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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 528 | salvo | 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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| 8 | unsigned int BeepMuster = 0xffff; |
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| 9 | int ServoValue = 0; |
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| 10 | //Salvo 8.9.2007 |
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| 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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| 17 | enum { |
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| 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 | |||
| 28 | // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007 |
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| 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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| 34 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 35 | { |
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| 36 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 37 | unsigned char pieper_ein = 0; |
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| 38 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 39 | |||
| 40 | if(!cnt--) |
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| 41 | { |
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| 42 | if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
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| 43 | cnt = 9; |
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| 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 | if(Timeout) Timeout--; |
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| 49 | } |
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| 50 | |||
| 51 | if(beeptime > 1) |
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| 52 | { |
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| 53 | beeptime--; |
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| 54 | if(beeptime & BeepMuster) |
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| 55 | { |
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| 56 | pieper_ein = 1; |
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| 57 | } |
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| 58 | else pieper_ein = 0; |
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| 59 | } |
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| 60 | else |
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| 61 | { |
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| 62 | pieper_ein = 0; |
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| 63 | BeepMuster = 0xffff; |
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| 64 | } |
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| 65 | |||
| 66 | |||
| 67 | if(pieper_ein) |
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| 68 | { |
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| 69 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 70 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 71 | } |
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| 72 | else |
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| 73 | { |
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| 74 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 75 | else PORTC &= ~(1<<7); |
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| 76 | } |
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| 77 | |||
| 78 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 79 | { |
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| 80 | if(PINC & 0x10) |
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| 81 | { |
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| 82 | cntKompass++; |
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| 83 | } |
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| 84 | else |
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| 85 | { |
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| 86 | if((cntKompass) && (cntKompass < 4000)) |
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| 87 | { |
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| 88 | // Salvo Kompassoffset 30.8.2007 und 21.9.2007 *********** |
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| 89 | Kompass_present = 255; |
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| 90 | Kompass_Value_Old = KompassValue; |
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| 91 | KompassValue = cntKompass -KOMPASS_OFFSET; |
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| 92 | |||
| 93 | if (KompassValue < 0) |
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| 94 | { |
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| 95 | KompassValue += 360; |
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| 96 | } |
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| 97 | if (KompassValue >= 360) |
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| 98 | { |
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| 99 | KompassValue -= 360; |
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| 100 | } |
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| 101 | // Salvo End |
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| 102 | } |
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| 103 | // if(cntKompass < 10) cntKompass = 10; |
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| 104 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 105 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 106 | //Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
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| 107 | Kompass_Neuer_Wert = 1; |
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| 108 | // Salvo End |
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| 109 | cntKompass = 0; |
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| 110 | } |
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| 111 | } |
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| 112 | } |
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| 113 | |||
| 114 | |||
| 115 | void Timer_Init(void) |
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| 116 | { |
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| 117 | tim_main = SetDelay(10); |
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| 118 | TCCR0B = CK8; |
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| 119 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 120 | OCR0A = 0; |
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| 121 | OCR0B = 120; |
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| 122 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
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| 123 | //OCR1 = 0x00; |
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| 124 | |||
| 125 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 126 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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| 127 | |||
| 128 | // TIMSK2 |= _BV(TOIE2); |
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| 129 | TIMSK2 |= _BV(OCIE2A); |
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| 130 | |||
| 131 | TIMSK0 |= _BV(TOIE0); |
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| 132 | OCR2A = 10; |
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| 133 | TCNT2 = 0; |
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| 134 | |||
| 135 | } |
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| 136 | |||
| 137 | // ----------------------------------------------------------------------- |
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| 138 | |||
| 139 | unsigned int SetDelay (unsigned int t) |
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| 140 | { |
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| 141 | // TIMSK0 &= ~_BV(TOIE0); |
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| 142 | return(CountMilliseconds + t + 1); |
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| 143 | // TIMSK0 |= _BV(TOIE0); |
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| 144 | } |
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| 145 | |||
| 146 | // ----------------------------------------------------------------------- |
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| 147 | char CheckDelay(unsigned int t) |
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| 148 | { |
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| 149 | // TIMSK0 &= ~_BV(TOIE0); |
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| 150 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 151 | // TIMSK0 |= _BV(TOIE0); |
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| 152 | } |
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| 153 | |||
| 154 | // ----------------------------------------------------------------------- |
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| 155 | void Delay_ms(unsigned int w) |
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| 156 | { |
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| 157 | unsigned int akt; |
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| 158 | akt = SetDelay(w); |
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| 159 | while (!CheckDelay(akt)); |
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| 160 | } |
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| 161 | |||
| 162 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 163 | // Servo ansteuern |
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| 164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 165 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 166 | { |
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| 167 | static unsigned char timer = 10; |
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| 168 | |||
| 169 | if(!timer--) |
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| 170 | { |
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| 171 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 172 | ServoValue = Parameter_ServoNickControl; |
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| 173 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 174 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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| 175 | |||
| 176 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 177 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 178 | |||
| 179 | OCR2A = ServoValue;// + 75; |
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| 180 | timer = EE_Parameter.ServoNickRefresh; |
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| 181 | } |
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| 182 | else |
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| 183 | { |
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| 184 | TCCR2A =3; |
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| 185 | PORTD&=~0x80; |
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| 186 | } |
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| 187 | } |