WebSVN - FlightCtrl - Diff - Rev 130 and 243 - /branches/GPS_BETA_chris2798


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 0;
volatile unsigned int beeptime = 0;
unsigned int BeepMuster = 0xffff;
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)    // 8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
    unsigned char pieper_ein = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
   if(!cnt--)
    {
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
 
     }  
 
     if(beeptime > 1)
        {
        beeptime--;      
        if(beeptime & BeepMuster)
         {
          pieper_ein = 1;
         }
         else pieper_ein = 0;
        }
     else
      {
       pieper_ein = 0;
       BeepMuster = 0xffff;
      }
 
 
     if(pieper_ein)
        {
          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
          else                      PORTC |= (1<<7); // Speaker an PORTC.7
        }
     else  
        {
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
         else                      PORTC &= ~(1<<7);
        }
 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 4000))
    {
     KompassValue = cntKompass;
    }
//     if(cntKompass < 10) cntKompass = 10;
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
    cntKompass = 0;
   }
 }
}
 
 
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;
 
 
     OCR2A = ServoValue;// + 75;
     timer = EE_Parameter.ServoNickRefresh;
    }
    else
    {
     TCCR2A =3;
     PORTD&=~0x80;
    }
}
 

Rev 130	Rev 243
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	int ServoValue = 0;	9	int ServoValue = 0;
9		10
10	enum {	11	enum {
11	STOP = 0,	12	STOP = 0,
12	CK = 1,	13	CK = 1,
13	CK8 = 2,	14	CK8 = 2,
14	CK64 = 3,	15	CK64 = 3,
15	CK256 = 4,	16	CK256 = 4,
16	CK1024 = 5,	17	CK1024 = 5,
17	T0_FALLING_EDGE = 6,	18	T0_FALLING_EDGE = 6,
18	T0_RISING_EDGE = 7	19	T0_RISING_EDGE = 7
19	};	20	};
20		21
21		22
22	SIGNAL (SIG_OVERFLOW0) // 8kHz	23	SIGNAL (SIG_OVERFLOW0) // 8kHz
23	{	24	{
24	static unsigned char cnt_1ms = 1,cnt = 0;	25	static unsigned char cnt_1ms = 1,cnt = 0;
-		26	unsigned char pieper_ein = 0;
25	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	27	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
26		28
27	if(!cnt--)	29	if(!cnt--)
28	{	30	{
29	cnt = 9;	31	cnt = 9;
30	cnt_1ms++;	32	cnt_1ms++;
31	cnt_1ms %= 2;	33	cnt_1ms %= 2;
32	if(!cnt_1ms) UpdateMotor = 1;	34	if(!cnt_1ms) UpdateMotor = 1;
33	CountMilliseconds++;	35	CountMilliseconds++;
34	if(Timeout) Timeout--;	-
35	}	36	}
36		37
37	if(beeptime > 1)	38	if(beeptime > 1)
38	{	39	{
39	beeptime--;	40	beeptime--;
-		41	if(beeptime & BeepMuster)
-		42	{
40	PORTD \|= (1<<2);	43	pieper_ein = 1;
-		44	}
-		45	else pieper_ein = 0;
41	}	46	}
42	else	47	else
-		48	{
-		49	pieper_ein = 0;
43	PORTD &= ~(1<<2);	50	BeepMuster = 0xffff;
-		51	}
-		52
-		53
-		54	if(pieper_ein)
-		55	{
-		56	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
-		57	else PORTC \|= (1<<7); // Speaker an PORTC.7
-		58	}
-		59	else
-		60	{
-		61	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
-		62	else PORTC &= ~(1<<7);
-		63	}
44		64
45	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	65	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
46	{	66	{
47	if(PINC & 0x10)	67	if(PINC & 0x10)
48	{	68	{
49	cntKompass++;	69	cntKompass++;
50	}	70	}
51	else	71	else
52	{	72	{
53	if((cntKompass) && (cntKompass < 4000))	73	if((cntKompass) && (cntKompass < 4000))
54	{	74	{
55	KompassValue = cntKompass;	75	KompassValue = cntKompass;
56	}	76	}
57	// if(cntKompass < 10) cntKompass = 10;	77	// if(cntKompass < 10) cntKompass = 10;
58	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	78	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
59	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	79	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
60	cntKompass = 0;	80	cntKompass = 0;
61	}	81	}
62	}	82	}
63	}	83	}
64		84
65		85
