Subversion Repositories FlightCtrl

#include "main.h"

volatile unsigned int CountMilliseconds = 0;

volatile static unsigned int tim_main;

volatile unsigned char UpdateMotor = 0;

volatile unsigned int cntKompass = 0;

volatile unsigned int beeptime = 0;

volatile unsigned char SendSPI = 0;

volatile unsigned int ServoState = 40;

unsigned int BeepMuster = 0xffff;

unsigned int ServoValue = 0;

//Salvo 8.9.2007

volatile uint8_t Kompass_Neuer_Wert= 0;

volatile unsigned int Kompass_Value_Old = 0;

// Salvo End

//Salvo 21.9.2007

short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist

// Salvo End

enum {

  STOP             = 0,

  CK               = 1,

  CK8              = 2,

  CK64             = 3,

  CK256            = 4,

  CK1024           = 5,

  T0_FALLING_EDGE  = 6,

  T0_RISING_EDGE   = 7

};

// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 24.12.2007

/*

Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion

*/

SIGNAL (SIG_OVERFLOW0)    // 8kHz

{

    static unsigned char cnt_1ms = 1,cnt = 0;

    unsigned char pieper_ein = 0;

//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;

   if(SendSPI) SendSPI--;

   if(!cnt--)

    {

         if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden

     cnt = 9;

     cnt_1ms++;

     cnt_1ms %= 2;

     if(!cnt_1ms) UpdateMotor = 1;

     CountMilliseconds++;

    }  

     if(beeptime > 1)

        {

        beeptime--;      

        if(beeptime & BeepMuster)

         {

          pieper_ein = 1;

         }

         else pieper_ein = 0;

        }

     else

      {

       pieper_ein = 0;

       BeepMuster = 0xffff;

      }

     if(pieper_ein)

        {

          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2

          else                      PORTC |= (1<<7); // Speaker an PORTC.7

        }

     else  

        {

         if(PlatinenVersion == 10) PORTD &= ~(1<<2);

         else                      PORTC &= ~(1<<7);

        }

// if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) //Salvo 30.12.2008

 {

  if(PINC & 0x10)

   {

    cntKompass++;

   }

  else

   {

    if((cntKompass) && (cntKompass < 362))

    {

     cntKompass += cntKompass / 41;

     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;

// Salvo Kompassoffset 23.12.2007 ***********

         Kompass_present = 255;

//       Kompass_Value_Old      =       KompassValue;

         if (KOMPASS_OFFSET > 0)  KompassValue = cntKompass -KOMPASS_OFFSET;

         else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2));

         if (KompassValue < 0)

         {

                KompassValue += 360;

         }

         if (KompassValue >= 360)

         {

                KompassValue -= 360;

         }     

 // Salvo End  

    }

//     if(cntKompass < 10) cntKompass = 10;

//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;

     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;

//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses 

         Kompass_Neuer_Wert     = 1;

 // Salvo End

     cntKompass = 0;

   }

 }

}

//----------------------------

void Timer_Init(void)

{

    tim_main = SetDelay(10);

    TCCR0B = CK8;

    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM

    OCR0A =  0;

    OCR0B = 120;

    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload

    //OCR1  = 0x00;

    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;

//    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);    // clk/256

    TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22);      // clk/64

  TIMSK2 |= _BV(OCIE2A);

    TIMSK0 |= _BV(TOIE0);

    OCR2A = 10;

    TCNT2 = 0;

}

// -----------------------------------------------------------------------

unsigned int SetDelay (unsigned int t)

{

//  TIMSK0 &= ~_BV(TOIE0);

  return(CountMilliseconds + t + 1);                                            

//  TIMSK0 |= _BV(TOIE0);

}

// -----------------------------------------------------------------------

char CheckDelay(unsigned int t)

{

//  TIMSK0 &= ~_BV(TOIE0);

  return(((t - CountMilliseconds) & 0x8000) >> 9);

//  TIMSK0 |= _BV(TOIE0);

}

// -----------------------------------------------------------------------

void Delay_ms(unsigned int w)

{

 unsigned int akt;

 akt = SetDelay(w);

 while (!CheckDelay(akt));

}

void Delay_ms_Mess(unsigned int w)

{

 unsigned int akt;

 akt = SetDelay(w);

 while (!CheckDelay(akt)) ANALOG_ON;

}

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                

//  Servo ansteuern

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                

SIGNAL(SIG_OVERFLOW2)

{

  if (ServoState > 0) PORTD |= 0x80;

  else PORTD &= ~0x80;

  TCCR2A =3;

  TIMSK2 &= ~_BV(TOIE2);

}

SIGNAL(SIG_OUTPUT_COMPARE2A)

{

  static unsigned char postPulse = 0x80;

  static int filterServo = 100;

  #define MULTIPLIER 4

  if(ServoState == 4)  

    {

     ServoValue = 0x0030;  // Offset Part1

     filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;

         ServoValue += filterServo;

     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);

     else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);

     if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3;

     else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3;

         DebugOut.Analog[20] = ServoValue;

         if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;

         OCR2A = 255-(ServoValue % 256);

         TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;  

        }

  else if ((ServoState > 0) && (ServoState < 4))

    {

          if(ServoValue > 255)

          { PORTD |= 0x80;

                TCCR2A =3;

                ServoValue -= 255;

          }

          else

      {  

             TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  

                 OCR2A = postPulse; // Offset Part2

                 ServoState = 1;

      }

  }

  else if (ServoState == 0)

          {

             ServoState  = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;

         PORTD&=~0x80;

                 TCCR2A = 3;

          }

  ServoState--;

}