WebSVN - FlightCtrl - Diff - Rev 103 and 104 - /branches/salvo


#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;
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;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
   if(!cnt--)
    {
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
     if(Timeout) Timeout--;
     }  
 
     if(beeptime > 1)
        {
        beeptime--;
        PORTD |= (1<<2);
        }
     else  
        PORTD &= ~(1<<2);
 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 4000))
    {
// Salvo Kompassoffset 30.8.2007 ***********
     KompassValue = cntKompass -KOMPASS_OFFSET;
 
         if (KompassValue < 0)
         {
                KompassValue += 360;
         }
         if (KompassValue >= 360)
         {
                KompassValue -= 360;
         }     
 // Salvo End  
    }
//     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 = -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));
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
//  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;
 
     DebugOut.Analog[10] = ServoValue;    
     OCR2A = ServoValue;// + 75;
     timer = EE_Parameter.ServoNickRefresh;
    }
    else
    {
     TCCR2A =3;
     PORTD&=~0x80;
    }
}
 

Rev 103	Rev 104
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	int ServoValue = 0;	8	int ServoValue = 0;
9		9
10	enum {	10	enum {
11	STOP = 0,	11	STOP = 0,
12	CK = 1,	12	CK = 1,
13	CK8 = 2,	13	CK8 = 2,
14	CK64 = 3,	14	CK64 = 3,
15	CK256 = 4,	15	CK256 = 4,
16	CK1024 = 5,	16	CK1024 = 5,
17	T0_FALLING_EDGE = 6,	17	T0_FALLING_EDGE = 6,
18	T0_RISING_EDGE = 7	18	T0_RISING_EDGE = 7
19	};	19	};
20		20
21		21
22	SIGNAL (SIG_OVERFLOW0) // 8kHz	22	SIGNAL (SIG_OVERFLOW0) // 8kHz
23	{	23	{
24	static unsigned char cnt_1ms = 1,cnt = 0;	24	static unsigned char cnt_1ms = 1,cnt = 0;
25	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	25	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
26		26
27	if(!cnt--)	27	if(!cnt--)
28	{	28	{
29	cnt = 9;	29	cnt = 9;
30	cnt_1ms++;	30	cnt_1ms++;
31	cnt_1ms %= 2;	31	cnt_1ms %= 2;
32	if(!cnt_1ms) UpdateMotor = 1;	32	if(!cnt_1ms) UpdateMotor = 1;
33	CountMilliseconds++;	33	CountMilliseconds++;
34	if(Timeout) Timeout--;	34	if(Timeout) Timeout--;
35	}	35	}
36		36
37	if(beeptime > 1)	37	if(beeptime > 1)
38	{	38	{
39	beeptime--;	39	beeptime--;
40	PORTD \|= (1<<2);	40	PORTD \|= (1<<2);
41	}	41	}
42	else	42	else
43	PORTD &= ~(1<<2);	43	PORTD &= ~(1<<2);
44		44
45	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	45	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
46	{	46	{
47	if(PINC & 0x10)	47	if(PINC & 0x10)
48	{	48	{
49	cntKompass++;	49	cntKompass++;
50	}	50	}
51	else	51	else
52	{	52	{
53	if((cntKompass) && (cntKompass < 4000))	53	if((cntKompass) && (cntKompass < 4000))
54	{	54	{
-		55	// Salvo Kompassoffset 30.8.2007 ***********
55	KompassValue = cntKompass;	56	KompassValue = cntKompass -KOMPASS_OFFSET;
-		57
-		58	if (KompassValue < 0)
-		59	{
-		60	KompassValue += 360;
-		61	}
-		62	if (KompassValue >= 360)
-		63	{
-		64	KompassValue -= 360;
-		65	}
-		66	// Salvo End
56	}	67	}
57	// if(cntKompass < 10) cntKompass = 10;	68	// if(cntKompass < 10) cntKompass = 10;
58	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	69	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
59	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	70	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
60	cntKompass = 0;	71	cntKompass = 0;
61	}	72	}
62	}	73	}
63	}	74	}
64		75
65		76
66	void Timer_Init(void)	77	void Timer_Init(void)
67	{	78	{
68	tim_main = SetDelay(10);	79	tim_main = SetDelay(10);
69	TCCR0B = CK8;	80	TCCR0B = CK8;
70	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	81	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
