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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 | 10 | ||
11 | enum { |
11 | enum { |
12 | STOP = 0, |
12 | STOP = 0, |
13 | CK = 1, |
13 | CK = 1, |
14 | CK8 = 2, |
14 | CK8 = 2, |
15 | CK64 = 3, |
15 | CK64 = 3, |
16 | CK256 = 4, |
16 | CK256 = 4, |
17 | CK1024 = 5, |
17 | CK1024 = 5, |
18 | T0_FALLING_EDGE = 6, |
18 | T0_FALLING_EDGE = 6, |
19 | T0_RISING_EDGE = 7 |
19 | T0_RISING_EDGE = 7 |
20 | }; |
20 | }; |
21 | 21 | ||
22 | 22 | ||
23 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
23 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
24 | { |
24 | { |
25 | static unsigned char cnt_1ms = 1,cnt = 0; |
25 | static unsigned char cnt_1ms = 1,cnt = 0; |
26 | unsigned char pieper_ein = 0; |
26 | unsigned char pieper_ein = 0; |
27 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
27 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
28 | 28 | ||
29 | if(!cnt--) |
29 | if(!cnt--) |
30 | { |
30 | { |
31 | cnt = 9; |
31 | cnt = 9; |
32 | cnt_1ms++; |
32 | cnt_1ms++; |
33 | cnt_1ms %= 2; |
33 | cnt_1ms %= 2; |
34 | if(!cnt_1ms) UpdateMotor = 1; |
34 | if(!cnt_1ms) UpdateMotor = 1; |
35 | CountMilliseconds++; |
35 | CountMilliseconds++; |
36 | } |
36 | } |
37 | 37 | ||
38 | if(beeptime > 1) |
38 | if(beeptime > 1) |
39 | { |
39 | { |
40 | beeptime--; |
40 | beeptime--; |
41 | if(beeptime & BeepMuster) |
41 | if(beeptime & BeepMuster) |
42 | { |
42 | { |
43 | pieper_ein = 1; |
43 | pieper_ein = 1; |
- | 44 | EXT1OUT_INV_OFF; |
|
- | 45 | } |
|
- | 46 | else |
|
- | 47 | { |
|
- | 48 | pieper_ein = 0; |
|
- | 49 | EXT1OUT_INV_ON; |
|
44 | } |
50 | } |
45 | else pieper_ein = 0; |
- | |
46 | } |
51 | } |
47 | else |
52 | else |
48 | { |
53 | { |
- | 54 | EXT1OUT_INV_ON; |
|
49 | pieper_ein = 0; |
55 | pieper_ein = 0; |
50 | BeepMuster = 0xffff; |
56 | BeepMuster = 0xffff; |
51 | } |
57 | } |
52 | 58 | ||
53 | 59 | ||
54 | if(pieper_ein) |
60 | if(pieper_ein) |
55 | { |
61 | { |
56 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
62 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
57 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
63 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
58 | } |
64 | } |
59 | else |
65 | else |
60 | { |
66 | { |
61 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
67 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
62 | else PORTC &= ~(1<<7); |
68 | else PORTC &= ~(1<<7); |
63 | } |
69 | } |
64 | 70 | ||
65 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
71 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
66 | { |
72 | { |
67 | if(PINC & 0x10) |
73 | if(PINC & 0x10) |
68 | { |
74 | { |
69 | cntKompass++; |
75 | cntKompass++; |
70 | } |
76 | } |
71 | else |
77 | else |
72 | { |
78 | { |
73 | if((cntKompass) && (cntKompass < 4000)) |
79 | if((cntKompass) && (cntKompass < 4000)) |
74 | { |
80 | { |
75 | KompassValue = cntKompass; |
81 | KompassValue = cntKompass; |
76 | } |
82 | } |
77 | // if(cntKompass < 10) cntKompass = 10; |
83 | // if(cntKompass < 10) cntKompass = 10; |
78 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
79 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
80 | cntKompass = 0; |
86 | cntKompass = 0; |
81 | } |
87 | } |
82 | } |
88 | } |
83 | } |
89 | } |
84 | 90 | ||
85 | 91 | ||
86 | void Timer_Init(void) |
92 | void Timer_Init(void) |
87 | { |
93 | { |
88 | tim_main = SetDelay(10); |
94 | tim_main = SetDelay(10); |
89 | TCCR0B = CK8; |
95 | TCCR0B = CK8; |
90 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
96 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
91 | OCR0A = 0; |
97 | OCR0A = 0; |
92 | OCR0B = 120; |
98 | OCR0B = 120; |
93 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
99 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
94 | //OCR1 = 0x00; |
100 | //OCR1 = 0x00; |
95 | 101 | ||
96 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
102 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
97 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
