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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 | 9 | ||
| 10 | unsigned int BeepMuster = 0xffff; |
10 | unsigned int BeepMuster = 0xffff; |
| 11 | int ServoValue = 0; |
11 | int ServoValue = 0; |
| 12 | 12 | ||
| 13 | enum { |
13 | enum { |
| 14 | STOP = 0, |
14 | STOP = 0, |
| 15 | CK = 1, |
15 | CK = 1, |
| 16 | CK8 = 2, |
16 | CK8 = 2, |
| 17 | CK64 = 3, |
17 | CK64 = 3, |
| 18 | CK256 = 4, |
18 | CK256 = 4, |
| 19 | CK1024 = 5, |
19 | CK1024 = 5, |
| 20 | T0_FALLING_EDGE = 6, |
20 | T0_FALLING_EDGE = 6, |
| 21 | T0_RISING_EDGE = 7 |
21 | T0_RISING_EDGE = 7 |
| 22 | }; |
22 | }; |
| 23 | 23 | ||
| 24 | 24 | ||
| 25 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
25 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
| 26 | { |
26 | { |
| 27 | static unsigned char cnt_1ms = 1,cnt = 0; |
27 | static unsigned char cnt_1ms = 1,cnt = 0; |
| 28 | unsigned char pieper_ein = 0; |
28 | unsigned char pieper_ein = 0; |
| 29 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
29 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| 30 | if(SendSPI) SendSPI--; |
30 | if(SendSPI) SendSPI--; |
| 31 | if(!cnt--) |
31 | if(!cnt--) |
| 32 | { |
32 | { |
| 33 | cnt = 9; |
33 | cnt = 9; |
| 34 | cnt_1ms++; |
34 | cnt_1ms++; |
| 35 | cnt_1ms %= 2; |
35 | cnt_1ms %= 2; |
| 36 | if(!cnt_1ms) UpdateMotor = 1; |
36 | if(!cnt_1ms) UpdateMotor = 1; |
| 37 | CountMilliseconds++; |
37 | CountMilliseconds++; |
| 38 | } |
38 | } |
| 39 | 39 | ||
| 40 | if(beeptime > 1) |
40 | if(beeptime > 1) |
| 41 | { |
41 | { |
| 42 | beeptime--; |
42 | beeptime--; |
| 43 | if(beeptime & BeepMuster) |
43 | if(beeptime & BeepMuster) |
| 44 | { |
44 | { |
| 45 | pieper_ein = 1; |
45 | pieper_ein = 1; |
| 46 | } |
46 | } |
| 47 | else pieper_ein = 0; |
47 | else pieper_ein = 0; |
| 48 | } |
48 | } |
| 49 | else |
49 | else |
| 50 | { |
50 | { |
| 51 | pieper_ein = 0; |
51 | pieper_ein = 0; |
| 52 | BeepMuster = 0xffff; |
52 | BeepMuster = 0xffff; |
| 53 | } |
53 | } |
| 54 | 54 | ||
| 55 | 55 | ||
| 56 | if(pieper_ein) |
56 | if(pieper_ein) |
| 57 | { |
57 | { |
| 58 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
58 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| 59 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
59 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
| 60 | } |
60 | } |
| 61 | else |
61 | else |
| 62 | { |
62 | { |
| 63 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
63 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| 64 | else PORTC &= ~(1<<7); |
64 | else PORTC &= ~(1<<7); |
| 65 | } |
65 | } |
| 66 | 66 | ||
| 67 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
67 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| 68 | { |
68 | { |
| 69 | if(PINC & 0x10) |
69 | if(PINC & 0x10) |
| 70 | { |
70 | { |
| 71 | cntKompass++; |
71 | cntKompass++; |
| 72 | } |
72 | } |
| 73 | else |
73 | else |
| 74 | { |
74 | { |
| 75 | if((cntKompass) && (cntKompass < 362)) |
75 | if((cntKompass) && (cntKompass < 362)) |
| 76 | { |
76 | { |
| 77 | cntKompass += cntKompass / 41; |
77 | cntKompass += cntKompass / 41; |
| 78 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
78 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| 79 | } |
79 | } |
| 80 | // if(cntKompass < 10) cntKompass = 10; |
80 | // if(cntKompass < 10) cntKompass = 10; |
| 81 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
