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528 salvo 1 
#include "main.h"
2 
 
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volatile unsigned int CountMilliseconds = 0;
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volatile static unsigned int tim_main;
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volatile unsigned char UpdateMotor = 0;
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volatile unsigned int cntKompass = 0;
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volatile unsigned int beeptime = 0;
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unsigned int BeepMuster = 0xffff;
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int ServoValue = 0;
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//Salvo 8.9.2007
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volatile uint8_t Kompass_Neuer_Wert= 0;
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volatile unsigned int Kompass_Value_Old = 0;
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// Salvo End
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//Salvo 21.9.2007
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short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist
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// Salvo End
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enum {
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  STOP             = 0,
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  CK               = 1,
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  CK8              = 2,
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  CK64             = 3,
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  CK256            = 4,
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  CK1024           = 5,
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  T0_FALLING_EDGE  = 6,
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  T0_RISING_EDGE   = 7
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};
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// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007
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/*
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Driftkompensation fuer Gyros verbessert
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Linearsensor mit fixem Neutralwert
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Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
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*/
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SIGNAL (SIG_OVERFLOW0)    // 8kHz
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{
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    unsigned char pieper_ein = 0;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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   if(!cnt--)
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    {
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         if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden
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     cnt = 9;
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     cnt_1ms++;
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     cnt_1ms %= 2;
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     if(!cnt_1ms) UpdateMotor = 1;
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     CountMilliseconds++;
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     }  
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     if(beeptime > 1)
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        {
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        beeptime--;      
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        if(beeptime & BeepMuster)
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         {
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          pieper_ein = 1;
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         }
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         else pieper_ein = 0;
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        }
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     else
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      {
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       pieper_ein = 0;
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       BeepMuster = 0xffff;
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      }
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     if(pieper_ein)
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        {
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          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
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          else                      PORTC |= (1<<7); // Speaker an PORTC.7
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        }
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     else  
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        {
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         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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         else                      PORTC &= ~(1<<7);
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        }
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// if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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 {
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  if(PINC & 0x10)
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   {
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    cntKompass++;
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   }
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  else
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   {
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    if((cntKompass) && (cntKompass < 4000))
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    {
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// Salvo Kompassoffset 30.8.2007 und 21.9.2007 ***********
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         Kompass_present = 255;
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         Kompass_Value_Old      =       KompassValue;
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     KompassValue = cntKompass -KOMPASS_OFFSET;
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         if (KompassValue < 0)
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         {
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                KompassValue += 360;
95 
         }
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         if (KompassValue >= 360)
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         {
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                KompassValue -= 360;
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         }     
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 // Salvo End  
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    }
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//     if(cntKompass < 10) cntKompass = 10;
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//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
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     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses
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         Kompass_Neuer_Wert     = 1;
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 // Salvo End
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     cntKompass = 0;
109 
   }
110 
 }
111 
}
112 
 
113 
 
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void Timer_Init(void)
115 
{
116 
    tim_main = SetDelay(10);
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    TCCR0B = CK8;
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    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
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    OCR0A =  0;
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    OCR0B = 120;
529 salvo 121 
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
528 salvo 122 
    //OCR1  = 0x00;
123 
 
124 
    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
126 
 
127 
//    TIMSK2 |= _BV(TOIE2);
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TIMSK2 |= _BV(OCIE2A);
129 
 
130 
    TIMSK0 |= _BV(TOIE0);
131 
    OCR2A = 10;
132 
    TCNT2 = 0;
133 
 
134 
}
135 
 
136 
// -----------------------------------------------------------------------
137 
 
138 
unsigned int SetDelay (unsigned int t)
139 
{
140 
//  TIMSK0 &= ~_BV(TOIE0);
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  return(CountMilliseconds + t + 1);                                            
142 
//  TIMSK0 |= _BV(TOIE0);
143 
}
144 
 
145 
// -----------------------------------------------------------------------
146 
char CheckDelay(unsigned int t)
147 
{
148 
//  TIMSK0 &= ~_BV(TOIE0);
149 
  return(((t - CountMilliseconds) & 0x8000) >> 9);
150 
//  TIMSK0 |= _BV(TOIE0);
151 
}
152 
 
153 
// -----------------------------------------------------------------------
154 
void Delay_ms(unsigned int w)
155 
{
156 
 unsigned int akt;
157 
 akt = SetDelay(w);
158 
 while (!CheckDelay(akt));
159 
}
160 
 
529 salvo 161 
void Delay_ms_Mess(unsigned int w)
162 
{
163 
 unsigned int akt;
164 
 akt = SetDelay(w);
165 
 while (!CheckDelay(akt)) ANALOG_ON;
166 
}
167 
 
528 salvo 168 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
169 
//  Servo ansteuern
170 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
171 
SIGNAL(SIG_OUTPUT_COMPARE2A)
172 
{
173 
  static unsigned char timer = 10;
174 
 
175 
  if(!timer--)  
176 
    {
177 
     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
178 
     ServoValue =  Parameter_ServoNickControl;
179 
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
180 
     else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
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182 
     if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
183 
     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
184 
 
185 
     OCR2A = ServoValue;// + 75;
186 
     timer = EE_Parameter.ServoNickRefresh;
187 
    }
188 
    else
189 
    {
190 
     TCCR2A =3;
191 
     PORTD&=~0x80;
192 
    }
193 
}