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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1152 | grottenfli | 1 | #include "main.h" |
| 2 | #include "parameter.h" |
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| 3 | |||
| 4 | volatile unsigned int CountMilliseconds = 0; |
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| 5 | volatile static unsigned int tim_main; |
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| 6 | volatile unsigned char UpdateMotor = 0; |
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| 7 | volatile unsigned int cntKompass = 0; |
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| 8 | volatile unsigned int beeptime = 0; |
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| 9 | volatile unsigned char SendSPI = 0; |
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| 10 | volatile unsigned int ServoState = 40; |
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| 11 | |||
| 12 | unsigned int BeepMuster = 0xffff; |
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| 13 | unsigned int ServoValue = 0; |
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| 14 | |||
| 15 | enum { |
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| 16 | STOP = 0, |
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| 17 | CK = 1, |
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| 18 | CK8 = 2, |
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| 19 | CK64 = 3, |
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| 20 | CK256 = 4, |
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| 21 | CK1024 = 5, |
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| 22 | T0_FALLING_EDGE = 6, |
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| 23 | T0_RISING_EDGE = 7 |
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| 24 | }; |
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| 25 | |||
| 26 | |||
| 27 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 28 | { |
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| 29 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 30 | unsigned char pieper_ein = 0; |
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| 31 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 32 | if(SendSPI) SendSPI--; |
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| 33 | if(!cnt--) |
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| 34 | { |
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| 35 | cnt = 9; |
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| 36 | // cnt_1ms++; |
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| 37 | // cnt_1ms %= 2; |
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| 38 | cnt_1ms = !cnt_1ms; // So ist das etwas einfacher |
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| 39 | if(!cnt_1ms) UpdateMotor = 1; |
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| 40 | CountMilliseconds++; |
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| 41 | } |
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| 42 | |||
| 43 | if(beeptime > 1) |
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| 44 | { |
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| 45 | beeptime--; |
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| 46 | if(beeptime & BeepMuster) |
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| 47 | { |
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| 48 | pieper_ein = 1; |
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| 49 | } |
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| 50 | else pieper_ein = 0; |
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| 51 | } |
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| 52 | else |
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| 53 | { |
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| 54 | pieper_ein = 0; |
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| 55 | BeepMuster = 0xffff; |
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| 56 | } |
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| 57 | |||
| 58 | |||
| 59 | if(pieper_ein) |
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| 60 | { |
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| 61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 63 | } |
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| 64 | else |
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| 65 | { |
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| 66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 67 | else PORTC &= ~(1<<7); |
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| 68 | } |
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| 69 | |||
| 70 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 71 | { |
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| 72 | if(PINC & 0x10) |
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| 73 | { |
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| 74 | cntKompass++; |
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| 75 | } |
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| 76 | else |
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| 77 | { |
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| 78 | if((cntKompass) && (cntKompass < 362)) |
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| 79 | { |
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| 80 | cntKompass += cntKompass / 41; |
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| 81 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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| 82 | } |
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| 83 | // if(cntKompass < 10) cntKompass = 10; |
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| 84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 86 | cntKompass = 0; |
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| 87 | } |
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| 88 | } |
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| 89 | } |
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| 90 | |||
| 91 | //---------------------------- |
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| 92 | void Timer_Init(void) |
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| 93 | { |
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| 94 | tim_main = SetDelay(10); |
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| 95 | TCCR0B = CK8; |
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| 96 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 97 | OCR0A = 0; |
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| 98 | OCR0B = 120; |
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| 99 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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| 100 | //OCR1 = 0x00; |
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| 101 | |||
| 102 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 103 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
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| 104 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
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| 105 | |||
| 106 | |||
| 107 | TIMSK2 |= _BV(OCIE2A); |
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| 108 | |||
| 109 | TIMSK0 |= _BV(TOIE0); |
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| 110 | OCR2A = 10; |
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| 111 | TCNT2 = 0; |
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| 112 | |||
| 113 | } |
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| 114 | |||
| 115 | // ----------------------------------------------------------------------- |
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| 116 | |||
| 117 | unsigned int SetDelay (unsigned int t) |
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| 118 | { |
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| 119 | // TIMSK0 &= ~_BV(TOIE0); |
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| 120 | return(CountMilliseconds + t + 1); |
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| 121 | // TIMSK0 |= _BV(TOIE0); |
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| 122 | } |
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| 123 | |||
| 124 | // ----------------------------------------------------------------------- |
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| 125 | char CheckDelay(unsigned int t) |
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| 126 | { |
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| 127 | // TIMSK0 &= ~_BV(TOIE0); |
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| 128 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 129 | // TIMSK0 |= _BV(TOIE0); |
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| 130 | } |
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| 131 | |||
| 132 | // ----------------------------------------------------------------------- |
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| 133 | void Delay_ms(unsigned int w) |
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| 134 | { |
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| 135 | unsigned int akt; |
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| 136 | akt = SetDelay(w); |
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| 137 | while (!CheckDelay(akt)); |
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| 138 | } |
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| 139 | |||
| 140 | void Delay_ms_Mess(unsigned int w) |
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| 141 | { |
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| 142 | unsigned int akt; |
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| 143 | akt = SetDelay(w); |
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| 144 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 145 | } |
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| 146 | |||
| 147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 148 | // Servo ansteuern |
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| 149 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 150 | SIGNAL(SIG_OVERFLOW2) |
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| 151 | { |
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| 152 | if (ServoState > 0) PORTD |= 0x80; |
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| 153 | else PORTD &= ~0x80; |
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| 154 | TCCR2A =3; |
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| 155 | TIMSK2 &= ~_BV(TOIE2); |
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| 156 | } |
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| 157 | |||
| 158 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 159 | { |
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| 160 | static unsigned char postPulse = 0x80; |
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| 161 | static int filterServo = 100; |
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| 162 | #define MULTIPLIER 4 |
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| 163 | if(ServoState == 4) |
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| 164 | { |
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| 165 | ServoValue = 0x0030; // Offset Part1 |
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| 166 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
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| 167 | ServoValue += filterServo; |
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| 168 | |||
| 169 | |||
| 170 | // Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden |
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| 171 | if (ServoValue < ((int) EE_Parameter.ServoNickMin * 3)) |
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| 172 | ServoValue = (int) EE_Parameter.ServoNickMin * 3; |
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| 173 | else if (ServoValue > ((int) EE_Parameter.ServoNickMax * 3)) |
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| 174 | ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
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| 175 | |||
| 176 | long integral; |
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| 177 | |||
| 178 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
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| 179 | * umschalten (s. parameter.h) |
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| 180 | */ |
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| 181 | if (PARAM_X_FORMATION) |
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| 182 | integral = IntegralNick - IntegralRoll; |
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| 183 | else |
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| 184 | integral = IntegralNick; |
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| 185 | |||
| 186 | if(EE_Parameter.ServoNickCompInvert & 0x01) |
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| 187 | ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/4); |
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| 188 | else |
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| 189 | ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/4); |
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| 190 | |||
| 191 | DebugOut.Analog[20] = ServoValue; |
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| 192 | |||
| 193 | if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
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| 194 | OCR2A = 255-(ServoValue % 256); |
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| 195 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 196 | } |
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| 197 | else if ((ServoState > 0) && (ServoState < 4)) |
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| 198 | { |
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| 199 | if(ServoValue > 255) |
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| 200 | { PORTD |= 0x80; |
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| 201 | TCCR2A =3; |
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| 202 | ServoValue -= 255; |
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| 203 | } |
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| 204 | else |
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| 205 | { |
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| 206 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 207 | OCR2A = postPulse; // Offset Part2 |
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| 208 | ServoState = 1; |
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| 209 | } |
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| 210 | } |
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| 211 | else if (ServoState == 0) |
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| 212 | { |
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| 213 | ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
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| 214 | PORTD&=~0x80; |
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| 215 | TCCR2A = 3; |
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| 216 | } |
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| 217 | ServoState--; |
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| 218 | |||
| 219 | } |