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Rev | Author | Line No. | Line |
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425 | Nick666 | 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 beeptime = 0; |
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7 | volatile unsigned int cntKompass = 800; |
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8 | int ServoValue = 0; |
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9 | |||
10 | enum { |
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11 | STOP = 0, |
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12 | CK = 1, |
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13 | CK8 = 2, |
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14 | CK64 = 3, |
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15 | CK256 = 4, |
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16 | CK1024 = 5, |
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17 | T0_FALLING_EDGE = 6, |
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18 | T0_RISING_EDGE = 7 |
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19 | }; |
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20 | |||
21 | |||
22 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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23 | { |
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24 | static unsigned char cnt_1ms = 1,cnt = 0; |
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25 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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26 | |||
27 | if(!cnt--) |
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28 | { |
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29 | cnt = 9; |
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30 | cnt_1ms++; |
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31 | cnt_1ms %= 2; |
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32 | if(!cnt_1ms) UpdateMotor = 1; |
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33 | CountMilliseconds++; |
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34 | if(Timeout) Timeout--; |
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35 | } |
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36 | |||
37 | if(beeptime > 1) |
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38 | { |
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39 | beeptime--; |
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40 | PORTD |= (1<<PD2); |
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41 | } |
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42 | else |
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43 | PORTD &= ~(1<<PD2); |
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44 | |||
45 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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46 | { |
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47 | MM3_timer0(); // Kompass auslesen |
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48 | |||
49 | if (!cntKompass--) // Aufruf mit 10 Hz |
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50 | { |
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51 | KompassValue = MM3_heading(); |
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52 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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53 | cntKompass = 800; |
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54 | } |
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55 | } |
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56 | |||
57 | |||
58 | } |
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59 | |||
60 | |||
61 | void Timer_Init(void) |
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62 | { |
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63 | tim_main = SetDelay(10); |
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64 | TCCR0B = CK8; |
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65 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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66 | OCR0A = 0; |
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67 | OCR0B = 120; |
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68 | //TCNT0 = -TIMER_RELOAD_VALUE; // reload |
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69 | //OCR1 = 0x00; |
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70 | |||
71 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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72 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
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73 | |||
74 | // TIMSK2 |= _BV(TOIE2); |
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75 | TIMSK2 |= _BV(OCIE2A); |
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76 | |||
77 | TIMSK0 |= _BV(TOIE0); |
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78 | OCR2A = 10; |
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79 | TCNT2 = 0; |
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80 | |||
81 | } |
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82 | |||
83 | // ----------------------------------------------------------------------- |
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84 | |||
85 | unsigned int SetDelay (unsigned int t) |
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86 | { |
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87 | // TIMSK0 &= ~_BV(TOIE0); |
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88 | return(CountMilliseconds + t + 1); |
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89 | // TIMSK0 |= _BV(TOIE0); |
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90 | } |
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91 | |||
92 | // ----------------------------------------------------------------------- |
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93 | char CheckDelay(unsigned int t) |
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94 | { |
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95 | // TIMSK0 &= ~_BV(TOIE0); |
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96 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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97 | // TIMSK0 |= _BV(TOIE0); |
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98 | } |
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99 | |||
100 | // ----------------------------------------------------------------------- |
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101 | void Delay_ms(unsigned int w) |
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102 | { |
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103 | unsigned int akt; |
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104 | akt = SetDelay(w); |
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105 | while (!CheckDelay(akt)); |
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106 | } |
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107 | |||
108 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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109 | // Servo ansteuern |
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110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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111 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
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112 | { |
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113 | static unsigned char timer = 10; |
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114 | |||
115 | if(!timer--) |
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116 | { |
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117 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
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118 | ServoValue = Parameter_ServoNickControl; |
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119 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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120 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
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121 | |||
122 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
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123 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
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124 | |||
125 | //DebugOut.Analog[10] = ServoValue; |
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126 | OCR2A = ServoValue;// + 75; |
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127 | timer = EE_Parameter.ServoNickRefresh; |
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128 | } |
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129 | else |
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130 | { |
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131 | TCCR2A =3; |
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132 | PORTD&=~0x80; |
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133 | } |
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134 | } |