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