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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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| 173 | holgerb | 8 | unsigned int BeepMuster = 0xffff; |
| 1 | ingob | 9 | int ServoValue = 0; |
| 446 | salvo | 10 | //Salvo 8.9.2007 |
| 11 | volatile uint8_t Kompass_Neuer_Wert= 0; |
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| 12 | volatile unsigned int Kompass_Value_Old = 0; |
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| 13 | // Salvo End |
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| 14 | //Salvo 21.9.2007 |
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| 15 | short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
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| 16 | // Salvo End |
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| 1 | ingob | 17 | enum { |
| 18 | STOP = 0, |
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| 19 | CK = 1, |
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| 20 | CK8 = 2, |
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| 21 | CK64 = 3, |
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| 22 | CK256 = 4, |
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| 23 | CK1024 = 5, |
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| 24 | T0_FALLING_EDGE = 6, |
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| 25 | T0_RISING_EDGE = 7 |
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| 26 | }; |
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| 27 | |||
| 446 | salvo | 28 | // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007 |
| 29 | /* |
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| 30 | Driftkompensation fuer Gyros verbessert |
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| 31 | Linearsensor mit fixem Neutralwert |
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| 32 | Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
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| 33 | */ |
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| 1 | ingob | 34 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
| 35 | { |
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| 36 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 173 | holgerb | 37 | unsigned char pieper_ein = 0; |
| 1 | ingob | 38 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| 39 | |||
| 40 | if(!cnt--) |
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| 41 | { |
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| 446 | salvo | 42 | if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
| 1 | ingob | 43 | cnt = 9; |
| 44 | cnt_1ms++; |
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| 45 | cnt_1ms %= 2; |
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| 46 | if(!cnt_1ms) UpdateMotor = 1; |
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| 47 | CountMilliseconds++; |
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| 48 | } |
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| 49 | |||
| 50 | if(beeptime > 1) |
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| 51 | { |
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| 173 | holgerb | 52 | beeptime--; |
| 53 | if(beeptime & BeepMuster) |
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| 54 | { |
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| 55 | pieper_ein = 1; |
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| 56 | } |
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| 57 | else pieper_ein = 0; |
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| 1 | ingob | 58 | } |
| 173 | holgerb | 59 | else |
| 60 | { |
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| 61 | pieper_ein = 0; |
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| 62 | BeepMuster = 0xffff; |
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| 63 | } |
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| 64 | |||
| 65 | |||
| 66 | if(pieper_ein) |
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| 67 | { |
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| 68 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 69 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 70 | } |
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| 1 | ingob | 71 | else |
| 173 | holgerb | 72 | { |
| 73 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 74 | else PORTC &= ~(1<<7); |
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| 75 | } |
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| 76 | |||
| 446 | salvo | 77 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| 1 | ingob | 78 | { |
| 79 | if(PINC & 0x10) |
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| 80 | { |
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| 81 | cntKompass++; |
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| 82 | } |
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| 83 | else |
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| 84 | { |
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| 85 | if((cntKompass) && (cntKompass < 4000)) |
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| 86 | { |
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| 446 | salvo | 87 | // Salvo Kompassoffset 30.8.2007 und 21.9.2007 *********** |
| 88 | Kompass_present = 255; |
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| 89 | Kompass_Value_Old = KompassValue; |
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| 90 | KompassValue = cntKompass -KOMPASS_OFFSET; |
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| 91 | |||
| 92 | if (KompassValue < 0) |
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| 93 | { |
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| 94 | KompassValue += 360; |
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| 95 | } |
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| 96 | if (KompassValue >= 360) |
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| 97 | { |
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| 98 | KompassValue -= 360; |
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| 99 | } |
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| 100 | // Salvo End |
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| 1 | ingob | 101 | } |
| 102 | // if(cntKompass < 10) cntKompass = 10; |
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| 103 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 104 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 446 | salvo | 105 | //Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
| 106 | Kompass_Neuer_Wert = 1; |
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| 107 | // Salvo End |
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| 108 | cntKompass = 0; |
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| 1 | ingob | 109 | } |
| 110 | } |
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| 111 | } |
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| 112 | |||
| 113 | |||
| 114 | void Timer_Init(void) |
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| 115 | { |
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| 116 | tim_main = SetDelay(10); |
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| 117 | TCCR0B = CK8; |
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| 118 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 119 | OCR0A = 0; |
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| 120 | OCR0B = 120; |
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| 304 | ingob | 121 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| 1 | ingob | 122 | //OCR1 = 0x00; |
| 123 | |||
| 124 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 125 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 126 | |||
| 127 | // TIMSK2 |= _BV(TOIE2); |
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| 128 | TIMSK2 |= _BV(OCIE2A); |
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| 129 | |||
| 130 | TIMSK0 |= _BV(TOIE0); |
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| 131 | OCR2A = 10; |
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| 132 | TCNT2 = 0; |
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| 133 | |||
| 134 | } |
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| 135 | |||
| 136 | // ----------------------------------------------------------------------- |
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| 137 | |||
| 138 | unsigned int SetDelay (unsigned int t) |
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| 139 | { |
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| 140 | // TIMSK0 &= ~_BV(TOIE0); |
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| 141 | return(CountMilliseconds + t + 1); |
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| 142 | // TIMSK0 |= _BV(TOIE0); |
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| 143 | } |
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| 144 | |||
| 145 | // ----------------------------------------------------------------------- |
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| 146 | char CheckDelay(unsigned int t) |
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| 147 | { |
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| 148 | // TIMSK0 &= ~_BV(TOIE0); |
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| 149 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 150 | // TIMSK0 |= _BV(TOIE0); |
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| 151 | } |
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| 152 | |||
| 153 | // ----------------------------------------------------------------------- |
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| 154 | void Delay_ms(unsigned int w) |
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| 155 | { |
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| 156 | unsigned int akt; |
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| 157 | akt = SetDelay(w); |
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| 158 | while (!CheckDelay(akt)); |
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| 159 | } |
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| 160 | |||
| 395 | hbuss | 161 | void Delay_ms_Mess(unsigned int w) |
| 162 | { |
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| 163 | unsigned int akt; |
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| 164 | akt = SetDelay(w); |
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| 165 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 166 | } |
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| 167 | |||
| 1 | ingob | 168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 169 | // Servo ansteuern |
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| 170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 172 | { |
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| 173 | static unsigned char timer = 10; |
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| 174 | |||
| 175 | if(!timer--) |
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| 176 | { |
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| 177 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 178 | ServoValue = Parameter_ServoNickControl; |
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| 179 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 180 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 181 | |||
| 182 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 183 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 184 | |||
| 185 | OCR2A = ServoValue;// + 75; |
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| 186 | timer = EE_Parameter.ServoNickRefresh; |
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| 187 | } |
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| 188 | else |
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| 189 | { |
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| 190 | TCCR2A =3; |
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| 191 | PORTD&=~0x80; |
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| 192 | } |
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| 193 | } |