81 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| 82 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
82 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 83 | cntKompass = 0; |
83 | cntKompass = 0; |
| 84 | } |
84 | } |
| 85 | } |
85 | } |
| 86 | } |
86 | } |
| 87 | - | ||
| - | 87 | ||
| 88 | //---------------------------- |
88 | |
| 89 | void Timer_Init(void) |
89 | void Timer_Init(void) |
| 90 | { |
90 | { |
| 91 | tim_main = SetDelay(10); |
91 | tim_main = SetDelay(10); |
| 92 | TCCR0B = CK8; |
92 | TCCR0B = CK8; |
| 93 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
93 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| 94 | OCR0A = 0; |
94 | OCR0A = 0; |
| 95 | OCR0B = 120; |
95 | OCR0B = 120; |
| 96 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
96 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| 97 | //OCR1 = 0x00; |
97 | //OCR1 = 0x00; |
| 98 | 98 | ||
| 99 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
99 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| 100 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
100 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| 101 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
- | |
| 102 | - | ||
| - | 101 | ||
| 103 | 102 | // TIMSK2 |= _BV(TOIE2); |
|
| 104 | TIMSK2 |= _BV(OCIE2A); |
103 | TIMSK2 |= _BV(OCIE2A); |
| 105 | 104 | ||
| 106 | TIMSK0 |= _BV(TOIE0); |
105 | TIMSK0 |= _BV(TOIE0); |
| 107 | OCR2A = 10; |
106 | OCR2A = 10; |
| 108 | TCNT2 = 0; |
107 | TCNT2 = 0; |
| 109 | 108 | ||
| 110 | } |
109 | } |
| 111 | 110 | ||
| 112 | // ----------------------------------------------------------------------- |
111 | // ----------------------------------------------------------------------- |
| 113 | 112 | ||
| 114 | unsigned int SetDelay (unsigned int t) |
113 | unsigned int SetDelay (unsigned int t) |
| 115 | { |
114 | { |
| 116 | // TIMSK0 &= ~_BV(TOIE0); |
115 | // TIMSK0 &= ~_BV(TOIE0); |
| 117 | return(CountMilliseconds + t + 1); |
116 | return(CountMilliseconds + t + 1); |
| 118 | // TIMSK0 |= _BV(TOIE0); |
117 | // TIMSK0 |= _BV(TOIE0); |
| 119 | } |
118 | } |
| 120 | 119 | ||
| 121 | // ----------------------------------------------------------------------- |
120 | // ----------------------------------------------------------------------- |
| 122 | char CheckDelay(unsigned int t) |
121 | char CheckDelay(unsigned int t) |
| 123 | { |
122 | { |
| 124 | // TIMSK0 &= ~_BV(TOIE0); |
123 | // TIMSK0 &= ~_BV(TOIE0); |
| 125 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
124 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
| 126 | // TIMSK0 |= _BV(TOIE0); |
125 | // TIMSK0 |= _BV(TOIE0); |
| 127 | } |
126 | } |
| 128 | 127 | ||
| 129 | // ----------------------------------------------------------------------- |
128 | // ----------------------------------------------------------------------- |
| 130 | void Delay_ms(unsigned int w) |
129 | void Delay_ms(unsigned int w) |
| 131 | { |
130 | { |
| 132 | unsigned int akt; |
131 | unsigned int akt; |
| 133 | akt = SetDelay(w); |
132 | akt = SetDelay(w); |
| 134 | while (!CheckDelay(akt)); |
133 | while (!CheckDelay(akt)); |
| 135 | } |
134 | } |
| 136 | 135 | ||
| 137 | void Delay_ms_Mess(unsigned int w) |
136 | void Delay_ms_Mess(unsigned int w) |
| 138 | { |
137 | { |
| 139 | unsigned int akt; |
138 | unsigned int akt; |
| 140 | akt = SetDelay(w); |
139 | akt = SetDelay(w); |
