| 24,61 → 24,55 |
|---|
| T0_RISING_EDGE = 7 |
| }; |
| |
| |
| 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; |
| if (SendSPI) |
| SendSPI--; |
| if (!cnt--) { |
| // cnt = 9; // Wenn der Kommentar 8kHz oben stimmt, muß durch 8 geteilt werden, nicht durch 10! |
| cnt = 7; |
| // cnt_1ms++; |
| // cnt_1ms %= 2; |
| cnt_1ms = !cnt_1ms; // So ist das etwas einfacher |
| if (!cnt_1ms) |
| UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| |
| if(beeptime > 1) |
| { |
| if (beeptime > 1) { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| 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 |
| } |
| if (pieper_ein) { |
| if (PlatinenVersion == 10) |
| PORTD |= (1 << 2); // Speaker an PORTD.2 |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| 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) |
| { |
| if (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| else { |
| if ((cntKompass) && (cntKompass < 362)) { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| if (cntKompass > 10) KompassValue = cntKompass - 10; |
| else KompassValue = 0; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| 89,8 → 83,8 |
|---|
| } |
| |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| |
| void Timer_Init(void) { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| 114,8 → 108,7 |
|---|
| |
| // ----------------------------------------------------------------------- |
| |
| unsigned int SetDelay (unsigned int t) |
| { |
| unsigned int SetDelay(unsigned int t) { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| 122,8 → 115,8 |
|---|
| } |
| |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| |
| char CheckDelay(unsigned int t) { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| 130,23 → 123,24 |
|---|
| } |
| |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| |
| void Delay_ms(unsigned int w) { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| |
| void Delay_ms_Mess(unsigned int w) |
| { |
| void Delay_ms_Mess(unsigned int w) { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) ANALOG_ON; |
| while (!CheckDelay(akt)) |
| ANALOG_ON; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| SIGNAL(SIG_OVERFLOW2) { |
| |
| if (ServoState > 0) |
| 180,11 → 174,10 |
|---|
| /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
| * umschalten (sh. parameter.h) |
| */ |
| if( PARAM_X_FORMATION ) { |
| if (PARAM_X_FORMATION) |
| integral = IntegralNick - IntegralRoll; |
| } else { |
| else |
| integral = IntegralNick; |
| } |
| |
| if( EE_Parameter.ServoNickCompInvert & 0x01 ) |
| ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| 196,9 → 189,8 |
|---|
| if ( ( ServoValue % 255 ) < 45 ) { |
| ServoValue += 77; |
| postPulse = 0x60 - 77; |
| } else { |
| } else |
| postPulse = 0x60; |
| } |
| |
| OCR2A = 255 - ( ServoValue % 256 ); |
| TCCR2A = (1 << COM2A1 ) | ( 1 << COM2A0 ) | 3; |