103 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
98 | 104 | ||
99 | // TIMSK2 |= _BV(TOIE2); |
105 | // TIMSK2 |= _BV(TOIE2); |
100 | TIMSK2 |= _BV(OCIE2A); |
106 | TIMSK2 |= _BV(OCIE2A); |
101 | 107 | ||
102 | TIMSK0 |= _BV(TOIE0); |
108 | TIMSK0 |= _BV(TOIE0); |
103 | OCR2A = 10; |
109 | OCR2A = 10; |
104 | TCNT2 = 0; |
110 | TCNT2 = 0; |
105 | 111 | ||
106 | } |
112 | } |
107 | 113 | ||
108 | // ----------------------------------------------------------------------- |
114 | // ----------------------------------------------------------------------- |
109 | 115 | ||
110 | unsigned int SetDelay (unsigned int t) |
116 | unsigned int SetDelay (unsigned int t) |
111 | { |
117 | { |
112 | // TIMSK0 &= ~_BV(TOIE0); |
118 | // TIMSK0 &= ~_BV(TOIE0); |
113 | return(CountMilliseconds + t + 1); |
119 | return(CountMilliseconds + t + 1); |
114 | // TIMSK0 |= _BV(TOIE0); |
120 | // TIMSK0 |= _BV(TOIE0); |
115 | } |
121 | } |
116 | 122 | ||
117 | // ----------------------------------------------------------------------- |
123 | // ----------------------------------------------------------------------- |
118 | char CheckDelay(unsigned int t) |
124 | char CheckDelay(unsigned int t) |
119 | { |
125 | { |
120 | // TIMSK0 &= ~_BV(TOIE0); |
126 | // TIMSK0 &= ~_BV(TOIE0); |
121 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
127 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
122 | // TIMSK0 |= _BV(TOIE0); |
128 | // TIMSK0 |= _BV(TOIE0); |
123 | } |
129 | } |
124 | 130 | ||
125 | // ----------------------------------------------------------------------- |
131 | // ----------------------------------------------------------------------- |
126 | void Delay_ms(unsigned int w) |
132 | void Delay_ms(unsigned int w) |
127 | { |
133 | { |
128 | unsigned int akt; |
134 | unsigned int akt; |
129 | akt = SetDelay(w); |
135 | akt = SetDelay(w); |
130 | while (!CheckDelay(akt)); |
136 | while (!CheckDelay(akt)); |
131 | } |
137 | } |
132 | 138 | ||
133 | void Delay_ms_Mess(unsigned int w) |
139 | void Delay_ms_Mess(unsigned int w) |
134 | { |
140 | { |
135 | unsigned int akt; |
141 | unsigned int akt; |
136 | akt = SetDelay(w); |
142 | akt = SetDelay(w); |
137 | while (!CheckDelay(akt)) ANALOG_ON; |
143 | while (!CheckDelay(akt)) ANALOG_ON; |
138 | } |
144 | } |
139 | 145 | ||
140 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
146 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
141 | // Servo ansteuern |
147 | // Servo ansteuern |
142 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
148 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
143 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
149 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
144 | { |
150 | { |
145 | static unsigned char timer = 10; |
151 | static unsigned char timer = 10; |
146 | 152 | ||
147 | if(!timer--) |
153 | if(!timer--) |
148 | { |
154 | { |
149 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
155 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
150 | ServoValue = Parameter_ServoNickControl; |
156 | ServoValue = Parameter_ServoNickControl; |
151 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
157 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
152 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
158 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
153 | 159 | ||
154 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
160 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
155 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
161 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
156 | 162 | ||
157 | OCR2A = ServoValue;// + 75; |
163 | OCR2A = ServoValue;// + 75; |
158 | timer = EE_Parameter.ServoNickRefresh; |
164 | timer = EE_Parameter.ServoNickRefresh; |
159 | } |
165 | } |
160 | else |
166 | else |
161 | { |
167 | { |
162 | TCCR2A =3; |
168 | TCCR2A =3; |
163 | PORTD&=~0x80; |
169 | PORTD&=~0x80; |
164 | } |
170 | } |
165 | } |
171 | } |
166 | 172 |