Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 662 | 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 24.12.2007 |
||
| 29 | /* |
||
| 30 | Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
||
| 31 | */ |
||
| 32 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
||
| 33 | { |
||
| 34 | static unsigned char cnt_1ms = 1,cnt = 0; |
||
| 35 | unsigned char pieper_ein = 0; |
||
| 36 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
||
| 37 | |||
| 38 | if(!cnt--) |
||
| 39 | { |
||
| 40 | if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
||
| 41 | cnt = 9; |
||
| 42 | cnt_1ms++; |
||
| 43 | cnt_1ms %= 2; |
||
| 44 | if(!cnt_1ms) UpdateMotor = 1; |
||
| 45 | CountMilliseconds++; |
||
| 46 | } |
||
| 47 | |||
| 48 | if(beeptime > 1) |
||
| 49 | { |
||
| 50 | beeptime--; |
||
| 51 | if(beeptime & BeepMuster) |
||
| 52 | { |
||
| 53 | pieper_ein = 1; |
||
| 54 | } |
||
| 55 | else pieper_ein = 0; |
||
| 56 | } |
||
| 57 | else |
||
| 58 | { |
||
| 59 | pieper_ein = 0; |
||
| 60 | BeepMuster = 0xffff; |
||
| 61 | } |
||
| 62 | |||
| 63 | |||
| 64 | if(pieper_ein) |
||
| 65 | { |
||
| 66 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
||
| 67 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
||
| 68 | } |
||
| 69 | else |
||
| 70 | { |
||
| 71 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
||
| 72 | else PORTC &= ~(1<<7); |
||
| 73 | } |
||
| 74 | |||
| 75 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
||
| 76 | { |
||
| 77 | if(PINC & 0x10) |
||
| 78 | { |
||
| 79 | cntKompass++; |
||
| 80 | } |
||
| 81 | else |
||
| 82 | { |
||
| 83 | if((cntKompass) && (cntKompass < 4000)) |
||
| 84 | { |
||
| 85 | // Salvo Kompassoffset 23.12.2007 *********** |
||
| 86 | Kompass_present = 255; |
||
| 87 | // Kompass_Value_Old = KompassValue; |
||
| 88 | if (KOMPASS_OFFSET > 0) KompassValue = cntKompass -KOMPASS_OFFSET; |
||
| 89 | else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2)); |
||
| 90 | |||
| 91 | if (KompassValue < 0) |
||
| 92 | { |
||
| 93 | KompassValue += 360; |
||
| 94 | } |
||
| 95 | if (KompassValue >= 360) |
||
| 96 | { |
||
| 97 | KompassValue -= 360; |
||
| 98 | } |
||
| 99 | // Salvo End |
||
| 100 | } |
||
| 101 | // if(cntKompass < 10) cntKompass = 10; |
||
| 102 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
||
| 103 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 104 | //Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
||
| 105 | Kompass_Neuer_Wert = 1; |
||
| 106 | // Salvo End |
||
| 107 | cntKompass = 0; |
||
| 108 | } |
||
| 109 | } |
||
| 110 | } |
||
| 111 | |||
| 112 | |||
| 113 | void Timer_Init(void) |
||
| 114 | { |
||
| 115 | tim_main = SetDelay(10); |
||
| 116 | TCCR0B = CK8; |
||
| 117 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
||
| 118 | OCR0A = 0; |
||
| 119 | OCR0B = 120; |
||
| 120 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
||
| 121 | //OCR1 = 0x00; |
||
| 122 | |||
| 123 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
||
| 124 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
||
| 125 | |||
| 126 | // TIMSK2 |= _BV(TOIE2); |
||
| 127 | TIMSK2 |= _BV(OCIE2A); |
||
| 128 | |||
| 129 | TIMSK0 |= _BV(TOIE0); |
||
| 130 | OCR2A = 10; |
||
| 131 | TCNT2 = 0; |
||
| 132 | |||
| 133 | } |
||
| 134 | |||
| 135 | // ----------------------------------------------------------------------- |
||
| 136 | |||
| 137 | unsigned int SetDelay (unsigned int t) |
||
| 138 | { |
||
| 139 | // TIMSK0 &= ~_BV(TOIE0); |
||
| 140 | return(CountMilliseconds + t + 1); |
||
| 141 | // TIMSK0 |= _BV(TOIE0); |
||
| 142 | } |
||
| 143 | |||
| 144 | // ----------------------------------------------------------------------- |
||
| 145 | char CheckDelay(unsigned int t) |
||
| 146 | { |
||
| 147 | // TIMSK0 &= ~_BV(TOIE0); |
||
| 148 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
||
| 149 | // TIMSK0 |= _BV(TOIE0); |
||
| 150 | } |
||
| 151 | |||
| 152 | // ----------------------------------------------------------------------- |
||
| 153 | void Delay_ms(unsigned int w) |
||
| 154 | { |
||
| 155 | unsigned int akt; |
||
| 156 | akt = SetDelay(w); |
||
| 157 | while (!CheckDelay(akt)); |
||
| 158 | } |
||
| 159 | |||
| 160 | void Delay_ms_Mess(unsigned int w) |
||
| 161 | { |
||
| 162 | unsigned int akt; |
||
| 163 | akt = SetDelay(w); |
||
| 164 | while (!CheckDelay(akt)) ANALOG_ON; |
||
| 165 | } |
||
| 166 | |||
| 167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 168 | // Servo ansteuern |
||
| 169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 170 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
||
| 171 | { |
||
| 172 | static unsigned char timer = 10; |
||
| 173 | |||
| 174 | if(!timer--) |
||
| 175 | { |
||
| 176 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
||
| 177 | ServoValue = Parameter_ServoNickControl; |
||
| 178 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
||
| 179 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
||
| 180 | |||
| 181 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
||
| 182 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
||
| 183 | |||
| 184 | OCR2A = ServoValue;// + 75; |
||
| 185 | timer = EE_Parameter.ServoNickRefresh; |
||
| 186 | } |
||
| 187 | else |
||
| 188 | { |
||
| 189 | TCCR2A =3; |
||
| 190 | PORTD&=~0x80; |
||
| 191 | } |
||
| 192 | } |