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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | |||
| 88 | |||
| 89 | void Timer_Init(void) |
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| 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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| 100 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 101 | |||
| 102 | // TIMSK2 |= _BV(TOIE2); |
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| 103 | TIMSK2 |= _BV(OCIE2A); |
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| 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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| 148 | static unsigned char timer = 10; |
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| 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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| 167 | } |
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| 168 | } |