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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 cntKompass = 0; |
6 | volatile unsigned int cntKompass = 0; |
7 | volatile unsigned int beeptime = 0; |
7 | volatile unsigned int beeptime = 0; |
8 | volatile unsigned char SendSPI = 0; |
8 | volatile unsigned char SendSPI = 0; |
- | 9 | volatile unsigned int ServoState = 40; |
|
9 | 10 | ||
10 | unsigned int BeepMuster = 0xffff; |
11 | unsigned int BeepMuster = 0xffff; |
11 | int ServoValue = 0; |
12 | unsigned int ServoValue = 0; |
12 | 13 | ||
13 | enum { |
14 | enum { |
14 | STOP = 0, |
15 | STOP = 0, |
15 | CK = 1, |
16 | CK = 1, |
16 | CK8 = 2, |
17 | CK8 = 2, |
17 | CK64 = 3, |
18 | CK64 = 3, |
18 | CK256 = 4, |
19 | CK256 = 4, |
19 | CK1024 = 5, |
20 | CK1024 = 5, |
20 | T0_FALLING_EDGE = 6, |
21 | T0_FALLING_EDGE = 6, |
21 | T0_RISING_EDGE = 7 |
22 | T0_RISING_EDGE = 7 |
22 | }; |
23 | }; |
23 | 24 | ||
24 | 25 | ||
25 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
26 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
26 | { |
27 | { |
27 | static unsigned char cnt_1ms = 1,cnt = 0; |
28 | static unsigned char cnt_1ms = 1,cnt = 0; |
28 | unsigned char pieper_ein = 0; |
29 | unsigned char pieper_ein = 0; |
29 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
30 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
30 | if(SendSPI) SendSPI--; |
31 | if(SendSPI) SendSPI--; |
31 | if(!cnt--) |
32 | if(!cnt--) |
32 | { |
33 | { |
33 | cnt = 9; |
34 | cnt = 9; |
34 | cnt_1ms++; |
35 | cnt_1ms++; |
35 | cnt_1ms %= 2; |
36 | cnt_1ms %= 2; |
36 | if(!cnt_1ms) UpdateMotor = 1; |
37 | if(!cnt_1ms) UpdateMotor = 1; |
37 | CountMilliseconds++; |
38 | CountMilliseconds++; |
38 | } |
39 | } |
39 | 40 | ||
40 | if(beeptime > 1) |
41 | if(beeptime > 1) |
41 | { |
42 | { |
42 | beeptime--; |
43 | beeptime--; |
43 | if(beeptime & BeepMuster) |
44 | if(beeptime & BeepMuster) |
44 | { |
45 | { |
45 | pieper_ein = 1; |
46 | pieper_ein = 1; |
46 | } |
47 | } |
47 | else pieper_ein = 0; |
48 | else pieper_ein = 0; |
48 | } |
49 | } |
49 | else |
50 | else |
50 | { |
51 | { |
51 | pieper_ein = 0; |
52 | pieper_ein = 0; |
52 | BeepMuster = 0xffff; |
53 | BeepMuster = 0xffff; |
53 | } |
54 | } |
54 | 55 | ||
55 | 56 | ||
56 | if(pieper_ein) |
57 | if(pieper_ein) |
57 | { |
58 | { |
58 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
59 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
59 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
60 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
60 | } |
61 | } |
61 | else |
62 | else |
62 | { |
63 | { |
63 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
64 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
64 | else PORTC &= ~(1<<7); |
65 | else PORTC &= ~(1<<7); |
65 | } |
66 | } |
66 | 67 | ||
67 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
68 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
68 | { |
69 | { |
69 | if(PINC & 0x10) |
70 | if(PINC & 0x10) |
70 | { |
71 | { |
71 | cntKompass++; |
72 | cntKompass++; |
72 | } |
73 | } |
73 | else |
74 | else |
74 | { |
75 | { |
75 | if((cntKompass) && (cntKompass < 362)) |
76 | if((cntKompass) && (cntKompass < 362)) |
76 | { |
77 | { |
77 | cntKompass += cntKompass / 41; |
78 | cntKompass += cntKompass / 41; |
78 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
79 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
79 | } |
80 | } |
80 | // if(cntKompass < 10) cntKompass = 10; |
81 | // if(cntKompass < 10) cntKompass = 10; |
81 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
82 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
82 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
83 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
83 | cntKompass = 0; |
84 | cntKompass = 0; |
84 | } |
85 | } |
85 | } |
86 | } |
86 | } |
87 | } |
87 | - | ||
- | 88 | ||
88 | 89 | //---------------------------- |
|
89 | void Timer_Init(void) |
90 | void Timer_Init(void) |
90 | { |
91 | { |
91 | tim_main = SetDelay(10); |
92 | tim_main = SetDelay(10); |
92 | TCCR0B = CK8; |
93 | TCCR0B = CK8; |
93 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
94 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
94 | OCR0A = 0; |
95 | OCR0A = 0; |
95 | OCR0B = 120; |
96 | OCR0B = 120; |
96 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
97 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
97 | //OCR1 = 0x00; |
98 | //OCR1 = 0x00; |
98 | 99 | ||
99 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
100 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
100 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
101 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
- | 102 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
|
101 | - | ||
