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1 | #include "main.h" |
1 | #include "main.h" |
2 | 2 | ||
3 | volatile unsigned int CountMilliseconds = 0; |
3 | volatile unsigned int CountMilliseconds = 0; |
4 | volatile static unsigned int tim_main; |
4 | volatile static unsigned int tim_main; |
5 | volatile unsigned char UpdateMotor = 0; |
5 | volatile unsigned char UpdateMotor = 0; |
6 | volatile unsigned int cntKompass = 0; |
6 | volatile unsigned int cntKompass = 0; |
7 | volatile unsigned int beeptime = 0; |
7 | volatile unsigned int beeptime = 0; |
8 | unsigned int BeepMuster = 0xffff; |
8 | unsigned int BeepMuster = 0xffff; |
9 | int ServoValue = 0; |
9 | int ServoValue = 0; |
- | 10 | unsigned char ucBeeperActive=1; |
|
10 | 11 | ||
11 | enum { |
12 | enum { |
12 | STOP = 0, |
13 | STOP = 0, |
13 | CK = 1, |
14 | CK = 1, |
14 | CK8 = 2, |
15 | CK8 = 2, |
15 | CK64 = 3, |
16 | CK64 = 3, |
16 | CK256 = 4, |
17 | CK256 = 4, |
17 | CK1024 = 5, |
18 | CK1024 = 5, |
18 | T0_FALLING_EDGE = 6, |
19 | T0_FALLING_EDGE = 6, |
19 | T0_RISING_EDGE = 7 |
20 | T0_RISING_EDGE = 7 |
20 | }; |
21 | }; |
21 | 22 | ||
22 | 23 | ||
23 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
24 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
24 | { |
25 | { |
25 | static unsigned char cnt_1ms = 1,cnt = 0; |
26 | static unsigned char cnt_1ms = 1,cnt = 0; |
26 | unsigned char pieper_ein = 0; |
27 | unsigned char pieper_ein = 0; |
27 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
28 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
28 | 29 | ||
29 | if(!cnt--) |
30 | if(!cnt--) |
30 | { |
31 | { |
31 | cnt = 9; |
32 | cnt = 9; |
32 | cnt_1ms++; |
33 | cnt_1ms++; |
33 | cnt_1ms %= 2; |
34 | cnt_1ms %= 2; |
34 | if(!cnt_1ms) UpdateMotor = 1; |
35 | if(!cnt_1ms) UpdateMotor = 1; |
35 | CountMilliseconds++; |
36 | CountMilliseconds++; |
36 | } |
37 | } |
37 | 38 | ||
38 | if(beeptime > 1) |
39 | if(beeptime > 1) |
39 | { |
40 | { |
40 | beeptime--; |
41 | beeptime--; |
41 | if(beeptime & BeepMuster) |
42 | if(beeptime & BeepMuster) |
42 | { |
43 | { |
43 | pieper_ein = 1; |
44 | if(ucBeeperActive) pieper_ein = 1; |
44 | EXT1OUT_INV_OFF; |
45 | EXT1OUT_INV_OFF; |
45 | } |
46 | } |
46 | else |
47 | else |
47 | { |
48 | { |
48 | pieper_ein = 0; |
49 | if(ucBeeperActive) pieper_ein = 0; |
49 | EXT1OUT_INV_ON; |
50 | EXT1OUT_INV_ON; |
50 | } |
51 | } |
51 | } |
52 | } |
52 | else |
53 | else |
53 | { |
54 | { |
54 | EXT1OUT_INV_ON; |
55 | EXT1OUT_INV_ON; |
55 | pieper_ein = 0; |
56 | pieper_ein = 0; |
- | 57 | ucBeeperActive=1; |
|
56 | BeepMuster = 0xffff; |
58 | BeepMuster = 0xffff; |
57 | } |
59 | } |
58 | 60 | ||
59 | 61 | ||
60 | if(pieper_ein) |
62 | if(pieper_ein) |
61 | { |
63 | { |
62 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
64 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
63 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
65 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
64 | } |
66 | } |
65 | else |
67 | else |
66 | { |
68 | { |
67 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
69 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
68 | else PORTC &= ~(1<<7); |
70 | else PORTC &= ~(1<<7); |
69 | } |
71 | } |
70 | 72 | ||
71 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
73 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
72 | { |
74 | { |
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 | KompassValue = cntKompass; |
83 | KompassValue = cntKompass; |
82 | } |
84 | } |
83 | // if(cntKompass < 10) cntKompass = 10; |
85 | // if(cntKompass < 10) cntKompass = 10; |
84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
86 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
87 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
86 | cntKompass = 0; |
88 | cntKompass = 0; |
87 | } |
89 | } |
88 | } |
90 | } |
89 | } |
91 | } |
- | 92 | ||
- | 93 | void setBeeperActive(unsigned char ucVal) |
|
- | 94 | { |
|
- | 95 | ucBeeperActive=ucVal; |
|
90 | 96 | } |
|
91 | 97 | ||
92 | void Timer_Init(void) |
98 | void Timer_Init(void) |
93 | { |
99 | { |
94 | tim_main = SetDelay(10); |
100 | tim_main = SetDelay(10); |
95 | TCCR0B = CK8; |
101 | TCCR0B = CK8; |
96 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
102 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
97 | OCR0A = 0; |
103 | OCR0A = 0; |
