WebSVN - FlightCtrl - Diff - Rev 979 and 1042 - /branches/KalmanFilter MikeW/timer0.c


#include "main.h"
#include "FlightControl.h"
 
volatile unsigned long cnt_ms = 0;
volatile unsigned int CountMilliseconds = 0;
volatile unsigned int Count8Khz = 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;
extern void MM3_Update(void);
 
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;
 
  Count8Khz++;
 
  if(!cnt--)
  {
    cnt = 9;
    cnt_1ms++;
    cnt_1ms %= 2;
    if(!cnt_1ms)
    {
      UpdateMotor = 1;
    }
    CountMilliseconds++;
    cnt_ms++;
    // update compass value if this option is enabled in the settings
#ifdef USE_COMPASS
    MM3_Update(); // read out mm3 board
#endif
  }  
 
  if(beeptime > 1)
  {
    beeptime--;      
    if(beeptime & BeepMuster)
    {
      pieper_ein = 1;
    }
    else pieper_ein = 0;
  }
  else
  {
    pieper_ein = 0;
    BeepMuster = 0xffff;
  }
 
  if(pieper_ein)
  {
    PORTC |= (1<<7); // Speaker an PORTC.7
  }
  else  
  {
    PORTC &= ~(1<<7);
  }
 
#if 0
  if(PINC & 0x10)
  {
    cntKompass++;
  }
  else
  {
    if((cntKompass) && (cntKompass < 4000))
    {
      if(cntKompass < 10)
      {
        cntKompass = 10;
      }
      KompassValue = (((int) cntKompass-10) * 36) / 35;
    }
    cntKompass = 0;
  }
#endif
}
 
 
void Timer_Init(void)
{
  tim_main = SetDelay(10);
  TCCR0B = CK8;
  TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
  OCR0A =  0;
  OCR0B = 120;
  TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
 
  TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
  TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
  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));
}
 
void Delay_ms_Mess(unsigned int w)
{
  unsigned int akt;
  akt = SetDelay(w);
  while (!CheckDelay(akt)) ANALOG_ON;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
//  Servo ansteuern
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
SIGNAL(SIG_OUTPUT_COMPARE2A)
{
  static unsigned char timer = 10;
  if(!timer--)  
  {
 
    TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;
    if(ServoValue < EE_Parameter.ServoNickMin)
    {
      ServoValue = EE_Parameter.ServoNickMin;
    }
    if(ServoValue > EE_Parameter.ServoNickMax)
    {
      ServoValue = EE_Parameter.ServoNickMax;
    }  
   
    OCR2A = ServoValue;
    timer = EE_Parameter.ServoNickRefresh;
  }
  else
  {
    TCCR2A =3;
    PORTD&=~0x80;
  }
}
 

