WebSVN - FlightCtrl - Diff - Rev 438 and 455 - /branches/v0.60_MicroMag3


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int beeptime = 0;
 
int ServoValue = 0;
 
enum {
  STOP             = 0,
  CK               = 1,
  CK8              = 2,
  CK64             = 3,
  CK256            = 4,
  CK1024           = 5,
  T0_FALLING_EDGE  = 6,
  T0_RISING_EDGE   = 7
};
 
 
SIGNAL (SIG_OVERFLOW0)    // 9,8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
   if(!cnt--)
    {
     cnt = 10;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
     if(Timeout) Timeout--;
     }  
 
     if(beeptime > 1)
        {
        beeptime--;
        PORTD |= (1<<PD2);
        }
     else  
        PORTD &= ~(1<<PD2);
 
        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
        {
                timer0_MM3();           // Kompass auslesen
 
 
 
 
 
 
 
        }
}
 
 
void Timer_Init(void)
{
    tim_main = SetDelay(10);
    TCCR0B = CK8;
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
    OCR0A =  0;
    OCR0B = 120;
    //TCNT0 = -TIMER_RELOAD_VALUE;  // reload
    //OCR1  = 0x00;
 
    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
   
//    TIMSK2 |= _BV(TOIE2);
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));
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
//  Servo ansteuern
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
SIGNAL(SIG_OUTPUT_COMPARE2A)
{
  static unsigned char timer = 10;
 
  if(!timer--)  
    {
     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
     ServoValue =  Parameter_ServoNickControl;
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
     else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
     
     if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
 
     //DebugOut.Analog[10] = ServoValue;     
     OCR2A = ServoValue;// + 75;
     timer = EE_Parameter.ServoNickRefresh;
    }
    else
    {
     TCCR2A =3;
     PORTD&=~0x80;
    }
}
 

Rev 438	Rev 455
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

Subversion Repositories FlightCtrl

(root)/branches/v0.60_MicroMag3_Nick666/timer0.c @ 480 - Rev 438 → 455