #else |
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| 66 | PORTC &= ~(1<<7); |
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| 67 | #endif |
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| 787 | Nick666 | 68 | } |
| 69 | |||
| 70 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
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| 71 | } |
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| 72 | |||
| 73 | |||
| 74 | void Timer_Init(void) |
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| 75 | { |
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| 76 | TCCR0B = CK8; |
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| 77 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 78 | OCR0A = 0; |
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| 79 | OCR0B = 120; |
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| 80 | |||
| 81 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 82 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 83 | |||
| 84 | // TIMSK2 |= _BV(TOIE2); |
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| 85 | TIMSK2 |= _BV(OCIE2A); |
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| 86 | |||
| 87 | TIMSK0 |= _BV(TOIE0); |
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| 88 | OCR2A = 10; |
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| 89 | TCNT2 = 0; |
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| 90 | } |
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| 91 | |||
| 92 | // ----------------------------------------------------------------------- |
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| 93 | |||
| 94 | unsigned int SetDelay (unsigned int t) |
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| 95 | { |
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| 96 | return(CountMilliseconds + t + 1); |
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| 97 | } |
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| 98 | |||
| 99 | // ----------------------------------------------------------------------- |
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| 100 | char CheckDelay(unsigned int t) |
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| 101 | { |
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| 102 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 103 | } |
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| 104 | |||
| 105 | // ----------------------------------------------------------------------- |
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| 106 | void Delay_ms(unsigned int w) |
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| 107 | { |
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| 108 | unsigned int akt; |
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| 109 | akt = SetDelay(w); |
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| 110 | while (!CheckDelay(akt)); |
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| 111 | } |
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| 112 | |||
| 113 | void Delay_ms_Mess(unsigned int w) |
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| 114 | { |
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| 115 | unsigned int akt; |
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| 116 | akt = SetDelay(w); |
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| 117 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 118 | } |
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| 119 | |||
| 120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 121 | // Servo ansteuern |
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| 122 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 123 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 124 | { |
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| 857 | Nick666 | 125 | static uint8_t timer = 10; |
| 787 | Nick666 | 126 | |
| 127 | if(!timer--) |
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| 128 | { |
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| 129 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 857 | Nick666 | 130 | //ServoValue = Parameter_ServoNickControl; |
| 131 | ServoValue = (((uint16_t)Parameter_ServoNickControl * Cam_Travel) /255) + EE_Parameter.ServoNickMin; |
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| 132 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((uint16_t)EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 133 | else ServoValue -= ((uint16_t)EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 134 | |||
| 135 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 136 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 787 | Nick666 | 137 | |
| 138 | OCR2A = ServoValue;// + 75; |
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| 139 | timer = EE_Parameter.ServoNickRefresh; |
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| 140 | } |
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| 141 | else |
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| 142 | { |
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| 857 | Nick666 | 143 | TCCR2A = 3; |
| 144 | PORTD &=~ 0x80; |
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| 787 | Nick666 | 145 | } |
| 146 | } |