Rev 979	Rev 1042
1	#include "main.h"	1	#include "main.h"
-		2	#include "FlightControl.h"
-		3
2	volatile unsigned long cnt_ms = 0;	4	volatile unsigned long cnt_ms = 0;
3	volatile unsigned int CountMilliseconds = 0;	5	volatile unsigned int CountMilliseconds = 0;
4	volatile unsigned int Count8Khz = 0;	6	volatile unsigned int Count8Khz = 0;
5		7
6	volatile static unsigned int tim_main;	8	volatile static unsigned int tim_main;
7	volatile unsigned char UpdateMotor = 0;	9	volatile unsigned char UpdateMotor = 0;
8	volatile unsigned int cntKompass = 0;	10	volatile unsigned int cntKompass = 0;
9	volatile unsigned int beeptime = 0;	11	volatile unsigned int beeptime = 0;
10	unsigned int BeepMuster = 0xffff;	12	unsigned int BeepMuster = 0xffff;
11	int ServoValue = 0;	13	int ServoValue = 0;
12	extern void MM3_Update(void);	14	extern void MM3_Update(void);
13		15
14	enum {	16	enum {
15	STOP = 0,	17	STOP = 0,
16	CK = 1,	18	CK = 1,
17	CK8 = 2,	19	CK8 = 2,
18	CK64 = 3,	20	CK64 = 3,
19	CK256 = 4,	21	CK256 = 4,
20	CK1024 = 5,	22	CK1024 = 5,
21	T0_FALLING_EDGE = 6,	23	T0_FALLING_EDGE = 6,
22	T0_RISING_EDGE = 7	24	T0_RISING_EDGE = 7
23	};	25	};
24		26
25		27
26	SIGNAL (SIG_OVERFLOW0) // 8kHz	28	SIGNAL (SIG_OVERFLOW0) // 8kHz
27	{	29	{
28	static unsigned char cnt_1ms = 1,cnt = 0;	30	static unsigned char cnt_1ms = 1,cnt = 0;
29	unsigned char pieper_ein = 0;	31	unsigned char pieper_ein = 0;
30		32
31	Count8Khz++;	33	Count8Khz++;
32		34
33	if(!cnt--)	35	if(!cnt--)
34	{	36	{
35	cnt = 9;	37	cnt = 9;
36	cnt_1ms++;	38	cnt_1ms++;
37	cnt_1ms %= 2;	39	cnt_1ms %= 2;
38	if(!cnt_1ms)	40	if(!cnt_1ms)
39	{	41	{
40	UpdateMotor = 1;	42	UpdateMotor = 1;
41	}	43	}
42	CountMilliseconds++;	44	CountMilliseconds++;
43	cnt_ms++;	45	cnt_ms++;
44	// update compass value if this option is enabled in the settings	46	// update compass value if this option is enabled in the settings
45	#ifdef USE_COMPASS	47	#ifdef USE_COMPASS
46	MM3_Update(); // read out mm3 board	48	MM3_Update(); // read out mm3 board
47	#endif	49	#endif
48	}	50	}
49		51
50	if(beeptime > 1)	52	if(beeptime > 1)
51	{	53	{
52	beeptime--;	54	beeptime--;
53	if(beeptime & BeepMuster)	55	if(beeptime & BeepMuster)
54	{	56	{
55	pieper_ein = 1;	57	pieper_ein = 1;
56	}	58	}
57	else pieper_ein = 0;	59	else pieper_ein = 0;
58	}	60	}
59	else	61	else
60	{	62	{
61	pieper_ein = 0;	63	pieper_ein = 0;
62	BeepMuster = 0xffff;	64	BeepMuster = 0xffff;
63	}	65	}
64		66
65	if(pieper_ein)	67	if(pieper_ein)
66	{	68	{
67	PORTC \|= (1<<7); // Speaker an PORTC.7	69	PORTC \|= (1<<7); // Speaker an PORTC.7
68	}	70	}
69	else	71	else
70	{	72	{
71	PORTC &= ~(1<<7);	73	PORTC &= ~(1<<7);
72	}	74	}
73		75
74	#if 0	76	#if 0
75	if(PINC & 0x10)	77	if(PINC & 0x10)
76	{	78	{
77	cntKompass++;	79	cntKompass++;
78	}	80	}
79	else	81	else
80	{	82	{
81	if((cntKompass) && (cntKompass < 4000))	83	if((cntKompass) && (cntKompass < 4000))
82	{	84	{
83	if(cntKompass < 10)	85	if(cntKompass < 10)
84	{	86	{
85	cntKompass = 10;	87	cntKompass = 10;
86	}	88	}
87	KompassValue = (((int) cntKompass-10) * 36) / 35;	89	KompassValue = (((int) cntKompass-10) * 36) / 35;
88	}	90	}
89	cntKompass = 0;	91	cntKompass = 0;
90	}	92	}
91	#endif	93	#endif
92	}	94	}
93		95
94		96
95	void Timer_Init(void)	97	void Timer_Init(void)
96	{	98	{
97	tim_main = SetDelay(10);	99	tim_main = SetDelay(10);
98	TCCR0B = CK8;	100	TCCR0B = CK8;
99	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	101	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
100	OCR0A = 0;	102	OCR0A = 0;
101	OCR0B = 120;	103	OCR0B = 120;
