Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1134 | thjac | 1 | |
| 2 | #include "main.h" |
||
| 3 | #include "parameter.h" |
||
| 4 | |||
| 5 | volatile unsigned int CountMilliseconds = 0; |
||
| 6 | volatile static unsigned int tim_main; |
||
| 7 | volatile unsigned char UpdateMotor = 0; |
||
| 8 | volatile unsigned int cntKompass = 0; |
||
| 9 | volatile unsigned int beeptime = 0; |
||
| 10 | volatile unsigned char SendSPI = 0; |
||
| 11 | volatile unsigned int ServoState = 40; |
||
| 12 | |||
| 13 | unsigned int BeepMuster = 0xffff; |
||
| 14 | unsigned int ServoValue = 0; |
||
| 15 | |||
| 16 | enum { |
||
| 17 | STOP = 0, |
||
| 18 | CK = 1, |
||
| 19 | CK8 = 2, |
||
| 20 | CK64 = 3, |
||
| 21 | CK256 = 4, |
||
| 22 | CK1024 = 5, |
||
| 23 | T0_FALLING_EDGE = 6, |
||
| 24 | T0_RISING_EDGE = 7 |
||
| 25 | }; |
||
| 26 | |||
| 27 | SIGNAL(SIG_OVERFLOW0) // 8kHz -> ist jetzt 10kHz |
||
| 28 | { |
||
| 29 | static unsigned char cnt_1ms = 1, cnt = 0; |
||
| 30 | unsigned char pieper_ein = 0; |
||
| 31 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
||
| 32 | if (SendSPI) |
||
| 33 | SendSPI--; |
||
| 34 | if (!cnt--) { |
||
| 35 | cnt = 9; |
||
| 36 | // cnt_1ms++; |
||
| 37 | // cnt_1ms %= 2; |
||
| 38 | cnt_1ms = !cnt_1ms; // So ist das etwas einfacher |
||
| 39 | if (!cnt_1ms) |
||
| 40 | UpdateMotor = 1; |
||
| 41 | CountMilliseconds++; |
||
| 42 | } |
||
| 43 | |||
| 44 | if (beeptime > 1) { |
||
| 45 | beeptime--; |
||
| 46 | if (beeptime & BeepMuster) |
||
| 47 | pieper_ein = 1; |
||
| 48 | else |
||
| 49 | pieper_ein = 0; |
||
| 50 | } else { |
||
| 51 | pieper_ein = 0; |
||
| 52 | BeepMuster = 0xffff; |
||
| 53 | } |
||
| 54 | |||
| 55 | if (pieper_ein) { |
||
| 56 | if (PlatinenVersion == 10) |
||
| 57 | PORTD |= (1 << 2); // Speaker an PORTD.2 |
||
| 58 | else |
||
| 59 | PORTC |= (1 << 7); // Speaker an PORTC.7 |
||
| 60 | } else { |
||
| 61 | if (PlatinenVersion == 10) |
||
| 62 | PORTD &= ~(1 << 2); |
||
| 63 | else |
||
| 64 | PORTC &= ~(1 << 7); |
||
| 65 | } |
||
| 66 | |||
| 67 | if (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) { |
||
| 68 | if (PINC & 0x10) |
||
| 69 | cntKompass++; |
||
| 70 | else { |
||
| 71 | if ((cntKompass) && (cntKompass < 362)) { |
||
| 72 | cntKompass += cntKompass / 41; |
||
| 73 | if (cntKompass > 10) KompassValue = cntKompass - 10; |
||
| 74 | else KompassValue = 0; |
||
| 75 | } |
||
| 76 | // if(cntKompass < 10) cntKompass = 10; |
||
| 77 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
||
| 78 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 79 | cntKompass = 0; |
||
| 80 | } |
||
| 81 | } |
||
| 82 | } |
||
| 83 | |||
| 84 | //---------------------------- |
||
| 85 | |||
| 86 | void Timer_Init(void) { |
||
| 87 | tim_main = SetDelay(10); |
||
| 88 | TCCR0B = CK8; |
||
| 89 | TCCR0A = (1 << COM0A1) | (1 << COM0B1) | 3; //fast PWM |
||
| 90 | OCR0A = 0; |
||
| 91 | OCR0B = 120; |
||
| 92 | TCNT0 = (unsigned char) - TIMER_RELOAD_VALUE; // reload |
||
| 93 | //OCR1 = 0x00; |
||
| 94 | |||
| 95 | TCCR2A = (1 << COM2A1) | (1 << COM2A0) | 3; |
||
| 96 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
||
| 97 | TCCR2B = (0 << CS20) | (0 << CS21) | (1 << CS22); // clk/64 |
||
| 98 | |||
| 99 | |||
| 100 | TIMSK2 |= _BV(OCIE2A); |
||
| 101 | |||
| 102 | TIMSK0 |= _BV(TOIE0); |
||
| 103 | OCR2A = 10; |
||
| 104 | TCNT2 = 0; |
||
| 105 | |||
| 106 | } |
||
| 107 | |||
| 108 | // ----------------------------------------------------------------------- |
||
| 109 | |||
| 110 | unsigned int SetDelay(unsigned int t) { |
||
| 111 | // TIMSK0 &= ~_BV(TOIE0); |
||
| 112 | return (CountMilliseconds + t + 1); |
