Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
528 salvo 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;
8
unsigned int BeepMuster = 0xffff;
9
int ServoValue = 0;
10
//Salvo 8.9.2007
11
volatile uint8_t Kompass_Neuer_Wert= 0;
12
volatile unsigned int Kompass_Value_Old = 0;
13
// Salvo End
14
//Salvo 21.9.2007
15
short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist
16
// Salvo End
17
enum {
18
  STOP             = 0,
19
  CK               = 1,
20
  CK8              = 2,
21
  CK64             = 3,
22
  CK256            = 4,
23
  CK1024           = 5,
24
  T0_FALLING_EDGE  = 6,
25
  T0_RISING_EDGE   = 7
26
};
27
 
28
// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007
29
/*
30
Driftkompensation fuer Gyros verbessert
31
Linearsensor mit fixem Neutralwert
32
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
33
*/
34
SIGNAL (SIG_OVERFLOW0)    // 8kHz
35
{
36
    static unsigned char cnt_1ms = 1,cnt = 0;
37
    unsigned char pieper_ein = 0;
38
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
39
 
40
   if(!cnt--)
41
    {
42
         if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden
43
     cnt = 9;
44
     cnt_1ms++;
45
     cnt_1ms %= 2;
46
     if(!cnt_1ms) UpdateMotor = 1;
47
     CountMilliseconds++;
48
     if(Timeout) Timeout--;
49
     }  
50
 
51
     if(beeptime > 1)
52
        {
53
        beeptime--;      
54
        if(beeptime & BeepMuster)
55
         {
56
          pieper_ein = 1;
57
         }
58
         else pieper_ein = 0;
59
        }
60
     else
61
      {
62
       pieper_ein = 0;
63
       BeepMuster = 0xffff;
64
      }
65
 
66
 
67
     if(pieper_ein)
68
        {
69
          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
70
          else                      PORTC |= (1<<7); // Speaker an PORTC.7
71
        }
72
     else  
73
        {
74
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
75
         else                      PORTC &= ~(1<<7);
76
        }
77
 
78
// if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
79
 {
80
  if(PINC & 0x10)
81
   {
82
    cntKompass++;
83
   }
84
  else
85
   {
86
    if((cntKompass) && (cntKompass < 4000))
87
    {
88
// Salvo Kompassoffset 30.8.2007 und 21.9.2007 ***********
89
         Kompass_present = 255;
90
         Kompass_Value_Old      =       KompassValue;
91
     KompassValue = cntKompass -KOMPASS_OFFSET;
92
 
93
         if (KompassValue < 0)
94
         {
95
                KompassValue += 360;
96
         }
97
         if (KompassValue >= 360)
98
         {
99
                KompassValue -= 360;
100
         }     
101
 // Salvo End  
102
    }
103
//     if(cntKompass < 10) cntKompass = 10;
104
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
105
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
106
//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses 
107
         Kompass_Neuer_Wert     = 1;
108
 // Salvo End
109
     cntKompass = 0;
110
   }
111
 }
112
}
113
 
114
 
115
void Timer_Init(void)
116
{
117
    tim_main = SetDelay(10);
118
    TCCR0B = CK8;
119
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
120
    OCR0A =  0;
121
    OCR0B = 120;
122
    TCNT0 = -TIMER_RELOAD_VALUE;  // reload
123
    //OCR1  = 0x00;
124
 
125
    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
126
    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
127
 
128
//    TIMSK2 |= _BV(TOIE2);
129
TIMSK2 |= _BV(OCIE2A);
130
 
131
    TIMSK0 |= _BV(TOIE0);
132
    OCR2A = 10;
133
    TCNT2 = 0;
134
 
135
}
136
 
137
// -----------------------------------------------------------------------
138
 
139
unsigned int SetDelay (unsigned int t)
140
{
141
//  TIMSK0 &= ~_BV(TOIE0);
142
  return(CountMilliseconds + t + 1);                                            
143
//  TIMSK0 |= _BV(TOIE0);
144
}
145
 
146
// -----------------------------------------------------------------------
147
char CheckDelay(unsigned int t)
148
{
149
//  TIMSK0 &= ~_BV(TOIE0);
150
  return(((t - CountMilliseconds) & 0x8000) >> 9);
151
//  TIMSK0 |= _BV(TOIE0);
152
}
153
 
154
// -----------------------------------------------------------------------
155
void Delay_ms(unsigned int w)
156
{
157
 unsigned int akt;
158
 akt = SetDelay(w);
159
 while (!CheckDelay(akt));
160
}
161
 
162
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
163
//  Servo ansteuern
164
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
165
SIGNAL(SIG_OUTPUT_COMPARE2A)
166
{
167
  static unsigned char timer = 10;
168
 
169
  if(!timer--)  
170
    {
171
     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
172
     ServoValue =  Parameter_ServoNickControl;
173
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
174
     else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
175
 
176
     if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
177
     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
178
 
179
     OCR2A = ServoValue;// + 75;
180
     timer = EE_Parameter.ServoNickRefresh;
181
    }
182
    else
183
    {
184
     TCCR2A =3;
185
     PORTD&=~0x80;
186
    }
187
}