WebSVN - FlightCtrl - Diff - Rev 723 and 849 - /branches/V0.84a_var


#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;
volatile unsigned char SendSPI = 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)    // 8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
    unsigned char pieper_ein = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
   if(SendSPI) SendSPI--;
   if(!cnt--)
    {
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
    }  
 
     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)
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 362))
    {
     cntKompass += cntKompass / 41;
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
    }
//     if(cntKompass < 10) cntKompass = 10;
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
    cntKompass = 0;
   }
 }
}
 
 
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 723	Rev 849
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 < 4000))	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);	100	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
101		101
102	// TIMSK2 \|= _BV(TOIE2);	102	// TIMSK2 \|= _BV(TOIE2);
103	TIMSK2 \|= _BV(OCIE2A);	103	TIMSK2 \|= _BV(OCIE2A);
104		104
105	TIMSK0 \|= _BV(TOIE0);	105	TIMSK0 \|= _BV(TOIE0);
106	OCR2A = 10;	106	OCR2A = 10;
107	TCNT2 = 0;	107	TCNT2 = 0;
108		108
109	}	109	}
110		110
111	// -----------------------------------------------------------------------	111	// -----------------------------------------------------------------------
112		112
113	unsigned int SetDelay (unsigned int t)	113	unsigned int SetDelay (unsigned int t)
114	{	114	{
115	// TIMSK0 &= ~_BV(TOIE0);	115	// TIMSK0 &= ~_BV(TOIE0);
116	return(CountMilliseconds + t + 1);	116	return(CountMilliseconds + t + 1);
117	// TIMSK0 \|= _BV(TOIE0);	117	// TIMSK0 \|= _BV(TOIE0);
118	}	118	}
119		119
120	// -----------------------------------------------------------------------	120	// -----------------------------------------------------------------------
121	char CheckDelay(unsigned int t)	121	char CheckDelay(unsigned int t)
122	{	122	{
123	// TIMSK0 &= ~_BV(TOIE0);	123	// TIMSK0 &= ~_BV(TOIE0);
124	return(((t - CountMilliseconds) & 0x8000) >> 9);	124	return(((t - CountMilliseconds) & 0x8000) >> 9);
125	// TIMSK0 \|= _BV(TOIE0);	125	// TIMSK0 \|= _BV(TOIE0);
126	}	126	}
127		127
128	// -----------------------------------------------------------------------	128	// -----------------------------------------------------------------------
129	void Delay_ms(unsigned int w)	129	void Delay_ms(unsigned int w)
130	{	130	{
131	unsigned int akt;	131	unsigned int akt;
132	akt = SetDelay(w);	132	akt = SetDelay(w);
133	while (!CheckDelay(akt));	133	while (!CheckDelay(akt));
134	}	134	}
135		135
136	void Delay_ms_Mess(unsigned int w)	136	void Delay_ms_Mess(unsigned int w)
137	{	137	{
138	unsigned int akt;	138	unsigned int akt;
139	akt = SetDelay(w);	139	akt = SetDelay(w);
140	while (!CheckDelay(akt)) ANALOG_ON;	140	while (!CheckDelay(akt)) ANALOG_ON;
141	}	141	}
142		142
143	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	143	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
144	// Servo ansteuern	144	// Servo ansteuern
145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
146	SIGNAL(SIG_OUTPUT_COMPARE2A)	146	SIGNAL(SIG_OUTPUT_COMPARE2A)
147	{	147	{
148	static unsigned char timer = 10;	148	static unsigned char timer = 10;
149		149
150	if(!timer--)	150	if(!timer--)
151	{	151	{
152	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	152	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
153	ServoValue = Parameter_ServoNickControl;	153	ServoValue = Parameter_ServoNickControl;
154	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;
155	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	155	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
156		156
157	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	157	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
158	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	158	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
159		159
160	OCR2A = ServoValue;// + 75;	160	OCR2A = ServoValue;// + 75;
161	timer = EE_Parameter.ServoNickRefresh;	161	timer = EE_Parameter.ServoNickRefresh;
162	}	162	}
163	else	163	else
164	{	164	{
165	TCCR2A =3;	165	TCCR2A =3;
166	PORTD&=~0x80;	166	PORTD&=~0x80;
167	}	167	}
168	}	168	}
169		169

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/timer0.c @ 1904 - Rev 723 → 849