66	void Timer_Init(void)	86	void Timer_Init(void)
67	{	87	{
68	tim_main = SetDelay(10);	88	tim_main = SetDelay(10);
69	TCCR0B = CK8;	89	TCCR0B = CK8;
70	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	90	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
71	OCR0A = 0;	91	OCR0A = 0;
72	OCR0B = 120;	92	OCR0B = 120;
73	TCNT0 = -TIMER_RELOAD_VALUE; // reload	93	TCNT0 = -TIMER_RELOAD_VALUE; // reload
74	//OCR1 = 0x00;	94	//OCR1 = 0x00;
75		95
76	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	96	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
77	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	97	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
78		98
79	// TIMSK2 \|= _BV(TOIE2);	99	// TIMSK2 \|= _BV(TOIE2);
80	TIMSK2 \|= _BV(OCIE2A);	100	TIMSK2 \|= _BV(OCIE2A);
81		101
82	TIMSK0 \|= _BV(TOIE0);	102	TIMSK0 \|= _BV(TOIE0);
83	OCR2A = 10;	103	OCR2A = 10;
84	TCNT2 = 0;	104	TCNT2 = 0;
85		105
86	}	106	}
87		107
88	// -----------------------------------------------------------------------	108	// -----------------------------------------------------------------------
89		109
90	unsigned int SetDelay (unsigned int t)	110	unsigned int SetDelay (unsigned int t)
91	{	111	{
92	// TIMSK0 &= ~_BV(TOIE0);	112	// TIMSK0 &= ~_BV(TOIE0);
93	return(CountMilliseconds + t + 1);	113	return(CountMilliseconds + t + 1);
94	// TIMSK0 \|= _BV(TOIE0);	114	// TIMSK0 \|= _BV(TOIE0);
95	}	115	}
96		116
97	// -----------------------------------------------------------------------	117	// -----------------------------------------------------------------------
98	char CheckDelay(unsigned int t)	118	char CheckDelay(unsigned int t)
99	{	119	{
100	// TIMSK0 &= ~_BV(TOIE0);	120	// TIMSK0 &= ~_BV(TOIE0);
101	return(((t - CountMilliseconds) & 0x8000) >> 9);	121	return(((t - CountMilliseconds) & 0x8000) >> 9);
102	// TIMSK0 \|= _BV(TOIE0);	122	// TIMSK0 \|= _BV(TOIE0);
103	}	123	}
104		124
105	// -----------------------------------------------------------------------	125	// -----------------------------------------------------------------------
106	void Delay_ms(unsigned int w)	126	void Delay_ms(unsigned int w)
107	{	127	{
108	unsigned int akt;	128	unsigned int akt;
109	akt = SetDelay(w);	129	akt = SetDelay(w);
110	while (!CheckDelay(akt));	130	while (!CheckDelay(akt));
111	}	131	}
112		132
113	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	133	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
114	// Servo ansteuern	134	// Servo ansteuern
115	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	135	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
116	SIGNAL(SIG_OUTPUT_COMPARE2A)	136	SIGNAL(SIG_OUTPUT_COMPARE2A)
117	{	137	{
118	static unsigned char timer = 10;	138	static unsigned char timer = 10;
119		139
120	if(!timer--)	140	if(!timer--)
121	{	141	{
122	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	142	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
123	ServoValue = Parameter_ServoNickControl;	143	ServoValue = Parameter_ServoNickControl;
124	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	144	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
125	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	145	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
126		146
127	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	147	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
128	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	148	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
129		-
130	DebugOut.Analog[10] = ServoValue;	149
131	OCR2A = ServoValue;// + 75;	150	OCR2A = ServoValue;// + 75;
132	timer = EE_Parameter.ServoNickRefresh;	151	timer = EE_Parameter.ServoNickRefresh;
133	}	152	}
134	else	153	else
135	{	154	{
136	TCCR2A =3;	155	TCCR2A =3;
137	PORTD&=~0x80;	156	PORTD&=~0x80;
138	}	157	}
139	}	158	}
140		159

Subversion Repositories FlightCtrl

(root)/branches/GPS_BETA_chris2798_hallo2/timer0.c - Rev 130 → 243