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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 |