98 | OCR0B = 120; |
104 | OCR0B = 120; |
99 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
105 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
100 | //OCR1 = 0x00; |
106 | //OCR1 = 0x00; |
101 | 107 | ||
102 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
108 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
103 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
109 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
104 | 110 | ||
105 | // TIMSK2 |= _BV(TOIE2); |
111 | // TIMSK2 |= _BV(TOIE2); |
106 | TIMSK2 |= _BV(OCIE2A); |
112 | TIMSK2 |= _BV(OCIE2A); |
107 | 113 | ||
108 | TIMSK0 |= _BV(TOIE0); |
114 | TIMSK0 |= _BV(TOIE0); |
109 | OCR2A = 10; |
115 | OCR2A = 10; |
110 | TCNT2 = 0; |
116 | TCNT2 = 0; |
111 | 117 | ||
112 | } |
118 | } |
113 | 119 | ||
114 | // ----------------------------------------------------------------------- |
120 | // ----------------------------------------------------------------------- |
115 | 121 | ||
116 | unsigned int SetDelay (unsigned int t) |
122 | unsigned int SetDelay (unsigned int t) |
117 | { |
123 | { |
118 | // TIMSK0 &= ~_BV(TOIE0); |
124 | // TIMSK0 &= ~_BV(TOIE0); |
119 | return(CountMilliseconds + t + 1); |
125 | return(CountMilliseconds + t + 1); |
120 | // TIMSK0 |= _BV(TOIE0); |
126 | // TIMSK0 |= _BV(TOIE0); |
121 | } |
127 | } |
122 | 128 | ||
123 | // ----------------------------------------------------------------------- |
129 | // ----------------------------------------------------------------------- |
124 | char CheckDelay(unsigned int t) |
130 | char CheckDelay(unsigned int t) |
125 | { |
131 | { |
126 | // TIMSK0 &= ~_BV(TOIE0); |
132 | // TIMSK0 &= ~_BV(TOIE0); |
127 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
133 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
128 | // TIMSK0 |= _BV(TOIE0); |
134 | // TIMSK0 |= _BV(TOIE0); |
129 | } |
135 | } |
130 | 136 | ||
131 | // ----------------------------------------------------------------------- |
137 | // ----------------------------------------------------------------------- |
132 | void Delay_ms(unsigned int w) |
138 | void Delay_ms(unsigned int w) |
133 | { |
139 | { |
134 | unsigned int akt; |
140 | unsigned int akt; |
135 | akt = SetDelay(w); |
141 | akt = SetDelay(w); |
136 | while (!CheckDelay(akt)); |
142 | while (!CheckDelay(akt)); |
137 | } |
143 | } |
138 | 144 | ||
139 | void Delay_ms_Mess(unsigned int w) |
145 | void Delay_ms_Mess(unsigned int w) |
140 | { |
146 | { |
141 | unsigned int akt; |
147 | unsigned int akt; |
142 | akt = SetDelay(w); |
148 | akt = SetDelay(w); |
143 | while (!CheckDelay(akt)) ANALOG_ON; |
149 | while (!CheckDelay(akt)) ANALOG_ON; |
144 | } |
150 | } |
145 | 151 | ||
146 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
152 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
147 | // Servo ansteuern |
153 | // Servo ansteuern |
148 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
154 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
149 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
155 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
150 | { |
156 | { |
151 | static unsigned char timer = 10; |
157 | static unsigned char timer = 10; |
152 | 158 | ||
153 | if(!timer--) |
159 | if(!timer--) |
154 | { |
160 | { |
155 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
161 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
156 | ServoValue = Parameter_ServoNickControl; |
162 | ServoValue = Parameter_ServoNickControl; |
157 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
163 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
158 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
164 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
159 | 165 | ||
160 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
166 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
161 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
167 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
162 | 168 | ||
163 | OCR2A = ServoValue;// + 75; |
169 | OCR2A = ServoValue;// + 75; |
164 | timer = EE_Parameter.ServoNickRefresh; |
170 | timer = EE_Parameter.ServoNickRefresh; |
165 | } |
171 | } |
166 | else |
172 | else |
167 | { |
173 | { |
168 | TCCR2A =3; |
174 | TCCR2A =3; |
169 | PORTD&=~0x80; |
175 | PORTD&=~0x80; |
170 | } |
176 | } |
171 | } |
177 | } |
172 | 178 |