0,0 → 1,198 |
#include "main.h" |
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volatile unsigned int CountMilliseconds = 0; |
volatile static unsigned int tim_main; |
volatile unsigned char UpdateMotor = 0; |
volatile unsigned int cntKompass = 0; |
volatile unsigned int beeptime = 0; |
volatile unsigned char SendSPI = 0; |
volatile unsigned int ServoState = 40; |
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unsigned int BeepMuster = 0xffff; |
unsigned int ServoValue = 0; |
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enum { |
STOP = 0, |
CK = 1, |
CK8 = 2, |
CK64 = 3, |
CK256 = 4, |
CK1024 = 5, |
T0_FALLING_EDGE = 6, |
T0_RISING_EDGE = 7 |
}; |
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SIGNAL (SIG_OVERFLOW0) // 8kHz |
{ |
static unsigned char cnt_1ms = 1,cnt = 0; |
unsigned char pieper_ein = 0; |
// TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
if(SendSPI) SendSPI--; |
if(!cnt--) |
{ |
cnt = 9; |
cnt_1ms++; |
cnt_1ms %= 2; |
if(!cnt_1ms) UpdateMotor = 1; |
CountMilliseconds++; |
} |
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if(beeptime > 1) |
{ |
beeptime--; |
if(beeptime & BeepMuster) |
{ |
pieper_ein = 1; |
} |
else pieper_ein = 0; |
} |
else |
{ |
pieper_ein = 0; |
BeepMuster = 0xffff; |
} |
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if(pieper_ein) |
{ |
if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
else PORTC |= (1<<7); // Speaker an PORTC.7 |
} |
else |
{ |
if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
else PORTC &= ~(1<<7); |
} |
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if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
{ |
if(PINC & 0x10) |
{ |
cntKompass++; |
} |
else |
{ |
if((cntKompass) && (cntKompass < 362)) |
{ |
cntKompass += cntKompass / 41; |
if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
} |
// if(cntKompass < 10) cntKompass = 10; |
// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
cntKompass = 0; |
} |
} |
} |
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//---------------------------- |
void Timer_Init(void) |
{ |
tim_main = SetDelay(10); |
TCCR0B = CK8; |
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
OCR0A = 0; |
OCR0B = 120; |
TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
//OCR1 = 0x00; |
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TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
// TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
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TIMSK2 |= _BV(OCIE2A); |
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TIMSK0 |= _BV(TOIE0); |
OCR2A = 10; |
TCNT2 = 0; |
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} |
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// ----------------------------------------------------------------------- |
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unsigned int SetDelay (unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(CountMilliseconds + t + 1); |
// TIMSK0 |= _BV(TOIE0); |
} |
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// ----------------------------------------------------------------------- |
char CheckDelay(unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(((t - CountMilliseconds) & 0x8000) >> 9); |
// TIMSK0 |= _BV(TOIE0); |
} |
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// ----------------------------------------------------------------------- |
void Delay_ms(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)); |
} |
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void Delay_ms_Mess(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)) ANALOG_ON; |
} |
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Servo ansteuern |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
SIGNAL(SIG_OVERFLOW2) |
{ |
if (ServoState > 0) PORTD |= 0x80; |
else PORTD &= ~0x80; |
TCCR2A =3; |
TIMSK2 &= ~_BV(TOIE2); |
} |
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SIGNAL(SIG_OUTPUT_COMPARE2A) |
{ |
static unsigned char postPulse = 0x80; |
static int filterServo = 100; |
#define MULTIPLIER 4 |
if(ServoState == 4) |
{ |
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; |
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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--; |
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} |