102	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload	104	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
103		105
104	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	106	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
105	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	107	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
106	TIMSK2 \|= _BV(OCIE2A);	108	TIMSK2 \|= _BV(OCIE2A);
107		109
108	TIMSK0 \|= _BV(TOIE0);	110	TIMSK0 \|= _BV(TOIE0);
109	OCR2A = 10;	111	OCR2A = 10;
110	TCNT2 = 0;	112	TCNT2 = 0;
111	}	113	}
112		114
113	// -----------------------------------------------------------------------	115	// -----------------------------------------------------------------------
114		116
115	unsigned int SetDelay (unsigned int t)	117	unsigned int SetDelay (unsigned int t)
116	{	118	{
117	// TIMSK0 &= ~_BV(TOIE0);	119	// TIMSK0 &= ~_BV(TOIE0);
118	return(CountMilliseconds + t + 1);	120	return(CountMilliseconds + t + 1);
119	// TIMSK0 \|= _BV(TOIE0);	121	// TIMSK0 \|= _BV(TOIE0);
120	}	122	}
121		123
122	// -----------------------------------------------------------------------	124	// -----------------------------------------------------------------------
123	char CheckDelay(unsigned int t)	125	char CheckDelay(unsigned int t)
124	{	126	{
125	// TIMSK0 &= ~_BV(TOIE0);	127	// TIMSK0 &= ~_BV(TOIE0);
126	return(((t - CountMilliseconds) & 0x8000) >> 9);	128	return(((t - CountMilliseconds) & 0x8000) >> 9);
127	// TIMSK0 \|= _BV(TOIE0);	129	// TIMSK0 \|= _BV(TOIE0);
128	}	130	}
129		131
130	// -----------------------------------------------------------------------	132	// -----------------------------------------------------------------------
131	void Delay_ms(unsigned int w)	133	void Delay_ms(unsigned int w)
132	{	134	{
133	unsigned int akt;	135	unsigned int akt;
134	akt = SetDelay(w);	136	akt = SetDelay(w);
135	while (!CheckDelay(akt));	137	while (!CheckDelay(akt));
136	}	138	}
137		139
138	void Delay_ms_Mess(unsigned int w)	140	void Delay_ms_Mess(unsigned int w)
139	{	141	{
140	unsigned int akt;	142	unsigned int akt;
141	akt = SetDelay(w);	143	akt = SetDelay(w);
142	while (!CheckDelay(akt)) ANALOG_ON;	144	while (!CheckDelay(akt)) ANALOG_ON;
143	}	145	}
144		146
145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	147	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
146	// Servo ansteuern	148	// Servo ansteuern
147	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	149	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
148	SIGNAL(SIG_OUTPUT_COMPARE2A)	150	SIGNAL(SIG_OUTPUT_COMPARE2A)
149	{	151	{
150	static unsigned char timer = 10;	152	static unsigned char timer = 10;
151	if(!timer--)	153	if(!timer--)
152	{	154	{
153		155
154	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	156	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
155	if(ServoValue < EE_Parameter.ServoNickMin)	157	if(ServoValue < EE_Parameter.ServoNickMin)
156	{	158	{
157	ServoValue = EE_Parameter.ServoNickMin;	159	ServoValue = EE_Parameter.ServoNickMin;
158	}	160	}
159	if(ServoValue > EE_Parameter.ServoNickMax)	161	if(ServoValue > EE_Parameter.ServoNickMax)
160	{	162	{
161	ServoValue = EE_Parameter.ServoNickMax;	163	ServoValue = EE_Parameter.ServoNickMax;
162	}	164	}
163		165
164	OCR2A = ServoValue;	166	OCR2A = ServoValue;
165	timer = EE_Parameter.ServoNickRefresh;	167	timer = EE_Parameter.ServoNickRefresh;
166	}	168	}
167	else	169	else
168	{	170	{
169	TCCR2A =3;	171	TCCR2A =3;
170	PORTD&=~0x80;	172	PORTD&=~0x80;
171	}	173	}
172	}	174	}
173		175

Subversion Repositories FlightCtrl

(root)/branches/KalmanFilter MikeW/timer0.c @ 1846 - Rev 979 → 1042