- | 103 | ||
102 | // TIMSK2 |= _BV(TOIE2); |
104 | |
103 | TIMSK2 |= _BV(OCIE2A); |
105 | TIMSK2 |= _BV(OCIE2A); |
104 | 106 | ||
105 | TIMSK0 |= _BV(TOIE0); |
107 | TIMSK0 |= _BV(TOIE0); |
106 | OCR2A = 10; |
108 | OCR2A = 10; |
107 | TCNT2 = 0; |
109 | TCNT2 = 0; |
108 | 110 | ||
109 | } |
111 | } |
110 | 112 | ||
111 | // ----------------------------------------------------------------------- |
113 | // ----------------------------------------------------------------------- |
112 | 114 | ||
113 | unsigned int SetDelay (unsigned int t) |
115 | unsigned int SetDelay (unsigned int t) |
114 | { |
116 | { |
115 | // TIMSK0 &= ~_BV(TOIE0); |
117 | // TIMSK0 &= ~_BV(TOIE0); |
116 | return(CountMilliseconds + t + 1); |
118 | return(CountMilliseconds + t + 1); |
117 | // TIMSK0 |= _BV(TOIE0); |
119 | // TIMSK0 |= _BV(TOIE0); |
118 | } |
120 | } |
119 | 121 | ||
120 | // ----------------------------------------------------------------------- |
122 | // ----------------------------------------------------------------------- |
121 | char CheckDelay(unsigned int t) |
123 | char CheckDelay(unsigned int t) |
122 | { |
124 | { |
123 | // TIMSK0 &= ~_BV(TOIE0); |
125 | // TIMSK0 &= ~_BV(TOIE0); |
124 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
126 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
125 | // TIMSK0 |= _BV(TOIE0); |
127 | // TIMSK0 |= _BV(TOIE0); |
126 | } |
128 | } |
127 | 129 | ||
128 | // ----------------------------------------------------------------------- |
130 | // ----------------------------------------------------------------------- |
129 | void Delay_ms(unsigned int w) |
131 | void Delay_ms(unsigned int w) |
130 | { |
132 | { |
131 | unsigned int akt; |
133 | unsigned int akt; |
132 | akt = SetDelay(w); |
134 | akt = SetDelay(w); |
133 | while (!CheckDelay(akt)); |
135 | while (!CheckDelay(akt)); |
134 | } |
136 | } |
135 | 137 | ||
136 | void Delay_ms_Mess(unsigned int w) |
138 | void Delay_ms_Mess(unsigned int w) |
137 | { |
139 | { |
138 | unsigned int akt; |
140 | unsigned int akt; |
139 | akt = SetDelay(w); |
141 | akt = SetDelay(w); |
140 | while (!CheckDelay(akt)) ANALOG_ON; |
142 | while (!CheckDelay(akt)) ANALOG_ON; |
141 | } |
143 | } |
142 | 144 | ||
143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
144 | // Servo ansteuern |
146 | // Servo ansteuern |
145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 148 | SIGNAL(SIG_OVERFLOW2) |
|
- | 149 | { |
|
- | 150 | if (ServoState > 0) PORTD |= 0x80; |
|
- | 151 | else PORTD &= ~0x80; |
|
- | 152 | TCCR2A =3; |
|
- | 153 | TIMSK2 &= ~_BV(TOIE2); |
|
- | 154 | } |
|
- | 155 | ||
146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
147 | { |
157 | { |
148 | static unsigned char timer = 10; |
158 | static unsigned char postPulse = 0x80; |
149 | - | ||
- | 159 | static int filterServo = 100; |
|
- | 160 | #define MULTIPLIER 4 |
|
150 | if(!timer--) |
161 | if(ServoState == 4) |
151 | { |
162 | { |
152 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
163 | ServoValue = 0x0030; // Offset Part1 |
153 | ServoValue = Parameter_ServoNickControl; |
164 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
- | 165 | ServoValue += filterServo; |
|
154 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
166 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER); |
155 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
167 | else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER); |
156 | - | ||
157 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
168 | if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
158 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
169 | else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
159 | 170 | ||
- | 171 | DebugOut.Analog[20] = ServoValue; |
|
- | 172 | if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
|
160 | OCR2A = ServoValue;// + 75; |
173 | OCR2A = 255-(ServoValue % 256); |
161 | timer = EE_Parameter.ServoNickRefresh; |
174 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
162 | } |
175 | } |
163 | else |
176 | else if ((ServoState > 0) && (ServoState < 4)) |
164 | { |
177 | { |
- | 178 | if(ServoValue > 255) |
|
- | 179 | { PORTD |= 0x80; |
|
165 | TCCR2A =3; |
180 | TCCR2A =3; |
- | 181 | ServoValue -= 255; |
|
- | 182 | } |
|
- | 183 | else |
|
- | 184 | { |
|
- | 185 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
|
- | 186 | OCR2A = postPulse; // Offset Part2 |
|
- | 187 | ServoState = 1; |
|
- | 188 | } |
|
- | 189 | } |
|
- | 190 | else if (ServoState == 0) |
|
- | 191 | { |
|
- | 192 | ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
|
166 | PORTD&=~0x80; |
193 | PORTD&=~0x80; |
- | 194 | TCCR2A = 3; |
|
167 | } |
195 | } |
- | 196 | ServoState--; |
|
- | 197 | ||
168 | } |
198 | } |
169 | 199 |