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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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) // 9,8kHz |
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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 = 10; |
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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 | timer0_MM3(); // Kompass auslesen |
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| 48 | |||
| 49 | if (!cntKompass--) // Aufruf mit 10 Hz |
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| 50 | { |
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| 51 | int heading; |
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| 52 | heading = heading_MM3(); |
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| 53 | KompassValue = (KompassValue * 3 + heading) / 4; // Filtern |
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| 54 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 55 | cntKompass = 980; |
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| 56 | } |
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| 57 | } |
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| 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 | } |