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