WebSVN - FlightCtrl - Blame - Rev 1038 - /branches/Znib/V0.82a/timer0.c

Rev	Author	Line No.	Line
1	ingob	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;
723	hbuss	8	volatile unsigned char SendSPI = 0;
910	hbuss	9	volatile unsigned int ServoState = 40;
723	hbuss	10
173	holgerb	11	unsigned int BeepMuster = 0xffff;
910	hbuss	12	unsigned int ServoValue = 0;
1	ingob	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;
173	holgerb	29	unsigned char pieper_ein = 0;
1	ingob	30	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
723	hbuss	31	if(SendSPI) SendSPI--;
1	ingob	32	if(!cnt--)
		33	{
		34	cnt = 9;
		35	cnt_1ms++;
		36	cnt_1ms %= 2;
		37	if(!cnt_1ms) UpdateMotor = 1;
		38	CountMilliseconds++;
723	hbuss	39	}
1	ingob	40
		41	if(beeptime > 1)
		42	{
173	holgerb	43	beeptime--;
		44	if(beeptime & BeepMuster)
		45	{
		46	pieper_ein = 1;
		47	}
		48	else pieper_ein = 0;
1	ingob	49	}
173	holgerb	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	}
1	ingob	62	else
173	holgerb	63	{
		64	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		65	else PORTC &= ~(1<<7);
		66	}
		67
1	ingob	68	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		69	{
		70	if(PINC & 0x10)
		71	{
		72	cntKompass++;
		73	}
		74	else
		75	{
849	hbuss	76	if((cntKompass) && (cntKompass < 362))
1	ingob	77	{
693	hbuss	78	cntKompass += cntKompass / 41;
		79	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1	ingob	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
910	hbuss	89	//----------------------------
1	ingob	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;
304	ingob	97	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
1	ingob	98	//OCR1 = 0x00;
		99
		100	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
910	hbuss	101	// TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22); // clk/256
		102	TCCR2B=(0<<CS20)\|(0<<CS21)\|(1<<CS22); // clk/64
1	ingob	103
910	hbuss	104
		105	TIMSK2 \|= _BV(OCIE2A);
1	ingob	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
395	hbuss	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
1	ingob	145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		146	// Servo ansteuern
		147	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
910	hbuss	148	SIGNAL(SIG_OVERFLOW2)
		149	{
		150	if (ServoState > 0) PORTD \|= 0x80;
		151	else PORTD &= ~0x80;
		152	TCCR2A =3;
		153	TIMSK2 &= ~_BV(TOIE2);
		154	}
		155
1	ingob	156	SIGNAL(SIG_OUTPUT_COMPARE2A)
		157	{
910	hbuss	158	static unsigned char postPulse = 0x80;
		159	static int filterServo = 100;
		160	#define MULTIPLIER 4
1038	hbuss	161	if(PlatinenVersion < 99)
1036	hbuss	162	{
910	hbuss	163	if(ServoState == 4)
1	ingob	164	{
910	hbuss	165	ServoValue = 0x0030; // Offset Part1
		166	filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;
		167	ServoValue += filterServo;
		168	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);
		169	else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);
		170	if((ServoValue) < ((int)EE_Parameter.ServoNickMin3)) ServoValue = (int)EE_Parameter.ServoNickMin3;
		171	else if((ServoValue) > ((int)EE_Parameter.ServoNickMax3)) ServoValue = (int)EE_Parameter.ServoNickMax3;
		172
		173	DebugOut.Analog[20] = ServoValue;
		174	if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;
		175	OCR2A = 255-(ServoValue % 256);
		176	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
		177	}
		178	else if ((ServoState > 0) && (ServoState < 4))
		179	{
		180	if(ServoValue > 255)
		181	{ PORTD \|= 0x80;
		182	TCCR2A =3;
		183	ServoValue -= 255;
		184	}
		185	else
		186	{
		187	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
		188	OCR2A = postPulse; // Offset Part2
		189	ServoState = 1;
		190	}
		191	}
		192	else if (ServoState == 0)
		193	{
		194	ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;
		195	PORTD&=~0x80;
		196	TCCR2A = 3;
		197	}
		198	ServoState--;
1036	hbuss	199	}
		200	else // 4017
		201	{
		202	/* switch(ServoState)
		203	{
		204	case 0:
		205	PORTD \|= 0x80;
1	ingob	206
1036	hbuss	207	ServoValue = 0x0030; // Offset Part1
		208	filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;
		209	ServoValue += filterServo;
		210	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);
		211	else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);
		212	if((ServoValue) < ((int)EE_Parameter.ServoNickMin3)) ServoValue = (int)EE_Parameter.ServoNickMin3;
		213	else if((ServoValue) > ((int)EE_Parameter.ServoNickMax3)) ServoValue = (int)EE_Parameter.ServoNickMax3;
		214	DebugOut.Analog[20] = ServoValue;
		215	if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;
		216	OCR2A = 255-(ServoValue % 256);
		217	PORTD &= ~0x80;
		218	TCCR2A = 3; // Portfunktion aus
		219	ServoState++;
		220	break;
		221	case 1:
		222	if(ServoValue > 255)
		223	{
		224	ServoValue -= 255;
		225	}
		226	else
		227	{
		228	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3; // Set on match
		229	OCR2A = postPulse; // Offset Part2
		230	ServoState++;
		231	}
		232	break;
		233	case 2:
		234	TCCR2A = 3; // Portfunktion aus
		235	OCR2A = 100;
		236	ServoState++;
		237	PORTD &= ~0x80;
		238	break;
		239	case 3:
		240	PORTD &= ~0x80;
		241	HEF4017R_ON;
		242	// TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3; // Set on match
		243	OCR2A = 100;
		244	PORTD &= ~0x80;
		245	ServoState = 0;
		246	HEF4017R_OFF;
		247	break;
		248	default:
		249	ServoState = 0;
		250	break;
		251	} */
		252	}
1	ingob	253	}

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(root)/branches/Znib/V0.82a/timer0.c @ 2172 - Rev 1038