71	OCR0A = 0;	82	OCR0A = 0;
72	OCR0B = 120;	83	OCR0B = 120;
73	TCNT0 = -TIMER_RELOAD_VALUE; // reload	84	TCNT0 = -TIMER_RELOAD_VALUE; // reload
74	//OCR1 = 0x00;	85	//OCR1 = 0x00;
75		86
76	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	87	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
77	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	88	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
78		89
79	// TIMSK2 \|= _BV(TOIE2);	90	// TIMSK2 \|= _BV(TOIE2);
80	TIMSK2 \|= _BV(OCIE2A);	91	TIMSK2 \|= _BV(OCIE2A);
81		92
82	TIMSK0 \|= _BV(TOIE0);	93	TIMSK0 \|= _BV(TOIE0);
83	OCR2A = 10;	94	OCR2A = 10;
84	TCNT2 = 0;	95	TCNT2 = 0;
85		96
86	}	97	}
87		98
88	// -----------------------------------------------------------------------	99	// -----------------------------------------------------------------------
89		100
90	unsigned int SetDelay (unsigned int t)	101	unsigned int SetDelay (unsigned int t)
91	{	102	{
92	// TIMSK0 &= ~_BV(TOIE0);	103	// TIMSK0 &= ~_BV(TOIE0);
93	return(CountMilliseconds + t + 1);	104	return(CountMilliseconds + t + 1);
94	// TIMSK0 \|= _BV(TOIE0);	105	// TIMSK0 \|= _BV(TOIE0);
95	}	106	}
96		107
97	// -----------------------------------------------------------------------	108	// -----------------------------------------------------------------------
98	char CheckDelay(unsigned int t)	109	char CheckDelay(unsigned int t)
99	{	110	{
100	// TIMSK0 &= ~_BV(TOIE0);	111	// TIMSK0 &= ~_BV(TOIE0);
101	return(((t - CountMilliseconds) & 0x8000) >> 9);	112	return(((t - CountMilliseconds) & 0x8000) >> 9);
102	// TIMSK0 \|= _BV(TOIE0);	113	// TIMSK0 \|= _BV(TOIE0);
103	}	114	}
104		115
105	// -----------------------------------------------------------------------	116	// -----------------------------------------------------------------------
106	void Delay_ms(unsigned int w)	117	void Delay_ms(unsigned int w)
107	{	118	{
108	unsigned int akt;	119	unsigned int akt;
109	akt = SetDelay(w);	120	akt = SetDelay(w);
110	while (!CheckDelay(akt));	121	while (!CheckDelay(akt));
111	}	122	}
112		123
113	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	124	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
114	// Servo ansteuern	125	// Servo ansteuern
115	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	126	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
116	SIGNAL(SIG_OUTPUT_COMPARE2A)	127	SIGNAL(SIG_OUTPUT_COMPARE2A)
117	{	128	{
118	static unsigned char timer = 10;	129	static unsigned char timer = 10;
119		130
120	if(!timer--)	131	if(!timer--)
121	{	132	{
122	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	133	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
123	ServoValue = Parameter_ServoNickControl;	134	ServoValue = Parameter_ServoNickControl;
124	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	135	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
125	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	136	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
126		137
127	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	138	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
128	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	139	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
129		140
130	DebugOut.Analog[10] = ServoValue;	141	DebugOut.Analog[10] = ServoValue;
131	OCR2A = ServoValue;// + 75;	142	OCR2A = ServoValue;// + 75;
132	timer = EE_Parameter.ServoNickRefresh;	143	timer = EE_Parameter.ServoNickRefresh;
133	}	144	}
134	else	145	else
135	{	146	{
136	TCCR2A =3;	147	TCCR2A =3;
137	PORTD&=~0x80;	148	PORTD&=~0x80;
138	}	149	}
139	}	150	}
140		151

Subversion Repositories FlightCtrl

(root)/branches/salvo_gierkompass/timer0.c @ 112 - Rev 103 → 104