| 141 | while (!CheckDelay(akt)) ANALOG_ON; |
140 | while (!CheckDelay(akt)) ANALOG_ON; |
| 142 | } |
141 | } |
| 143 | 142 | ||
| 144 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 145 | // Servo ansteuern |
144 | // Servo ansteuern |
| 146 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 147 | SIGNAL(SIG_OVERFLOW2) |
- | |
| 148 | { |
- | |
| 149 | PORTD |= 0x80; |
- | |
| 150 | TCCR2A =3; |
- | |
| 151 | TIMSK2 &= ~_BV(TOIE2); |
- | |
| 152 | } |
- | |
| 153 | - | ||
| 154 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
| 155 | { |
147 | { |
| 156 | #define MULTIPLIER 4 |
- | |
| 157 | #define PPM_OFFSET 256 // 820us |
- | |
| 158 | static unsigned int timer = 10 * MULTIPLIER; |
- | |
| 159 | - | ||
| 160 | if(timer == 3) |
- | |
| 161 | { |
- | |
| 162 | ServoValue = PPM_OFFSET; |
- | |
| 163 | ServoValue += (int) Parameter_ServoNickControl * 2; |
- | |
| 164 | - | ||
| 165 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128 )/ (512/MULTIPLIER); |
- | |
| 166 | else ServoValue -= ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128) / (512/MULTIPLIER); |
- | |
| 167 | - | ||
| 168 | if((ServoValue) < ((int)EE_Parameter.ServoNickMin*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMin*MULTIPLIER; |
- | |
| 169 | else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMax*MULTIPLIER; |
- | |
| 170 | - | ||
| 171 | ServoValue = 500; |
- | |
| 172 | DebugOut.Analog[23] = ServoValue; |
- | |
| 173 | - | ||
| 174 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
- | |
| 175 | OCR2A = ServoValue % 256; |
- | |
| 176 | TIMSK2 |= _BV(TOIE2); |
- | |
| 177 | } |
- | |
| 178 | else if (timer < 3) |
- | |
| 179 | { |
- | |
| 180 | - | ||
| 181 | if (ServoValue > 255) |
- | |
| 182 | { PORTD |= 0x80; |
- | |
| 183 | TCCR2A =3; |
- | |
| 184 | ServoValue -= 255; |
- | |
| 185 | } |
- | |
| 186 | else |
- | |
| 187 | { |
- | |
| 188 | TCCR2A =3; |
- | |
| 189 | PORTD&=~0x80; |
- | |
| 190 | OCR2A = 0xff; |
- | |
| 191 | } |
- | |
| 192 | - | ||
| 193 | if (timer == 0) timer = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
- | |
| 194 | } |
- | |
| 195 | - | ||
| 196 | - | ||
| 197 | timer--; |
- | |
| 198 | - | ||
| 199 | /* static unsigned char timer = 10; |
148 | static unsigned char timer = 10; |
| 200 | |
149 | |
| 201 | if(!timer--) |
150 | if(!timer--) |
| 202 | { |
151 | { |
| 203 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
152 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| 204 | ServoValue = Parameter_ServoNickControl; |
153 | ServoValue = Parameter_ServoNickControl; |
| 205 | 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; |
| 206 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
155 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| 207 | |
156 | |
| 208 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
157 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| 209 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
158 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| 210 | 159 | ||
| 211 | OCR2A = ServoValue;// + 75; |
160 | OCR2A = ServoValue;// + 75; |
| 212 | timer = EE_Parameter.ServoNickRefresh; |
161 | timer = EE_Parameter.ServoNickRefresh; |
| 213 | } |
162 | } |
| 214 | else |
163 | else |
| 215 | { |
164 | { |
| 216 | TCCR2A =3; |
165 | TCCR2A =3; |
| 217 | PORTD&=~0x80; |
166 | PORTD&=~0x80; |
| 218 | } */ |
167 | } |
| 219 | - | ||
| 220 | } |
168 | } |
| 221 | 169 | ||