WebSVN - FlightCtrl - Diff - Rev 863 and 876 - /branches/V0.68d


#include "main.h"
 
volatile unsigned int CountMilliseconds = 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;
unsigned char ucBeeperActive=1;
 
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;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
   if(!cnt--)
    {
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
     }  
 
     if(beeptime > 1)
        {
        beeptime--;      
        if(beeptime & BeepMuster)
         {
          if(ucBeeperActive) pieper_ein = 1;
          EXT1OUT_INV_OFF;
         }
         else
         {
                if(ucBeeperActive) pieper_ein = 0;
                EXT1OUT_INV_ON;
         }
        }
     else
      {
        EXT1OUT_INV_ON;
       pieper_ein = 0;
       ucBeeperActive=1;
       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)
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 4000))
    {
     KompassValue = cntKompass;
    }
//     if(cntKompass < 10) cntKompass = 10;
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
    cntKompass = 0;
   }
 }
}
 
void setBeeperActive(unsigned char ucVal)
{
        ucBeeperActive=ucVal;
}
 
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
    //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));
}
 
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;  
     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;// + 75;
     timer = EE_Parameter.ServoNickRefresh;
    }
    else
    {
     TCCR2A =3;
     PORTD&=~0x80;
    }
}
 

Rev 863	Rev 876
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 cntKompass = 0;	6	volatile unsigned int cntKompass = 0;
7	volatile unsigned int beeptime = 0;	7	volatile unsigned int beeptime = 0;
8	unsigned int BeepMuster = 0xffff;	8	unsigned int BeepMuster = 0xffff;
9	int ServoValue = 0;	9	int ServoValue = 0;
-		10	unsigned char ucBeeperActive=1;
10		11
11	enum {	12	enum {
12	STOP = 0,	13	STOP = 0,
13	CK = 1,	14	CK = 1,
14	CK8 = 2,	15	CK8 = 2,
15	CK64 = 3,	16	CK64 = 3,
16	CK256 = 4,	17	CK256 = 4,
17	CK1024 = 5,	18	CK1024 = 5,
18	T0_FALLING_EDGE = 6,	19	T0_FALLING_EDGE = 6,
19	T0_RISING_EDGE = 7	20	T0_RISING_EDGE = 7
20	};	21	};
21		22
22		23
23	SIGNAL (SIG_OVERFLOW0) // 8kHz	24	SIGNAL (SIG_OVERFLOW0) // 8kHz
24	{	25	{
25	static unsigned char cnt_1ms = 1,cnt = 0;	26	static unsigned char cnt_1ms = 1,cnt = 0;
26	unsigned char pieper_ein = 0;	27	unsigned char pieper_ein = 0;
27	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	28	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
28		29
29	if(!cnt--)	30	if(!cnt--)
30	{	31	{
31	cnt = 9;	32	cnt = 9;
32	cnt_1ms++;	33	cnt_1ms++;
33	cnt_1ms %= 2;	34	cnt_1ms %= 2;
34	if(!cnt_1ms) UpdateMotor = 1;	35	if(!cnt_1ms) UpdateMotor = 1;
35	CountMilliseconds++;	36	CountMilliseconds++;
36	}	37	}
37		38
38	if(beeptime > 1)	39	if(beeptime > 1)
39	{	40	{
40	beeptime--;	41	beeptime--;
41	if(beeptime & BeepMuster)	42	if(beeptime & BeepMuster)
42	{	43	{
43	pieper_ein = 1;	44	if(ucBeeperActive) pieper_ein = 1;
44	EXT1OUT_INV_OFF;	45	EXT1OUT_INV_OFF;
45	}	46	}
46	else	47	else
47	{	48	{
48	pieper_ein = 0;	49	if(ucBeeperActive) pieper_ein = 0;
49	EXT1OUT_INV_ON;	50	EXT1OUT_INV_ON;
50	}	51	}
51	}	52	}
52	else	53	else
53	{	54	{
54	EXT1OUT_INV_ON;	55	EXT1OUT_INV_ON;
55	pieper_ein = 0;	56	pieper_ein = 0;
-		57	ucBeeperActive=1;
56	BeepMuster = 0xffff;	58	BeepMuster = 0xffff;
57	}	59	}
58		60
59		61
60	if(pieper_ein)	62	if(pieper_ein)
61	{	63	{
62	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2	64	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
63	else PORTC \|= (1<<7); // Speaker an PORTC.7	65	else PORTC \|= (1<<7); // Speaker an PORTC.7
64	}	66	}
65	else	67	else
66	{	68	{
67	if(PlatinenVersion == 10) PORTD &= ~(1<<2);	69	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
68	else PORTC &= ~(1<<7);	70	else PORTC &= ~(1<<7);
69	}	71	}
70		72
71	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	73	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
72	{	74	{
73	if(PINC & 0x10)	75	if(PINC & 0x10)
74	{	76	{
75	cntKompass++;	77	cntKompass++;
76	}	78	}
77	else	79	else
78	{	80	{
79	if((cntKompass) && (cntKompass < 4000))	81	if((cntKompass) && (cntKompass < 4000))
80	{	82	{
81	KompassValue = cntKompass;	83	KompassValue = cntKompass;
82	}	84	}
83	// if(cntKompass < 10) cntKompass = 10;	85	// if(cntKompass < 10) cntKompass = 10;
84	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	86	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