||
| 113 | // TIMSK0 |= _BV(TOIE0); |
||
| 114 | } |
||
| 115 | |||
| 116 | // ----------------------------------------------------------------------- |
||
| 117 | |||
| 118 | char CheckDelay(unsigned int t) { |
||
| 119 | // TIMSK0 &= ~_BV(TOIE0); |
||
| 120 | return (((t - CountMilliseconds) & 0x8000) >> 9); |
||
| 121 | // TIMSK0 |= _BV(TOIE0); |
||
| 122 | } |
||
| 123 | |||
| 124 | // ----------------------------------------------------------------------- |
||
| 125 | |||
| 126 | void Delay_ms(unsigned int w) { |
||
| 127 | unsigned int akt; |
||
| 128 | akt = SetDelay(w); |
||
| 129 | while (!CheckDelay(akt)); |
||
| 130 | } |
||
| 131 | |||
| 132 | void Delay_ms_Mess(unsigned int w) { |
||
| 133 | unsigned int akt; |
||
| 134 | akt = SetDelay(w); |
||
| 135 | while (!CheckDelay(akt)) |
||
| 136 | ANALOG_ON; |
||
| 137 | } |
||
| 138 | |||
| 139 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 140 | // Servo ansteuern |
||
| 141 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 142 | |||
| 143 | SIGNAL(SIG_OVERFLOW2) { |
||
| 144 | |||
| 145 | if (ServoState > 0) |
||
| 146 | PORTD |= 0x80; |
||
| 147 | else |
||
| 148 | PORTD &= ~0x80; |
||
| 149 | |||
| 150 | TCCR2A = 3; |
||
| 151 | TIMSK2 &= ~_BV(TOIE2); |
||
| 152 | } |
||
| 153 | |||
| 154 | SIGNAL(SIG_OUTPUT_COMPARE2A) { |
||
| 155 | |||
| 156 | static unsigned char postPulse = 0x80; |
||
| 157 | static int filterServo = 100; |
||
| 158 | |||
| 159 | if (ServoState == 4) { |
||
| 160 | |||
| 161 | ServoValue = 0x0030; // Offset Part1 |
||
| 162 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2) >> DIV_4; |
||
| 163 | ServoValue += filterServo; |
||
| 164 | |||
| 165 | // Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden |
||
| 166 | if (ServoValue < ((int) EE_Parameter.ServoNickMin * 3)) |
||
| 167 | ServoValue = (int) EE_Parameter.ServoNickMin * 3; |
||
| 168 | else if (ServoValue > ((int) EE_Parameter.ServoNickMax * 3)) |
||
| 169 | ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
||
| 170 | |||
| 171 | long integral; |
||
| 172 | |||
| 173 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
||
| 174 | * umschalten (sh. parameter.h) |
||
| 175 | */ |
||
| 176 | if (PARAM_X_FORMATION) |
||
| 177 | integral = IntegralNick - IntegralRoll; |
||
| 178 | else |
||
| 179 | integral = IntegralNick; |
||
| 180 | |||
| 181 | if (EE_Parameter.ServoNickCompInvert & 0x01) |
||
| 182 | ServoValue += ((long) ((long) EE_Parameter.ServoNickComp * integral) >> DIV_128) / (512L >> DIV_4); |
||
| 183 | else |
||
| 184 | ServoValue -= ((long) ((long) EE_Parameter.ServoNickComp * integral) >> DIV_128) / (512L >> DIV_4); |
||
| 185 | |||
| 186 | DebugOut.Analog[20] = ServoValue; |
||
| 187 | |||
| 188 | if ((ServoValue % 255) < 45) { |
||
| 189 | ServoValue += 77; |
||
| 190 | postPulse = 0x60 - 77; |
||
| 191 | } else |
||
| 192 | postPulse = 0x60; |
||
| 193 | |||
| 194 | OCR2A = 255 - (ServoValue % 256); |
||
| 195 | TCCR2A = (1 << COM2A1) | (1 << COM2A0) | 3; |
||
| 196 | |||
| 197 | } else if ((ServoState > 0) && (ServoState < 4)) { |
||
| 198 | |||
| 199 | if (ServoValue > 255) { |
||
| 200 | PORTD |= 0x80; |
||
| 201 | TCCR2A = 3; |
||
| 202 | ServoValue -= 255; |
||
| 203 | } else { |
||
| 204 | TCCR2A = (1 << COM2A1) | (0 << COM2A0) | 3; |
||
| 205 | OCR2A = postPulse; // Offset Part2 |
||
| 206 | ServoState = 1; |
||
| 207 | } |
||
| 208 | |||
| 209 | } else if (ServoState == 0) { |
||
| 210 | ServoState = (int) EE_Parameter.ServoNickRefresh << MUL_4; |
||
| 211 | PORTD &= ~0x80; |
||
| 212 | TCCR2A = 3; |
||
| 213 | } |
||
| 214 | |||
| 215 | ServoState--; |
||
| 216 | } |