WebSVN - FlightCtrl - Diff - Rev 749 and 753 - /branches/MicroMag3


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 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)    // 9,8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
        static uint8_t led_dim, led_duty;
    unsigned char pieper_ein = 0;
 
   if(!cnt--)           // ca. 1 kHz
    {
     cnt = 10;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
         
         // LED-Dimmung Duty-Cycle
         if (!led_duty--)
         {
                led_duty = 4;
                led_dim = Poti2 >> 2;
                PORTD &= ~(1<<PD4);     // J5 auf Low
         }       
     }
       
        if (led_dim) led_dim--;
        else PORTD |= (1<<PD4);
 
     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) timer0_MM3();         // Kompass auslesen
}
 
 
void Timer_Init(void)
{
    TCCR0B = CK8;
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
    OCR0A =  0;
    OCR0B = 120;
 
    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)
{
   uint8_t tmp_sreg;
   uint16_t CountMilliseconds_local;
   
   tmp_sreg = SREG;
   cli();
   CountMilliseconds_local = CountMilliseconds;
   SREG = tmp_sreg;
   return(CountMilliseconds_local + t + 1);
}
 
// -----------------------------------------------------------------------
char CheckDelay(unsigned int t)
{
   uint8_t tmp_sreg;
   uint16_t CountMilliseconds_local;
   
   tmp_sreg = SREG;
   cli();
   CountMilliseconds_local = CountMilliseconds;
   SREG = tmp_sreg;
   return (((t - CountMilliseconds_local) & 0x8000) >> 9);
}
 
// -----------------------------------------------------------------------
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--)  
    {
                // enable PWM on PD7 in non inverting mode
                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;
                timer = EE_Parameter.ServoNickRefresh;
    }
    else
    {
                // disable PWM at PD7
                TCCR2A = 3;
                // set PD7 to low
                PORTD &= ~(1<<PD7);
    }
}
 

