| 6,9 → 6,10 |
|---|
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned char SendSPI = 0; |
| volatile unsigned int ServoState = 40; |
| |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| unsigned int ServoValue = 0; |
| |
| enum { |
| STOP = 0, |
| 85,7 → 86,7 |
|---|
| } |
| } |
| |
| |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| 97,10 → 98,11 |
|---|
| //OCR1 = 0x00; |
| |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
| TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
| |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| |
| TIMSK2 |= _BV(OCIE2A); |
| |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| 143,26 → 145,54 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OVERFLOW2) |
| { |
| if (ServoState > 0) PORTD |= 0x80; |
| else PORTD &= ~0x80; |
| TCCR2A =3; |
| TIMSK2 &= ~_BV(TOIE2); |
| } |
| |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| |
| if(!timer--) |
| static unsigned char postPulse = 0x80; |
| static int filterServo = 100; |
| #define MULTIPLIER 4 |
| if(ServoState == 4) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| ServoValue = 0x0030; // Offset Part1 |
| filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
| ServoValue += filterServo; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER); |
| else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER); |
| if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
| else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
| |
| DebugOut.Analog[20] = ServoValue; |
| if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
| OCR2A = 255-(ServoValue % 256); |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| } |
| else if ((ServoState > 0) && (ServoState < 4)) |
| { |
| if(ServoValue > 255) |
| { PORTD |= 0x80; |
| TCCR2A =3; |
| ServoValue -= 255; |
| } |
| else |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| OCR2A = postPulse; // Offset Part2 |
| ServoState = 1; |
| } |
| } |
| else if (ServoState == 0) |
| { |
| ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
| PORTD&=~0x80; |
| TCCR2A = 3; |
| } |
| ServoState--; |
| |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |