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Rev | Author | Line No. | Line |
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1 | ingob | 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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723 | hbuss | 8 | volatile unsigned char SendSPI = 0; |
9 | |||
173 | holgerb | 10 | unsigned int BeepMuster = 0xffff; |
1 | ingob | 11 | int ServoValue = 0; |
12 | |||
13 | enum { |
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14 | STOP = 0, |
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15 | CK = 1, |
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16 | CK8 = 2, |
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17 | CK64 = 3, |
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18 | CK256 = 4, |
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19 | CK1024 = 5, |
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20 | T0_FALLING_EDGE = 6, |
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21 | T0_RISING_EDGE = 7 |
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22 | }; |
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23 | |||
24 | |||
25 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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26 | { |
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27 | static unsigned char cnt_1ms = 1,cnt = 0; |
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173 | holgerb | 28 | unsigned char pieper_ein = 0; |
1 | ingob | 29 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
723 | hbuss | 30 | if(SendSPI) SendSPI--; |
1 | ingob | 31 | if(!cnt--) |
32 | { |
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33 | cnt = 9; |
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34 | cnt_1ms++; |
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35 | cnt_1ms %= 2; |
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36 | if(!cnt_1ms) UpdateMotor = 1; |
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37 | CountMilliseconds++; |
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723 | hbuss | 38 | } |
1 | ingob | 39 | |
40 | if(beeptime > 1) |
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41 | { |
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173 | holgerb | 42 | beeptime--; |
43 | if(beeptime & BeepMuster) |
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44 | { |
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45 | pieper_ein = 1; |
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46 | } |
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47 | else pieper_ein = 0; |
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1 | ingob | 48 | } |
173 | holgerb | 49 | else |
50 | { |
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51 | pieper_ein = 0; |
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52 | BeepMuster = 0xffff; |
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53 | } |
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54 | |||
55 | |||
56 | if(pieper_ein) |
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57 | { |
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58 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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59 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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60 | } |
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1 | ingob | 61 | else |
173 | holgerb | 62 | { |
63 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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64 | else PORTC &= ~(1<<7); |
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65 | } |
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66 | |||
1 | ingob | 67 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
68 | { |
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69 | if(PINC & 0x10) |
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70 | { |
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71 | cntKompass++; |
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72 | } |
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73 | else |
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74 | { |
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849 | hbuss | 75 | if((cntKompass) && (cntKompass < 362)) |
1 | ingob | 76 | { |
693 | hbuss | 77 | cntKompass += cntKompass / 41; |
78 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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1 | ingob | 79 | } |
80 | // if(cntKompass < 10) cntKompass = 10; |
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81 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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82 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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83 | cntKompass = 0; |
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84 | } |
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85 | } |
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86 | } |
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87 | |||
872 | hbuss | 88 | |
1 | ingob | 89 | void Timer_Init(void) |
90 | { |
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91 | tim_main = SetDelay(10); |
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92 | TCCR0B = CK8; |
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93 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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94 | OCR0A = 0; |
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95 | OCR0B = 120; |
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304 | ingob | 96 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
1 | ingob | 97 | //OCR1 = 0x00; |
98 | |||
99 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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872 | hbuss | 100 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
1 | ingob | 101 | |
872 | hbuss | 102 | // TIMSK2 |= _BV(TOIE2); |
103 | TIMSK2 |= _BV(OCIE2A); |
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1 | ingob | 104 | |
105 | TIMSK0 |= _BV(TOIE0); |
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106 | OCR2A = 10; |
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107 | TCNT2 = 0; |
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108 | |||
109 | } |
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110 | |||
111 | // ----------------------------------------------------------------------- |
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112 | |||
113 | unsigned int SetDelay (unsigned int t) |
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114 | { |
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115 | // TIMSK0 &= ~_BV(TOIE0); |
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116 | return(CountMilliseconds + t + 1); |
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117 | // TIMSK0 |= _BV(TOIE0); |
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118 | } |
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119 | |||
120 | // ----------------------------------------------------------------------- |
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121 | char CheckDelay(unsigned int t) |
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122 | { |
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123 | // TIMSK0 &= ~_BV(TOIE0); |
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124 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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125 | // TIMSK0 |= _BV(TOIE0); |
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126 | } |
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127 | |||
128 | // ----------------------------------------------------------------------- |
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129 | void Delay_ms(unsigned int w) |
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130 | { |
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131 | unsigned int akt; |
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132 | akt = SetDelay(w); |
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133 | while (!CheckDelay(akt)); |
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134 | } |
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135 | |||
395 | hbuss | 136 | void Delay_ms_Mess(unsigned int w) |
137 | { |
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138 | unsigned int akt; |
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139 | akt = SetDelay(w); |
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140 | while (!CheckDelay(akt)) ANALOG_ON; |
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141 | } |
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142 | |||
1 | ingob | 143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
144 | // Servo ansteuern |
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145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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147 | { |
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872 | hbuss | 148 | static unsigned char timer = 10; |
1 | ingob | 149 | |
150 | if(!timer--) |
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151 | { |
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152 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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153 | ServoValue = Parameter_ServoNickControl; |
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154 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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155 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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156 | |||
157 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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158 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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159 | |||
160 | OCR2A = ServoValue;// + 75; |
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161 | timer = EE_Parameter.ServoNickRefresh; |
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162 | } |
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163 | else |
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164 | { |
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165 | TCCR2A =3; |
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166 | PORTD&=~0x80; |
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872 | hbuss | 167 | } |
1 | ingob | 168 | } |