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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 beeptime = 0; |
6 | volatile unsigned int beeptime = 0; |
7 | int ServoValue = 0; |
7 | int ServoValue = 0; |
8 | 8 | ||
9 | enum { |
9 | enum { |
10 | STOP = 0, |
10 | STOP = 0, |
11 | CK = 1, |
11 | CK = 1, |
12 | CK8 = 2, |
12 | CK8 = 2, |
13 | CK64 = 3, |
13 | CK64 = 3, |
14 | CK256 = 4, |
14 | CK256 = 4, |
15 | CK1024 = 5, |
15 | CK1024 = 5, |
16 | T0_FALLING_EDGE = 6, |
16 | T0_FALLING_EDGE = 6, |
17 | T0_RISING_EDGE = 7 |
17 | T0_RISING_EDGE = 7 |
18 | }; |
18 | }; |
19 | 19 | ||
20 | 20 | ||
21 | SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
21 | SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
22 | { |
22 | { |
23 | static unsigned char cnt_1ms = 1,cnt = 0; |
23 | static unsigned char cnt_1ms = 1,cnt = 0; |
24 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
24 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
25 | 25 | ||
26 | if(!cnt--) |
26 | if(!cnt--) |
27 | { |
27 | { |
28 | cnt = 10; |
28 | cnt = 10; |
29 | cnt_1ms++; |
29 | cnt_1ms++; |
30 | cnt_1ms %= 2; |
30 | cnt_1ms %= 2; |
31 | if(!cnt_1ms) UpdateMotor = 1; |
31 | if(!cnt_1ms) UpdateMotor = 1; |
32 | CountMilliseconds++; |
32 | CountMilliseconds++; |
33 | if(Timeout) Timeout--; |
33 | if(Timeout) Timeout--; |
34 | } |
34 | } |
35 | 35 | ||
36 | if(beeptime > 1) |
36 | if(beeptime > 1) |
37 | { |
37 | { |
38 | beeptime--; |
38 | beeptime--; |
39 | PORTD |= (1<<PD2); |
39 | PORTD |= (1<<PD2); |
40 | } |
40 | } |
41 | else |
41 | else |
42 | PORTD &= ~(1<<PD2); |
42 | PORTD &= ~(1<<PD2); |
43 | 43 | ||
44 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
- | |
45 | { |
- | |
46 | timer0_MM3(); // Kompass auslesen |
- | |
47 | } |
44 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
48 | } |
45 | } |
49 | 46 | ||
50 | 47 | ||
51 | void Timer_Init(void) |
48 | void Timer_Init(void) |
52 | { |
49 | { |
53 | tim_main = SetDelay(10); |
50 | tim_main = SetDelay(10); |
54 | TCCR0B = CK8; |
51 | TCCR0B = CK8; |
55 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
52 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
56 | OCR0A = 0; |
53 | OCR0A = 0; |
57 | OCR0B = 120; |
54 | OCR0B = 120; |
58 | //TCNT0 = -TIMER_RELOAD_VALUE; // reload |
55 | //TCNT0 = -TIMER_RELOAD_VALUE; // reload |
59 | //OCR1 = 0x00; |
56 | //OCR1 = 0x00; |
60 | 57 | ||
61 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
58 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
62 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
59 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
63 | 60 | ||
64 | // TIMSK2 |= _BV(TOIE2); |
61 | // TIMSK2 |= _BV(TOIE2); |
65 | TIMSK2 |= _BV(OCIE2A); |
62 | TIMSK2 |= _BV(OCIE2A); |
66 | 63 | ||
67 | TIMSK0 |= _BV(TOIE0); |
64 | TIMSK0 |= _BV(TOIE0); |
68 | OCR2A = 10; |
65 | OCR2A = 10; |
69 | TCNT2 = 0; |
66 | TCNT2 = 0; |
70 | 67 | ||
71 | } |
68 | } |
72 | 69 | ||
73 | // ----------------------------------------------------------------------- |
70 | // ----------------------------------------------------------------------- |
74 | 71 | ||
75 | unsigned int SetDelay (unsigned int t) |
72 | unsigned int SetDelay (unsigned int t) |
76 | { |
73 | { |
77 | // TIMSK0 &= ~_BV(TOIE0); |
74 | // TIMSK0 &= ~_BV(TOIE0); |
78 | return(CountMilliseconds + t + 1); |
75 | return(CountMilliseconds + t + 1); |
79 | // TIMSK0 |= _BV(TOIE0); |
76 | // TIMSK0 |= _BV(TOIE0); |
80 | } |
77 | } |
81 | 78 | ||
82 | // ----------------------------------------------------------------------- |
79 | // ----------------------------------------------------------------------- |
83 | char CheckDelay(unsigned int t) |
80 | char CheckDelay(unsigned int t) |
84 | { |
81 | { |
85 | // TIMSK0 &= ~_BV(TOIE0); |
82 | // TIMSK0 &= ~_BV(TOIE0); |
86 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
83 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
87 | // TIMSK0 |= _BV(TOIE0); |
84 | // TIMSK0 |= _BV(TOIE0); |
88 | } |
85 | } |
89 | 86 | ||
90 | // ----------------------------------------------------------------------- |
87 | // ----------------------------------------------------------------------- |
91 | void Delay_ms(unsigned int w) |
88 | void Delay_ms(unsigned int w) |
92 | { |
89 | { |
93 | unsigned int akt; |
90 | unsigned int akt; |
94 | akt = SetDelay(w); |
91 | akt = SetDelay(w); |
95 | while (!CheckDelay(akt)); |
92 | while (!CheckDelay(akt)); |
96 | } |
93 | } |
97 | 94 | ||
98 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
95 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
99 | // Servo ansteuern |
96 | // Servo ansteuern |
100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
97 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
101 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
98 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
102 | { |
99 | { |
103 | static unsigned char timer = 10; |
100 | static unsigned char timer = 10; |
104 | 101 | ||
105 | if(!timer--) |
102 | if(!timer--) |
106 | { |
103 | { |
107 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
104 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
108 | ServoValue = Parameter_ServoNickControl; |
105 | ServoValue = Parameter_ServoNickControl; |
109 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
106 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
110 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
107 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
111 | 108 | ||
112 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
109 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
113 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
110 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
114 | 111 | ||
115 | //DebugOut.Analog[10] = ServoValue; |
112 | //DebugOut.Analog[10] = ServoValue; |
116 | OCR2A = ServoValue;// + 75; |
113 | OCR2A = ServoValue;// + 75; |
117 | timer = EE_Parameter.ServoNickRefresh; |
114 | timer = EE_Parameter.ServoNickRefresh; |
118 | } |
115 | } |
119 | else |
116 | else |
120 | { |
117 | { |
121 | TCCR2A =3; |
118 | TCCR2A =3; |
122 | PORTD&=~0x80; |
119 | PORTD&=~0x80; |
123 | } |
120 | } |
124 | } |
121 | } |
125 | 122 |