WebSVN - FlightCtrl - Diff - Rev 966 and 979 - /branches/KalmanFilter MikeW/timer0.c


#include "main.h"
volatile unsigned long cnt_ms = 0;
volatile unsigned int CountMilliseconds = 0;
volatile unsigned int Count8Khz = 0;
 
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 0;
volatile unsigned int beeptime = 0;
unsigned int BeepMuster = 0xffff;
int ServoValue = 0;
extern void MM3_Update(void);
 
enum {
  STOP             = 0,
    CK               = 1,
    CK8              = 2,
    CK64             = 3,
    CK256            = 4,
    CK1024           = 5,
    T0_FALLING_EDGE  = 6,
    T0_RISING_EDGE   = 7
};
 
 
SIGNAL (SIG_OVERFLOW0)    // 8kHz
{
  static unsigned char cnt_1ms = 1,cnt = 0;
  unsigned char pieper_ein = 0;
 
  Count8Khz++;
 
  if(!cnt--)
  {
    cnt = 9;
    cnt_1ms++;
    cnt_1ms %= 2;
    if(!cnt_1ms)
    {
      UpdateMotor = 1;
    }
    CountMilliseconds++;
    cnt_ms++;
    // update compass value if this option is enabled in the settings
#ifdef USE_COMPASS
    MM3_Update(); // read out mm3 board
#endif
  }  
 
  if(beeptime > 1)
  {
    beeptime--;      
    if(beeptime & BeepMuster)
    {
      pieper_ein = 1;
    }
    else pieper_ein = 0;
  }
  else
  {
    pieper_ein = 0;
    BeepMuster = 0xffff;
  }
 
  if(pieper_ein)
  {
    PORTC |= (1<<7); // Speaker an PORTC.7
  }
  else  
  {
    PORTC &= ~(1<<7);
  }
 
#if 0
  if(PINC & 0x10)
  {
    cntKompass++;
  }
  else
  {
    if((cntKompass) && (cntKompass < 4000))
    {
      if(cntKompass < 10)
      {
        cntKompass = 10;
      }
      KompassValue = (((int) cntKompass-10) * 36) / 35;
    }
    cntKompass = 0;
  }
#endif
}
 
 
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
 
  TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
  TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
  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_OUTPUT_COMPARE2A)
{
  static unsigned char timer = 10;
 
 
  if(!timer--)  
  {
 
 
 
 
 
    TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;
    if(ServoValue < EE_Parameter.ServoNickMin)
    {
      ServoValue = EE_Parameter.ServoNickMin;
    }
    if(ServoValue > EE_Parameter.ServoNickMax)
    {
      ServoValue = EE_Parameter.ServoNickMax;
    }  
   
    OCR2A = ServoValue;
    timer = EE_Parameter.ServoNickRefresh;
  }
  else
  {
    TCCR2A =3;
    PORTD&=~0x80;
  }
}
 

