WebSVN - FlightCtrl - Diff - Rev 310 and 319 - /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;}
               
                       
 
                KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360);
                       
 
                        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 310	Rev 319
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		51
52		52
53	if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();}	53	if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();}
54	if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;}	54	if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;}
55		55
56		56
57		57
58	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360);	58	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360);
59		59
60		60
61	cntKompass = 320;	61	cntKompass = 640;
62	}	62	}
63	}	63	}
64		64
65		65
66	}	66	}
67		67
68		68
69	void Timer_Init(void)	69	void Timer_Init(void)
70	{	70	{
71	tim_main = SetDelay(10);	71	tim_main = SetDelay(10);
72	TCCR0B = CK8;	72	TCCR0B = CK8;
73	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	73	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
74	OCR0A = 0;	74	OCR0A = 0;
75	OCR0B = 120;	75	OCR0B = 120;
76	TCNT0 = -TIMER_RELOAD_VALUE; // reload	76	TCNT0 = -TIMER_RELOAD_VALUE; // reload
77	//OCR1 = 0x00;	77	//OCR1 = 0x00;
78		78
79	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	79	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
80	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	80	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
81		81
82	// TIMSK2 \|= _BV(TOIE2);	82	// TIMSK2 \|= _BV(TOIE2);
83	TIMSK2 \|= _BV(OCIE2A);	83	TIMSK2 \|= _BV(OCIE2A);
84		84
85	TIMSK0 \|= _BV(TOIE0);	85	TIMSK0 \|= _BV(TOIE0);
86	OCR2A = 10;	86	OCR2A = 10;
87	TCNT2 = 0;	87	TCNT2 = 0;
88		88
89	}	89	}
90		90
91	// -----------------------------------------------------------------------	91	// -----------------------------------------------------------------------
92		92
93	unsigned int SetDelay (unsigned int t)	93	unsigned int SetDelay (unsigned int t)
94	{	94	{
95	// TIMSK0 &= ~_BV(TOIE0);	95	// TIMSK0 &= ~_BV(TOIE0);
96	return(CountMilliseconds + t + 1);	96	return(CountMilliseconds + t + 1);
97	// TIMSK0 \|= _BV(TOIE0);	97	// TIMSK0 \|= _BV(TOIE0);
98	}	98	}
99		99
100	// -----------------------------------------------------------------------	100	// -----------------------------------------------------------------------
101	char CheckDelay(unsigned int t)	101	char CheckDelay(unsigned int t)
102	{	102	{
103	// TIMSK0 &= ~_BV(TOIE0);	103	// TIMSK0 &= ~_BV(TOIE0);
104	return(((t - CountMilliseconds) & 0x8000) >> 9);	104	return(((t - CountMilliseconds) & 0x8000) >> 9);
105	// TIMSK0 \|= _BV(TOIE0);	105	// TIMSK0 \|= _BV(TOIE0);
106	}	106	}
107		107
108	// -----------------------------------------------------------------------	108	// -----------------------------------------------------------------------
109	void Delay_ms(unsigned int w)	109	void Delay_ms(unsigned int w)
110	{	110	{
111	unsigned int akt;	111	unsigned int akt;
112	akt = SetDelay(w);	112	akt = SetDelay(w);
113	while (!CheckDelay(akt));	113	while (!CheckDelay(akt));
114	}	114	}
115		115
116	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	116	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
117	// Servo ansteuern	117	// Servo ansteuern
118	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	118	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
119	SIGNAL(SIG_OUTPUT_COMPARE2A)	119	SIGNAL(SIG_OUTPUT_COMPARE2A)
120	{	120	{
121	static unsigned char timer = 10;	121	static unsigned char timer = 10;
122		122
123	if(!timer--)	123	if(!timer--)
124	{	124	{
125	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	125	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
126	ServoValue = Parameter_ServoNickControl;	126	ServoValue = Parameter_ServoNickControl;
127	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	127	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
128	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	128	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
129		129
130	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	130	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
131	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	131	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
132		132
133	//DebugOut.Analog[10] = ServoValue;	133	//DebugOut.Analog[10] = ServoValue;
134	OCR2A = ServoValue;// + 75;	134	OCR2A = ServoValue;// + 75;
135	timer = EE_Parameter.ServoNickRefresh;	135	timer = EE_Parameter.ServoNickRefresh;
136	}	136	}
137	else	137	else
138	{	138	{
139	TCCR2A =3;	139	TCCR2A =3;
140	PORTD&=~0x80;	140	PORTD&=~0x80;
141	}	141	}
142	}	142	}
143		143

Subversion Repositories FlightCtrl

(root)/branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/timer0.c @ 1142 - Rev 310 → 319