WebSVN - FlightCtrl - Diff - Rev 319 and 320 - /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/timer0.c


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int beeptime = 0;
volatile unsigned int cntKompass = 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)    // 8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
   if(!cnt--)
    {
     cnt = 9;
     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)
        {
                MM3_timer0();           // Kompass auslesen
 
                if (!cntKompass--)              // Aufruf mit 25 Hz
                {
 
 
                if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();}
                if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;}
 
 
 
 
 
 
                        cntKompass = 640;
                }
        }
 
 
}
 
 
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 319	Rev 320
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 = 0;	7	volatile unsigned int cntKompass = 0;
8	int ServoValue = 0;	8	int ServoValue = 0;
9		9
10	enum {	10	enum {
11	STOP = 0,	11	STOP = 0,
12	CK = 1,	12	CK = 1,
13	CK8 = 2,	13	CK8 = 2,
14	CK64 = 3,	14	CK64 = 3,
15	CK256 = 4,	15	CK256 = 4,
16	CK1024 = 5,	16	CK1024 = 5,
17	T0_FALLING_EDGE = 6,	17	T0_FALLING_EDGE = 6,
18	T0_RISING_EDGE = 7	18	T0_RISING_EDGE = 7
19	};	19	};
20		20
21		21
22	SIGNAL (SIG_OVERFLOW0) // 8kHz	22	SIGNAL (SIG_OVERFLOW0) // 8kHz
23	{	23	{
24	static unsigned char cnt_1ms = 1,cnt = 0;	24	static unsigned char cnt_1ms = 1,cnt = 0;
25	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	25	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
26		26
27	if(!cnt--)	27	if(!cnt--)
28	{	28	{
29	cnt = 9;	29	cnt = 9;
30	cnt_1ms++;	30	cnt_1ms++;
31	cnt_1ms %= 2;	31	cnt_1ms %= 2;
32	if(!cnt_1ms) UpdateMotor = 1;	32	if(!cnt_1ms) UpdateMotor = 1;
33	CountMilliseconds++;	33	CountMilliseconds++;
34	if(Timeout) Timeout--;	34	if(Timeout) Timeout--;
35	}	35	}
36		36
37	if(beeptime > 1)	37	if(beeptime > 1)
38	{	38	{
39	beeptime--;	39	beeptime--;
40	PORTD \|= (1<<PD2);	40	PORTD \|= (1<<PD2);
41	}	41	}
42	else	42	else
43	PORTD &= ~(1<<PD2);	43	PORTD &= ~(1<<PD2);
44		44
45	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	45	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
46	{	46	{
47	MM3_timer0(); // Kompass auslesen	47	MM3_timer0(); // Kompass auslesen
48		48
49	if (!cntKompass--) // Aufruf mit 25 Hz	49	if (!cntKompass--) // Aufruf mit 25 Hz
50	{	50	{
51		-
52		51
53	if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();}	52	if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();}
54	if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;}	53	if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;}
55		-
56		-
57		-
58	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360);	-
59		-
60		54
61	cntKompass = 640;	55	cntKompass = 640;
62	}	56	}
63	}	57	}
64		58
65		59
66	}	60	}
67		61
68		62
69	void Timer_Init(void)	63	void Timer_Init(void)
70	{	64	{
71	tim_main = SetDelay(10);	65	tim_main = SetDelay(10);
72	TCCR0B = CK8;	66	TCCR0B = CK8;
73	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	67	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
74	OCR0A = 0;	68	OCR0A = 0;
75	OCR0B = 120;	69	OCR0B = 120;
76	TCNT0 = -TIMER_RELOAD_VALUE; // reload	70	TCNT0 = -TIMER_RELOAD_VALUE; // reload
77	//OCR1 = 0x00;	71	//OCR1 = 0x00;
78		72
79	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	73	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
80	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	74	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
81		75
82	// TIMSK2 \|= _BV(TOIE2);	76	// TIMSK2 \|= _BV(TOIE2);
83	TIMSK2 \|= _BV(OCIE2A);	77	TIMSK2 \|= _BV(OCIE2A);
84		78
85	TIMSK0 \|= _BV(TOIE0);	79	TIMSK0 \|= _BV(TOIE0);
86	OCR2A = 10;	80	OCR2A = 10;
87	TCNT2 = 0;	81	TCNT2 = 0;
88		82
89	}	83	}
90		84
91	// -----------------------------------------------------------------------	85	// -----------------------------------------------------------------------
92		86
93	unsigned int SetDelay (unsigned int t)	87	unsigned int SetDelay (unsigned int t)
94	{	88	{
95	// TIMSK0 &= ~_BV(TOIE0);	89	// TIMSK0 &= ~_BV(TOIE0);
96	return(CountMilliseconds + t + 1);	90	return(CountMilliseconds + t + 1);
97	// TIMSK0 \|= _BV(TOIE0);	91	// TIMSK0 \|= _BV(TOIE0);
98	}	92	}
99		93
100	// -----------------------------------------------------------------------	94	// -----------------------------------------------------------------------
101	char CheckDelay(unsigned int t)	95	char CheckDelay(unsigned int t)
102	{	96	{
103	// TIMSK0 &= ~_BV(TOIE0);	97	// TIMSK0 &= ~_BV(TOIE0);
104	return(((t - CountMilliseconds) & 0x8000) >> 9);	98	return(((t - CountMilliseconds) & 0x8000) >> 9);
105	// TIMSK0 \|= _BV(TOIE0);	99	// TIMSK0 \|= _BV(TOIE0);
106	}	100	}
107		101
108	// -----------------------------------------------------------------------	102	// -----------------------------------------------------------------------
109	void Delay_ms(unsigned int w)	103	void Delay_ms(unsigned int w)
110	{	104	{
111	unsigned int akt;	105	unsigned int akt;
112	akt = SetDelay(w);	106	akt = SetDelay(w);
113	while (!CheckDelay(akt));	107	while (!CheckDelay(akt));
114	}	108	}
115		109
116	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	110	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
117	// Servo ansteuern	111	// Servo ansteuern
118	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	112	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
119	SIGNAL(SIG_OUTPUT_COMPARE2A)	113	SIGNAL(SIG_OUTPUT_COMPARE2A)
120	{	114	{
121	static unsigned char timer = 10;	115	static unsigned char timer = 10;
122		116
123	if(!timer--)	117	if(!timer--)
124	{	118	{
125	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	119	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
126	ServoValue = Parameter_ServoNickControl;	120	ServoValue = Parameter_ServoNickControl;
127	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	121	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
128	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	122	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
129		123
130	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	124	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
131	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	125	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
132		126
133	//DebugOut.Analog[10] = ServoValue;	127	//DebugOut.Analog[10] = ServoValue;
134	OCR2A = ServoValue;// + 75;	128	OCR2A = ServoValue;// + 75;
135	timer = EE_Parameter.ServoNickRefresh;	129	timer = EE_Parameter.ServoNickRefresh;
136	}	130	}
137	else	131	else
138	{	132	{
139	TCCR2A =3;	133	TCCR2A =3;
140	PORTD&=~0x80;	134	PORTD&=~0x80;
141	}	135	}
142	}	136	}
143		137

Subversion Repositories FlightCtrl

(root)/branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/timer0.c - Rev 319 → 320