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