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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 836 | MikeW | 1 | #include "main.h" |
| 2 | volatile unsigned long cnt_ms = 0; |
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| 3 | volatile unsigned int CountMilliseconds = 0; |
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| 4 | volatile unsigned int Count8Khz = 0; |
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| 5 | |||
| 6 | volatile static unsigned int tim_main; |
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| 7 | volatile unsigned char UpdateMotor = 0; |
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| 8 | volatile unsigned int cntKompass = 0; |
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| 9 | volatile unsigned int beeptime = 0; |
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| 10 | unsigned int BeepMuster = 0xffff; |
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| 11 | int ServoValue = 0; |
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| 12 | extern void MM3_Update(void); |
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| 13 | |||
| 14 | enum { |
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| 15 | STOP = 0, |
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| 16 | CK = 1, |
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| 17 | CK8 = 2, |
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| 18 | CK64 = 3, |
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| 19 | CK256 = 4, |
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| 20 | CK1024 = 5, |
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| 21 | T0_FALLING_EDGE = 6, |
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| 22 | T0_RISING_EDGE = 7 |
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| 23 | }; |
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| 24 | |||
| 25 | |||
| 26 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 27 | { |
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| 28 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 29 | unsigned char pieper_ein = 0; |
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| 30 | |||
| 31 | Count8Khz++; |
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| 32 | |||
| 33 | if(!cnt--) |
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| 34 | { |
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| 35 | cnt = 9; |
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| 36 | cnt_1ms++; |
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| 37 | cnt_1ms %= 2; |
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| 38 | if(!cnt_1ms) |
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| 39 | { |
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| 40 | UpdateMotor = 1; |
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| 41 | } |
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| 42 | CountMilliseconds++; |
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| 43 | cnt_ms++; |
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| 44 | // update compass value if this option is enabled in the settings |
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| 45 | MM3_Update(); // read out mm3 board |
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| 46 | } |
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| 47 | |||
| 48 | if(beeptime > 1) |
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| 49 | { |
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| 50 | beeptime--; |
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| 51 | if(beeptime & BeepMuster) |
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| 52 | { |
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| 53 | pieper_ein = 1; |
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| 54 | } |
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| 55 | else pieper_ein = 0; |
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| 56 | } |
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| 57 | else |
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| 58 | { |
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| 59 | pieper_ein = 0; |
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| 60 | BeepMuster = 0xffff; |
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| 61 | } |
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| 62 | |||
| 63 | if(pieper_ein) |
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| 64 | { |
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| 65 | PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 66 | } |
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| 67 | else |
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| 68 | { |
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| 69 | PORTC &= ~(1<<7); |
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| 70 | } |
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| 71 | |||
| 72 | #if 0 |
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| 73 | if(PINC & 0x10) |
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| 74 | { |
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| 75 | cntKompass++; |
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| 76 | } |
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| 77 | else |
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| 78 | { |
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| 79 | if((cntKompass) && (cntKompass < 4000)) |
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| 80 | { |
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| 81 | if(cntKompass < 10) |
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| 82 | { |
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| 83 | cntKompass = 10; |
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| 84 | } |
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| 85 | KompassValue = (((int) cntKompass-10) * 36) / 35; |
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| 86 | } |
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| 87 | cntKompass = 0; |
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| 88 | } |
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| 89 | #endif |
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| 90 | } |
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| 91 | |||
| 92 | |||
| 93 | void Timer_Init(void) |
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| 94 | { |
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| 95 | tim_main = SetDelay(10); |
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| 96 | TCCR0B = CK8; |
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| 97 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 98 | OCR0A = 0; |
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| 99 | OCR0B = 120; |
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| 100 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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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 | TIMSK2 |= _BV(OCIE2A); |
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| 105 | |||
| 106 | TIMSK0 |= _BV(TOIE0); |
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| 107 | OCR2A = 10; |
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| 108 | TCNT2 = 0; |
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| 109 | } |
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| 110 | |||
| 111 | // ----------------------------------------------------------------------- |
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| 112 | |||
| 113 | unsigned int SetDelay (unsigned int t) |
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| 114 | { |
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| 115 | // TIMSK0 &= ~_BV(TOIE0); |
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| 116 | return(CountMilliseconds + t + 1); |
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| 117 | // TIMSK0 |= _BV(TOIE0); |
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| 118 | } |
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| 119 | |||
| 120 | // ----------------------------------------------------------------------- |
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| 121 | char CheckDelay(unsigned int t) |
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| 122 | { |
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| 123 | // TIMSK0 &= ~_BV(TOIE0); |
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| 124 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 125 | // TIMSK0 |= _BV(TOIE0); |
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| 126 | } |
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| 127 | |||
| 128 | // ----------------------------------------------------------------------- |
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| 129 | void Delay_ms(unsigned int w) |
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| 130 | { |
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| 131 | unsigned int akt; |
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| 132 | akt = SetDelay(w); |
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| 133 | while (!CheckDelay(akt)); |
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| 134 | } |
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| 135 | |||
| 136 | void Delay_ms_Mess(unsigned int w) |
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| 137 | { |
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| 138 | unsigned int akt; |
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| 139 | akt = SetDelay(w); |
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| 140 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 141 | } |
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| 142 | |||
| 143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 144 | // Servo ansteuern |
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| 145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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| 147 | { |
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| 148 | static unsigned char timer = 10; |
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| 149 | unsigned char Parameter_ServoNickControl = 100; |
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| 150 | |||
| 151 | if(!timer--) |
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| 152 | { |
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| 153 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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| 154 | ServoValue = Parameter_ServoNickControl; |
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| 155 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
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| 156 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
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| 157 | |||
| 158 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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| 159 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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| 160 | |||
| 161 | OCR2A = ServoValue;// + 75; |
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| 162 | timer = EE_Parameter.ServoNickRefresh; |
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| 163 | } |
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| 164 | else |
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| 165 | { |
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| 166 | TCCR2A =3; |
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| 167 | PORTD&=~0x80; |
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| 168 | } |
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| 169 | } |