Rev 966	Rev 979
1	#include "main.h"	1	#include "main.h"
2	volatile unsigned long cnt_ms = 0;	2	volatile unsigned long cnt_ms = 0;
3	volatile unsigned int CountMilliseconds = 0;	3	volatile unsigned int CountMilliseconds = 0;
4	volatile unsigned int Count8Khz = 0;	4	volatile unsigned int Count8Khz = 0;
5		5
6	volatile static unsigned int tim_main;	6	volatile static unsigned int tim_main;
7	volatile unsigned char UpdateMotor = 0;	7	volatile unsigned char UpdateMotor = 0;
8	volatile unsigned int cntKompass = 0;	8	volatile unsigned int cntKompass = 0;
9	volatile unsigned int beeptime = 0;	9	volatile unsigned int beeptime = 0;
10	unsigned int BeepMuster = 0xffff;	10	unsigned int BeepMuster = 0xffff;
11	int ServoValue = 0;	11	int ServoValue = 0;
12	extern void MM3_Update(void);	12	extern void MM3_Update(void);
13		13
14	enum {	14	enum {
15	STOP = 0,	15	STOP = 0,
16	CK = 1,	16	CK = 1,
17	CK8 = 2,	17	CK8 = 2,
18	CK64 = 3,	18	CK64 = 3,
19	CK256 = 4,	19	CK256 = 4,
20	CK1024 = 5,	20	CK1024 = 5,
21	T0_FALLING_EDGE = 6,	21	T0_FALLING_EDGE = 6,
22	T0_RISING_EDGE = 7	22	T0_RISING_EDGE = 7
23	};	23	};
24		24
25		25
26	SIGNAL (SIG_OVERFLOW0) // 8kHz	26	SIGNAL (SIG_OVERFLOW0) // 8kHz
27	{	27	{
28	static unsigned char cnt_1ms = 1,cnt = 0;	28	static unsigned char cnt_1ms = 1,cnt = 0;
29	unsigned char pieper_ein = 0;	29	unsigned char pieper_ein = 0;
30		30
31	Count8Khz++;	31	Count8Khz++;
32		32
33	if(!cnt--)	33	if(!cnt--)
34	{	34	{
35	cnt = 9;	35	cnt = 9;
36	cnt_1ms++;	36	cnt_1ms++;
37	cnt_1ms %= 2;	37	cnt_1ms %= 2;
38	if(!cnt_1ms)	38	if(!cnt_1ms)
39	{	39	{
40	UpdateMotor = 1;	40	UpdateMotor = 1;
41	}	41	}
42	CountMilliseconds++;	42	CountMilliseconds++;
43	cnt_ms++;	43	cnt_ms++;
44	// update compass value if this option is enabled in the settings	44	// update compass value if this option is enabled in the settings
-		45	#ifdef USE_COMPASS
45	MM3_Update(); // read out mm3 board	46	MM3_Update(); // read out mm3 board
-		47	#endif
46	}	48	}
47		49
48	if(beeptime > 1)	50	if(beeptime > 1)
49	{	51	{
50	beeptime--;	52	beeptime--;
51	if(beeptime & BeepMuster)	53	if(beeptime & BeepMuster)
52	{	54	{
53	pieper_ein = 1;	55	pieper_ein = 1;
54	}	56	}
55	else pieper_ein = 0;	57	else pieper_ein = 0;
56	}	58	}
57	else	59	else
58	{	60	{
59	pieper_ein = 0;	61	pieper_ein = 0;
60	BeepMuster = 0xffff;	62	BeepMuster = 0xffff;
61	}	63	}
62		64
63	if(pieper_ein)	65	if(pieper_ein)
64	{	66	{
65	PORTC \|= (1<<7); // Speaker an PORTC.7	67	PORTC \|= (1<<7); // Speaker an PORTC.7
66	}	68	}
67	else	69	else
68	{	70	{
69	PORTC &= ~(1<<7);	71	PORTC &= ~(1<<7);
70	}	72	}
71		73
72	#if 0	74	#if 0
73	if(PINC & 0x10)	75	if(PINC & 0x10)
74	{	76	{
75	cntKompass++;	77	cntKompass++;
76	}	78	}
77	else	79	else
78	{	80	{
79	if((cntKompass) && (cntKompass < 4000))	81	if((cntKompass) && (cntKompass < 4000))
80	{	82	{
81	if(cntKompass < 10)	83	if(cntKompass < 10)
82	{	84	{
83	cntKompass = 10;	85	cntKompass = 10;
84	}	86	}
85	KompassValue = (((int) cntKompass-10) * 36) / 35;	87	KompassValue = (((int) cntKompass-10) * 36) / 35;
86	}	88	}
87	cntKompass = 0;	89	cntKompass = 0;
88	}	90	}
89	#endif	91	#endif
90	}	92	}
91		93
92		94
93	void Timer_Init(void)	95	void Timer_Init(void)
94	{	96	{
95	tim_main = SetDelay(10);	97	tim_main = SetDelay(10);
96	TCCR0B = CK8;	98	TCCR0B = CK8;
97	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	99	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
98	OCR0A = 0;	100	OCR0A = 0;
99	OCR0B = 120;	101	OCR0B = 120;
100	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload	102	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
101		103
