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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 | volatile unsigned int cntKompass = 800; |
- | |
8 | int ServoValue = 0; |
7 | int ServoValue = 0; |
9 | 8 | ||
10 | enum { |
9 | enum { |
11 | STOP = 0, |
10 | STOP = 0, |
12 | CK = 1, |
11 | CK = 1, |
13 | CK8 = 2, |
12 | CK8 = 2, |
14 | CK64 = 3, |
13 | CK64 = 3, |
15 | CK256 = 4, |
14 | CK256 = 4, |
16 | CK1024 = 5, |
15 | CK1024 = 5, |
17 | T0_FALLING_EDGE = 6, |
16 | T0_FALLING_EDGE = 6, |
18 | T0_RISING_EDGE = 7 |
17 | T0_RISING_EDGE = 7 |
19 | }; |
18 | }; |
20 | 19 | ||
21 | 20 | ||
22 | SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
21 | SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
23 | { |
22 | { |
24 | static unsigned char cnt_1ms = 1,cnt = 0; |
23 | static unsigned char cnt_1ms = 1,cnt = 0; |
25 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
24 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
26 | 25 | ||
27 | if(!cnt--) |
26 | if(!cnt--) |
28 | { |
27 | { |
29 | cnt = 10; |
28 | cnt = 10; |
30 | cnt_1ms++; |
29 | cnt_1ms++; |
31 | cnt_1ms %= 2; |
30 | cnt_1ms %= 2; |
32 | if(!cnt_1ms) UpdateMotor = 1; |
31 | if(!cnt_1ms) UpdateMotor = 1; |
33 | CountMilliseconds++; |
32 | CountMilliseconds++; |
34 | if(Timeout) Timeout--; |
33 | if(Timeout) Timeout--; |
35 | } |
34 | } |
36 | 35 | ||
37 | if(beeptime > 1) |
36 | if(beeptime > 1) |
38 | { |
37 | { |
39 | beeptime--; |
38 | beeptime--; |
40 | PORTD |= (1<<PD2); |
39 | PORTD |= (1<<PD2); |
41 | } |
40 | } |
42 | else |
41 | else |
43 | PORTD &= ~(1<<PD2); |
42 | PORTD &= ~(1<<PD2); |
44 | 43 | ||
45 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
44 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
46 | { |
45 | { |
47 | timer0_MM3(); // Kompass auslesen |
46 | timer0_MM3(); // Kompass auslesen |
48 | - | ||
49 | if (!cntKompass--) // Aufruf mit 10 Hz |
- | |
50 | { |
- | |
51 | KompassValue = heading_MM3(); |
- | |
52 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
- | |
53 | cntKompass = 980; |
- | |
54 | } |
- | |
55 | } |
47 | } |
56 | } |
48 | } |
57 | 49 | ||
58 | 50 | ||
59 | void Timer_Init(void) |
51 | void Timer_Init(void) |
60 | { |
52 | { |
61 | tim_main = SetDelay(10); |
53 | tim_main = SetDelay(10); |
62 | TCCR0B = CK8; |
54 | TCCR0B = CK8; |
63 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
55 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
64 | OCR0A = 0; |
56 | OCR0A = 0; |
65 | OCR0B = 120; |
57 | OCR0B = 120; |
66 | //TCNT0 = -TIMER_RELOAD_VALUE; // reload |
58 | //TCNT0 = -TIMER_RELOAD_VALUE; // reload |
67 | //OCR1 = 0x00; |
59 | //OCR1 = 0x00; |
68 | 60 | ||
69 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
61 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
70 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
62 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
71 | 63 | ||
72 | // TIMSK2 |= _BV(TOIE2); |
64 | // TIMSK2 |= _BV(TOIE2); |
73 | TIMSK2 |= _BV(OCIE2A); |
65 | TIMSK2 |= _BV(OCIE2A); |
74 | 66 | ||
75 | TIMSK0 |= _BV(TOIE0); |
67 | TIMSK0 |= _BV(TOIE0); |
76 | OCR2A = 10; |
68 | OCR2A = 10; |
77 | TCNT2 = 0; |
69 | TCNT2 = 0; |
78 | 70 | ||
79 | } |
71 | } |
80 | 72 | ||
81 | // ----------------------------------------------------------------------- |
73 | // ----------------------------------------------------------------------- |
82 | 74 | ||
83 | unsigned int SetDelay (unsigned int t) |
75 | unsigned int SetDelay (unsigned int t) |
84 | { |
76 | { |
85 | // TIMSK0 &= ~_BV(TOIE0); |
77 | // TIMSK0 &= ~_BV(TOIE0); |
86 | return(CountMilliseconds + t + 1); |
78 | return(CountMilliseconds + t + 1); |
87 | // TIMSK0 |= _BV(TOIE0); |
79 | // TIMSK0 |= _BV(TOIE0); |
88 | } |
80 | } |
89 | 81 | ||
90 | // ----------------------------------------------------------------------- |
82 | // ----------------------------------------------------------------------- |
91 | char CheckDelay(unsigned int t) |
83 | char CheckDelay(unsigned int t) |
92 | { |
84 | { |
93 | // TIMSK0 &= ~_BV(TOIE0); |
85 | // TIMSK0 &= ~_BV(TOIE0); |
94 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
86 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
95 | // TIMSK0 |= _BV(TOIE0); |
87 | // TIMSK0 |= _BV(TOIE0); |
96 | } |
88 | } |
97 | 89 | ||
98 | // ----------------------------------------------------------------------- |
90 | // ----------------------------------------------------------------------- |
99 | void Delay_ms(unsigned int w) |
91 | void Delay_ms(unsigned int w) |
100 | { |
92 | { |
101 | unsigned int akt; |
93 | unsigned int akt; |
102 | akt = SetDelay(w); |
94 | akt = SetDelay(w); |
103 | while (!CheckDelay(akt)); |
95 | while (!CheckDelay(akt)); |
104 | } |
96 | } |
105 | 97 | ||
106 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
98 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
107 | // Servo ansteuern |
99 | // Servo ansteuern |
108 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
109 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
101 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
110 | { |
102 | { |
111 | static unsigned char timer = 10; |
103 | static unsigned char timer = 10; |
112 | 104 | ||
113 | if(!timer--) |
105 | if(!timer--) |
114 | { |
106 | { |
115 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
107 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
116 | ServoValue = Parameter_ServoNickControl; |
108 | ServoValue = Parameter_ServoNickControl; |
117 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
109 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
118 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
110 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
119 | 111 | ||
120 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
112 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
121 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
113 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
122 | 114 | ||
123 | //DebugOut.Analog[10] = ServoValue; |
115 | //DebugOut.Analog[10] = ServoValue; |
124 | OCR2A = ServoValue;// + 75; |
116 | OCR2A = ServoValue;// + 75; |
125 | timer = EE_Parameter.ServoNickRefresh; |
117 | timer = EE_Parameter.ServoNickRefresh; |
126 | } |
118 | } |
127 | else |
119 | else |
128 | { |
120 | { |
129 | TCCR2A =3; |
121 | TCCR2A =3; |
130 | PORTD&=~0x80; |
122 | PORTD&=~0x80; |
131 | } |
123 | } |
132 | } |
124 | } |
133 | 125 |