Rev 749	Rev 753
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	unsigned int BeepMuster = 0xffff;	7	unsigned int BeepMuster = 0xffff;
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) // 9,8kHz	22	SIGNAL (SIG_OVERFLOW0) // 9,8kHz
23	{	23	{
24	static unsigned char cnt_1ms = 1,cnt = 0;	24	static unsigned char cnt_1ms = 1,cnt = 0;
-		25	static uint8_t led_dim, led_duty;
25	unsigned char pieper_ein = 0;	26	unsigned char pieper_ein = 0;
26		27
27	if(!cnt--)	28	if(!cnt--) // ca. 1 kHz
28	{	29	{
29	cnt = 10;	30	cnt = 10;
30	cnt_1ms++;	31	cnt_1ms++;
31	cnt_1ms %= 2;	32	cnt_1ms %= 2;
32	if(!cnt_1ms) UpdateMotor = 1;	33	if(!cnt_1ms) UpdateMotor = 1;
33	CountMilliseconds++;	34	CountMilliseconds++;
-		35
-		36	// LED-Dimmung Duty-Cycle
-		37	if (!led_duty--)
-		38	{
-		39	led_duty = 4;
-		40	led_dim = Poti2 >> 2;
-		41	PORTD &= ~(1<<PD4); // J5 auf Low
-		42	}
34	}	43	}
-		44
-		45	if (led_dim) led_dim--;
-		46	else PORTD \|= (1<<PD4);
35		47
36	if(beeptime > 1)	48	if(beeptime > 1)
37	{	49	{
38	beeptime--;	50	beeptime--;
39	if(beeptime & BeepMuster)	51	if(beeptime & BeepMuster)
40	{	52	{
41	pieper_ein = 1;	53	pieper_ein = 1;
42	}	54	}
43	else pieper_ein = 0;	55	else pieper_ein = 0;
44	}	56	}
45	else	57	else
46	{	58	{
47	pieper_ein = 0;	59	pieper_ein = 0;
48	BeepMuster = 0xffff;	60	BeepMuster = 0xffff;
49	}	61	}
50		62
51		63
52	if(pieper_ein)	64	if(pieper_ein)
53	{	65	{
54	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2	66	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
55	else PORTC \|= (1<<7); // Speaker an PORTC.7	67	else PORTC \|= (1<<7); // Speaker an PORTC.7
56	}	68	}
57	else	69	else
58	{	70	{
59	if(PlatinenVersion == 10) PORTD &= ~(1<<2);	71	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
60	else PORTC &= ~(1<<7);	72	else PORTC &= ~(1<<7);
61	}	73	}
62		74
63	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen	75	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen
64	}	76	}
65		77
66		78
67	void Timer_Init(void)	79	void Timer_Init(void)
68	{	80	{
69	TCCR0B = CK8;	81	TCCR0B = CK8;
70	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	82	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
71	OCR0A = 0;	83	OCR0A = 0;
72	OCR0B = 120;	84	OCR0B = 120;
73		85
74	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	86	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
75	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	87	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
76		88
77	// TIMSK2 \|= _BV(TOIE2);	89	// TIMSK2 \|= _BV(TOIE2);
78	TIMSK2 \|= _BV(OCIE2A);	90	TIMSK2 \|= _BV(OCIE2A);
79		91
80	TIMSK0 \|= _BV(TOIE0);	92	TIMSK0 \|= _BV(TOIE0);
81	OCR2A = 10;	93	OCR2A = 10;
82	TCNT2 = 0;	94	TCNT2 = 0;
83		-
84	}	95	}
85		96
86	// -----------------------------------------------------------------------	97	// -----------------------------------------------------------------------
87		98
88	unsigned int SetDelay (unsigned int t)	99	unsigned int SetDelay (unsigned int t)
89	{	100	{
90	uint8_t tmp_sreg;	101	uint8_t tmp_sreg;
91	uint16_t CountMilliseconds_local;	102	uint16_t CountMilliseconds_local;
92		103
93	tmp_sreg = SREG;	104	tmp_sreg = SREG;
94	cli();	105	cli();
95	CountMilliseconds_local = CountMilliseconds;	106	CountMilliseconds_local = CountMilliseconds;
96	SREG = tmp_sreg;	107	SREG = tmp_sreg;
97	return(CountMilliseconds_local + t + 1);	108	return(CountMilliseconds_local + t + 1);
98	}	109	}
99		110
100	// -----------------------------------------------------------------------	111	// -----------------------------------------------------------------------
101	char CheckDelay(unsigned int t)	112	char CheckDelay(unsigned int t)
102	{	113	{
103	uint8_t tmp_sreg;	114	uint8_t tmp_sreg;
104	uint16_t CountMilliseconds_local;	115	uint16_t CountMilliseconds_local;
105		116
106	tmp_sreg = SREG;	117	tmp_sreg = SREG;
107	cli();	118	cli();
108	CountMilliseconds_local = CountMilliseconds;	119	CountMilliseconds_local = CountMilliseconds;
109	SREG = tmp_sreg;	120	SREG = tmp_sreg;
110	return (((t - CountMilliseconds_local) & 0x8000) >> 9);	121	return (((t - CountMilliseconds_local) & 0x8000) >> 9);
111	}	122	}
112		123
113	// -----------------------------------------------------------------------	124	// -----------------------------------------------------------------------
114	void Delay_ms(unsigned int w)	125	void Delay_ms(unsigned int w)
115	{	126	{
116	unsigned int akt;	127	unsigned int akt;
117	akt = SetDelay(w);	128	akt = SetDelay(w);
118	while (!CheckDelay(akt));	129	while (!CheckDelay(akt));
119	}	130	}
120		131
121	void Delay_ms_Mess(unsigned int w)	132	void Delay_ms_Mess(unsigned int w)
122	{	133	{
123	unsigned int akt;	134	unsigned int akt;
124	akt = SetDelay(w);	135	akt = SetDelay(w);
125	while (!CheckDelay(akt)) ANALOG_ON;	136	while (!CheckDelay(akt)) ANALOG_ON;
126	}	137	}
127		138
128	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	139	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
129	// Servo ansteuern	140	// Servo ansteuern
130	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	141	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
131	SIGNAL(SIG_OUTPUT_COMPARE2A)	142	SIGNAL(SIG_OUTPUT_COMPARE2A)
132	{	143	{
133	static unsigned char timer = 10;	144	static unsigned char timer = 10;
134		145
135	if(!timer--)	146	if(!timer--)
136	{	147	{
137	// enable PWM on PD7 in non inverting mode	148	// enable PWM on PD7 in non inverting mode
138	TCCR2A= (1<<COM2A1)\|(0<<COM2A0)\|3;	149	TCCR2A= (1<<COM2A1)\|(0<<COM2A0)\|3;
139		150
140	ServoValue = Parameter_ServoNickControl;	151	ServoValue = Parameter_ServoNickControl;
141	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	152	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
142	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	153	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
143		154
144	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	155	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
145	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	156	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
146		157
147	OCR2A = ServoValue;	158	OCR2A = ServoValue;
148	timer = EE_Parameter.ServoNickRefresh;	159	timer = EE_Parameter.ServoNickRefresh;
149	}	160	}
150	else	161	else
151	{	162	{
152	// disable PWM at PD7	163	// disable PWM at PD7
153	TCCR2A = 3;	164	TCCR2A = 3;
154	// set PD7 to low	165	// set PD7 to low
155	PORTD &= ~(1<<PORTD7);	166	PORTD &= ~(1<<PD7);
156	}	167	}
157	}	168	}
158		169

Subversion Repositories FlightCtrl

(root)/branches/MicroMag3_Nick666/trunc/timer0.c - Rev 749 → 753