85	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	87	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
86	cntKompass = 0;	88	cntKompass = 0;
87	}	89	}
88	}	90	}
89	}	91	}
-		92
-		93	void setBeeperActive(unsigned char ucVal)
-		94	{
-		95	ucBeeperActive=ucVal;
90		96	}
91		97
92	void Timer_Init(void)	98	void Timer_Init(void)
93	{	99	{
94	tim_main = SetDelay(10);	100	tim_main = SetDelay(10);
95	TCCR0B = CK8;	101	TCCR0B = CK8;
96	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	102	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
97	OCR0A = 0;	103	OCR0A = 0;
98	OCR0B = 120;	104	OCR0B = 120;
99	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload	105	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
100	//OCR1 = 0x00;	106	//OCR1 = 0x00;
101		107
102	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	108	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
103	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	109	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
104		110
105	// TIMSK2 \|= _BV(TOIE2);	111	// TIMSK2 \|= _BV(TOIE2);
106	TIMSK2 \|= _BV(OCIE2A);	112	TIMSK2 \|= _BV(OCIE2A);
107		113
108	TIMSK0 \|= _BV(TOIE0);	114	TIMSK0 \|= _BV(TOIE0);
109	OCR2A = 10;	115	OCR2A = 10;
110	TCNT2 = 0;	116	TCNT2 = 0;
111		117
112	}	118	}
113		119
114	// -----------------------------------------------------------------------	120	// -----------------------------------------------------------------------
115		121
116	unsigned int SetDelay (unsigned int t)	122	unsigned int SetDelay (unsigned int t)
117	{	123	{
118	// TIMSK0 &= ~_BV(TOIE0);	124	// TIMSK0 &= ~_BV(TOIE0);
119	return(CountMilliseconds + t + 1);	125	return(CountMilliseconds + t + 1);
120	// TIMSK0 \|= _BV(TOIE0);	126	// TIMSK0 \|= _BV(TOIE0);
121	}	127	}
122		128
123	// -----------------------------------------------------------------------	129	// -----------------------------------------------------------------------
124	char CheckDelay(unsigned int t)	130	char CheckDelay(unsigned int t)
125	{	131	{
126	// TIMSK0 &= ~_BV(TOIE0);	132	// TIMSK0 &= ~_BV(TOIE0);
127	return(((t - CountMilliseconds) & 0x8000) >> 9);	133	return(((t - CountMilliseconds) & 0x8000) >> 9);
128	// TIMSK0 \|= _BV(TOIE0);	134	// TIMSK0 \|= _BV(TOIE0);
129	}	135	}
130		136
131	// -----------------------------------------------------------------------	137	// -----------------------------------------------------------------------
132	void Delay_ms(unsigned int w)	138	void Delay_ms(unsigned int w)
133	{	139	{
134	unsigned int akt;	140	unsigned int akt;
135	akt = SetDelay(w);	141	akt = SetDelay(w);
136	while (!CheckDelay(akt));	142	while (!CheckDelay(akt));
137	}	143	}
138		144
139	void Delay_ms_Mess(unsigned int w)	145	void Delay_ms_Mess(unsigned int w)
140	{	146	{
141	unsigned int akt;	147	unsigned int akt;
142	akt = SetDelay(w);	148	akt = SetDelay(w);
143	while (!CheckDelay(akt)) ANALOG_ON;	149	while (!CheckDelay(akt)) ANALOG_ON;
144	}	150	}
145		151
146	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	152	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
147	// Servo ansteuern	153	// Servo ansteuern
148	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	154	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
149	SIGNAL(SIG_OUTPUT_COMPARE2A)	155	SIGNAL(SIG_OUTPUT_COMPARE2A)
150	{	156	{
151	static unsigned char timer = 10;	157	static unsigned char timer = 10;
152		158
153	if(!timer--)	159	if(!timer--)
154	{	160	{
155	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	161	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
156	ServoValue = Parameter_ServoNickControl;	162	ServoValue = Parameter_ServoNickControl;
157	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	163	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
158	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	164	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
159		165
160	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	166	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
161	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	167	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
162		168
163	OCR2A = ServoValue;// + 75;	169	OCR2A = ServoValue;// + 75;
164	timer = EE_Parameter.ServoNickRefresh;	170	timer = EE_Parameter.ServoNickRefresh;
165	}	171	}
166	else	172	else
167	{	173	{
168	TCCR2A =3;	174	TCCR2A =3;
169	PORTD&=~0x80;	175	PORTD&=~0x80;
170	}	176	}
171	}	177	}
172		178

Subversion Repositories FlightCtrl

(root)/branches/V0.68d_DarkMod/timer0.c @ 2293 - Rev 863 → 876