0,0 → 1,216 |
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#include "main.h" |
#include "parameter.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 -> ist jetzt 10kHz |
{ |
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; |
cnt_1ms = !cnt_1ms; // So ist das etwas einfacher |
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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//---------------------------- |
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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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// ----------------------------------------------------------------------- |
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char CheckDelay(unsigned int t) { |
// TIMSK0 &= ~_BV(TOIE0); |
return (((t - CountMilliseconds) & 0x8000) >> 9); |
// TIMSK0 |= _BV(TOIE0); |
} |
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// ----------------------------------------------------------------------- |
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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 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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SIGNAL(SIG_OVERFLOW2) { |
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if (ServoState > 0) |
PORTD |= 0x80; |
else |
PORTD &= ~0x80; |
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TCCR2A = 3; |
TIMSK2 &= ~_BV(TOIE2); |
} |
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SIGNAL(SIG_OUTPUT_COMPARE2A) { |
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static unsigned char postPulse = 0x80; |
static int filterServo = 100; |
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if (ServoState == 4) { |
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ServoValue = 0x0030; // Offset Part1 |
filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2) >> DIV_4; |
ServoValue += filterServo; |
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// Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden |
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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long integral; |
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/* Über Parameter läßt sich zwischen "+" und "X" - Formations |
* umschalten (sh. parameter.h) |
*/ |
if (PARAM_X_FORMATION) |
integral = IntegralNick - IntegralRoll; |
else |
integral = IntegralNick; |
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if (EE_Parameter.ServoNickCompInvert & 0x01) |
ServoValue += ((long) ((long) EE_Parameter.ServoNickComp * integral) >> DIV_128) / (512L >> DIV_4); |
else |
ServoValue -= ((long) ((long) EE_Parameter.ServoNickComp * integral) >> DIV_128) / (512L >> DIV_4); |
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DebugOut.Analog[20] = ServoValue; |
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if ((ServoValue % 255) < 45) { |
ServoValue += 77; |
postPulse = 0x60 - 77; |
} else |
postPulse = 0x60; |
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OCR2A = 255 - (ServoValue % 256); |
TCCR2A = (1 << COM2A1) | (1 << COM2A0) | 3; |
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} else if ((ServoState > 0) && (ServoState < 4)) { |
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if (ServoValue > 255) { |
PORTD |= 0x80; |
TCCR2A = 3; |
ServoValue -= 255; |
} else { |
TCCR2A = (1 << COM2A1) | (0 << COM2A0) | 3; |
OCR2A = postPulse; // Offset Part2 |
ServoState = 1; |
} |
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} else if (ServoState == 0) { |
ServoState = (int) EE_Parameter.ServoNickRefresh << MUL_4; |
PORTD &= ~0x80; |
TCCR2A = 3; |
} |
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ServoState--; |
} |