102	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	104	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
103	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	105	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
104	TIMSK2 \|= _BV(OCIE2A);	106	TIMSK2 \|= _BV(OCIE2A);
105		107
106	TIMSK0 \|= _BV(TOIE0);	108	TIMSK0 \|= _BV(TOIE0);
107	OCR2A = 10;	109	OCR2A = 10;
108	TCNT2 = 0;	110	TCNT2 = 0;
109	}	111	}
110		112
111	// -----------------------------------------------------------------------	113	// -----------------------------------------------------------------------
112		114
113	unsigned int SetDelay (unsigned int t)	115	unsigned int SetDelay (unsigned int t)
114	{	116	{
115	// TIMSK0 &= ~_BV(TOIE0);	117	// TIMSK0 &= ~_BV(TOIE0);
116	return(CountMilliseconds + t + 1);	118	return(CountMilliseconds + t + 1);
117	// TIMSK0 \|= _BV(TOIE0);	119	// TIMSK0 \|= _BV(TOIE0);
118	}	120	}
119		121
120	// -----------------------------------------------------------------------	122	// -----------------------------------------------------------------------
121	char CheckDelay(unsigned int t)	123	char CheckDelay(unsigned int t)
122	{	124	{
123	// TIMSK0 &= ~_BV(TOIE0);	125	// TIMSK0 &= ~_BV(TOIE0);
124	return(((t - CountMilliseconds) & 0x8000) >> 9);	126	return(((t - CountMilliseconds) & 0x8000) >> 9);
125	// TIMSK0 \|= _BV(TOIE0);	127	// TIMSK0 \|= _BV(TOIE0);
126	}	128	}
127		129
128	// -----------------------------------------------------------------------	130	// -----------------------------------------------------------------------
129	void Delay_ms(unsigned int w)	131	void Delay_ms(unsigned int w)
130	{	132	{
131	unsigned int akt;	133	unsigned int akt;
132	akt = SetDelay(w);	134	akt = SetDelay(w);
133	while (!CheckDelay(akt));	135	while (!CheckDelay(akt));
134	}	136	}
135		137
136	void Delay_ms_Mess(unsigned int w)	138	void Delay_ms_Mess(unsigned int w)
137	{	139	{
138	unsigned int akt;	140	unsigned int akt;
139	akt = SetDelay(w);	141	akt = SetDelay(w);
140	while (!CheckDelay(akt)) ANALOG_ON;	142	while (!CheckDelay(akt)) ANALOG_ON;
141	}	143	}
142		144
143	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
144	// Servo ansteuern	146	// Servo ansteuern
145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	147	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
146	SIGNAL(SIG_OUTPUT_COMPARE2A)	148	SIGNAL(SIG_OUTPUT_COMPARE2A)
147	{	149	{
148	static unsigned char timer = 10;	150	static unsigned char timer = 10;
149	unsigned char Parameter_ServoNickControl = 100;	-
150		-
151	if(!timer--)	151	if(!timer--)
152	{	152	{
153	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	-
154	ServoValue = Parameter_ServoNickControl;	-
155	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512;	-
156	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512;	-
-		153
157		154	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
-		155	if(ServoValue < EE_Parameter.ServoNickMin)
-		156	{
-		157	ServoValue = EE_Parameter.ServoNickMin;
158	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	158	}
-		159	if(ServoValue > EE_Parameter.ServoNickMax)
-		160	{
-		161	ServoValue = EE_Parameter.ServoNickMax;
159	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	162	}
160		163
161	OCR2A = ServoValue;// + 75;	164	OCR2A = ServoValue;
162	timer = EE_Parameter.ServoNickRefresh;	165	timer = EE_Parameter.ServoNickRefresh;
163	}	166	}
164	else	167	else
165	{	168	{
166	TCCR2A =3;	169	TCCR2A =3;
167	PORTD&=~0x80;	170	PORTD&=~0x80;
168	}	171	}
169	}	172	}
170		173

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(root)/branches/KalmanFilter MikeW/timer0.c - Rev 966 → 979