| 0,0 → 1,226 |
|---|
| #include "main.h" |
| |
| 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; |
| |
| unsigned int BeepMuster = 0xffff; |
| unsigned int ServoValue = 0; |
| //Salvo 8.9.2007 |
| volatile uint8_t Kompass_Neuer_Wert= 0; |
| volatile unsigned int Kompass_Value_Old = 0; |
| // Salvo End |
| //Salvo 21.9.2007 |
| short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
| // Salvo End |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| |
| // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 24.12.2007 |
| /* |
| Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
| */ |
| 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--) |
| { |
| if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| |
| if(beeptime > 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| |
| |
| 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); |
| } |
| |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) //Salvo 25.10.2008 |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| // Salvo Kompassoffset 23.12.2007 *********** |
| Kompass_present = 255; |
| // Kompass_Value_Old = KompassValue; |
| if (KOMPASS_OFFSET > 0) KompassValue = cntKompass -KOMPASS_OFFSET; |
| else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2)); |
| |
| if (KompassValue < 0) |
| { |
| KompassValue += 360; |
| } |
| if (KompassValue >= 360) |
| { |
| KompassValue -= 360; |
| } |
| // Salvo End |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| //Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
| Kompass_Neuer_Wert = 1; |
| // Salvo End |
| cntKompass = 0; |
| } |
| } |
| } |
| |
| //---------------------------- |
| 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; |
| |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
| TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
| |
| |
| TIMSK2 |= _BV(OCIE2A); |
| |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| |
| } |
| |
| // ----------------------------------------------------------------------- |
| |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) ANALOG_ON; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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 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; |
| |
| 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--; |
| |
| } |