Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 975 | ligi | 1 | #include "main.h" |
| 2 | |||
| 3 | volatile unsigned int CountMilliseconds = 0; |
||
| 4 | volatile static unsigned int tim_main; |
||
| 5 | volatile unsigned char UpdateMotor = 0; |
||
| 6 | volatile unsigned int cntKompass = 0; |
||
| 7 | volatile unsigned int beeptime = 0; |
||
| 8 | volatile unsigned char SendSPI = 0; |
||
| 9 | volatile unsigned int ServoState = 40; |
||
| 10 | |||
| 11 | unsigned int BeepMuster = 0xffff; |
||
| 12 | unsigned int ServoValue = 0; |
||
| 13 | |||
| 14 | enum { |
||
| 15 | STOP = 0, |
||
| 16 | CK = 1, |
||
| 17 | CK8 = 2, |
||
| 18 | CK64 = 3, |
||
| 19 | CK256 = 4, |
||
| 20 | CK1024 = 5, |
||
| 21 | T0_FALLING_EDGE = 6, |
||
| 22 | T0_RISING_EDGE = 7 |
||
| 23 | }; |
||
| 24 | |||
| 25 | |||
| 26 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
||
| 27 | { |
||
| 28 | static unsigned char cnt_1ms = 1,cnt = 0; |
||
| 29 | unsigned char pieper_ein = 0; |
||
| 30 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
||
| 31 | if(SendSPI) SendSPI--; |
||
| 32 | if(!cnt--) |
||
| 33 | { |
||
| 34 | cnt = 9; |
||
| 35 | cnt_1ms++; |
||
| 36 | cnt_1ms %= 2; |
||
| 37 | if(!cnt_1ms) UpdateMotor = 1; |
||
| 38 | CountMilliseconds++; |
||
| 39 | } |
||
| 40 | |||
| 41 | if(beeptime > 1) |
||
| 42 | { |
||
| 43 | beeptime--; |
||
| 44 | if(beeptime & BeepMuster) |
||
| 45 | { |
||
| 46 | pieper_ein = 1; |
||
| 47 | } |
||
| 48 | else pieper_ein = 0; |
||
| 49 | } |
||
| 50 | else |
||
| 51 | { |
||
| 52 | pieper_ein = 0; |
||
| 53 | BeepMuster = 0xffff; |
||
| 54 | } |
||
| 55 | |||
| 56 | |||
| 57 | if(pieper_ein) |
||
| 58 | { |
||
| 59 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
||
| 60 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
||
| 61 | } |
||
| 62 | else |
||
| 63 | { |
||
| 64 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
||
| 65 | else PORTC &= ~(1<<7); |
||
| 66 | } |
||
| 67 | |||
| 68 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
||
| 69 | { |
||
| 70 | if(PINC & 0x10) |
||
| 71 | { |
||
| 72 | cntKompass++; |
||
| 73 | } |
||
| 74 | else |
||
| 75 | { |
||
| 76 | if((cntKompass) && (cntKompass < 362)) |
||
| 77 | { |
||
| 78 | cntKompass += cntKompass / 41; |
||
| 79 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
||
| 80 | } |
||
| 81 | // if(cntKompass < 10) cntKompass = 10; |
||
| 82 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
||
| 83 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 84 | cntKompass = 0; |
||
| 85 | } |
||
| 86 | } |
||
| 87 | } |
||
| 88 | |||
| 89 | //---------------------------- |
||
| 90 | void Timer_Init(void) |
||
| 91 | { |
||
| 92 | tim_main = SetDelay(10); |
||
| 93 | TCCR0B = CK8; |
||
| 94 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
||
| 95 | OCR0A = 0; |
||
| 96 | OCR0B = 120; |
||
| 97 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
||
| 98 | //OCR1 = 0x00; |
||
| 99 | |||
| 100 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
||
| 101 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
||
| 102 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
||
| 103 | |||
| 104 | |||
| 105 | TIMSK2 |= _BV(OCIE2A); |
||
| 106 | |||
| 107 | TIMSK0 |= _BV(TOIE0); |
||
| 108 | OCR2A = 10; |
||
| 109 | TCNT2 = 0; |
||
| 110 | |||
| 111 | } |
||
| 112 | |||
| 113 | // ----------------------------------------------------------------------- |
||
| 114 | |||
| 115 | unsigned int SetDelay (unsigned int t) |
||
| 116 | { |
||
| 117 | // TIMSK0 &= ~_BV(TOIE0); |
||
| 118 | return(CountMilliseconds + t + 1); |
||
| 119 | // TIMSK0 |= _BV(TOIE0); |
||
| 120 | } |
||
| 121 | |||
| 122 | // ----------------------------------------------------------------------- |
||
| 123 | char CheckDelay(unsigned int t) |
||
| 124 | { |
||
| 125 | // TIMSK0 &= ~_BV(TOIE0); |
||
| 126 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
||
| 127 | // TIMSK0 |= _BV(TOIE0); |
||
| 128 | } |
||
| 129 | |||
| 130 | // ----------------------------------------------------------------------- |
||
| 131 | void Delay_ms(unsigned int w) |
||
| 132 | { |
||
| 133 | unsigned int akt; |
||
| 134 | akt = SetDelay(w); |
||
| 135 | while (!CheckDelay(akt)); |
||
| 136 | } |
||
| 137 | |||
| 138 | void Delay_ms_Mess(unsigned int w) |
||
| 139 | { |
||
| 140 | unsigned int akt; |
||
| 141 | akt = SetDelay(w); |
||
| 142 | while (!CheckDelay(akt)) ANALOG_ON; |
||
| 143 | } |
||
| 144 | |||
| 145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 146 | // Servo ansteuern |
||
| 147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 148 | SIGNAL(SIG_OVERFLOW2) |
||
| 149 | { |
||
| 150 | if (ServoState > 0) PORTD |= 0x80; |
||
| 151 | else PORTD &= ~0x80; |
||
| 152 | TCCR2A =3; |
||
| 153 | TIMSK2 &= ~_BV(TOIE2); |
||
| 154 | } |
||
| 155 | |||
| 156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
||
| 157 | { |
||
| 158 | static unsigned char postPulse = 0x80; |
||
| 159 | static int filterServo = 100; |
||
| 160 | #define MULTIPLIER 4 |
||
| 161 | if(ServoState == 4) |
||
| 162 | { |
||
| 163 | ServoValue = 0x0030; // Offset Part1 |
||
| 164 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
||
| 165 | ServoValue += filterServo; |
||
| 166 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER); |
||
| 167 | else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER); |
||
| 168 | if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
||
| 169 | else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
||
| 170 | |||
| 171 | DebugOut.Analog[20] = ServoValue; |
||
| 172 | if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
||
| 173 | OCR2A = 255-(ServoValue % 256); |
||
| 174 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
||
| 175 | } |
||
| 176 | else if ((ServoState > 0) && (ServoState < 4)) |
||
| 177 | { |
||
| 178 | if(ServoValue > 255) |
||
| 179 | { PORTD |= 0x80; |
||
| 180 | TCCR2A =3; |
||
| 181 | ServoValue -= 255; |
||
| 182 | } |
||
| 183 | else |
||
| 184 | { |
||
| 185 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
||
| 186 | OCR2A = postPulse; // Offset Part2 |
||
| 187 | ServoState = 1; |
||
| 188 | } |
||
| 189 | } |
||
| 190 | else if (ServoState == 0) |
||
| 191 | { |
||
| 192 | ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
||
| 193 | PORTD&=~0x80; |
||
| 194 | TCCR2A = 3; |
||
| 195 | } |
||
| 196 | ServoState--; |
||
| 197 | |||
| 198 | } |