Subversion Repositories FlightCtrl

Rev

Details | Last modification | View Log | RSS feed

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