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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 | int ServoValue = 0; |
8 | int ServoValue = 0; |
9 | //Salvo 8.9.2007 |
9 | //Salvo 8.9.2007 |
10 | volatile unsigned int Kompass_Neuer_Wert= 0; |
10 | volatile uint8_t Kompass_Neuer_Wert= 0; |
11 | volatile unsigned int Kompass_Value_Old = 0; |
11 | volatile unsigned int Kompass_Value_Old = 0; |
12 | // Salvo End |
12 | // Salvo End |
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 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
28 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
29 | 29 | ||
30 | if(!cnt--) |
30 | if(!cnt--) |
31 | { |
31 | { |
32 | cnt = 9; |
32 | cnt = 9; |
33 | cnt_1ms++; |
33 | cnt_1ms++; |
34 | cnt_1ms %= 2; |
34 | cnt_1ms %= 2; |
35 | if(!cnt_1ms) UpdateMotor = 1; |
35 | if(!cnt_1ms) UpdateMotor = 1; |
36 | CountMilliseconds++; |
36 | CountMilliseconds++; |
37 | if(Timeout) Timeout--; |
37 | if(Timeout) Timeout--; |
38 | } |
38 | } |
39 | 39 | ||
40 | if(beeptime > 1) |
40 | if(beeptime > 1) |
41 | { |
41 | { |
42 | beeptime--; |
42 | beeptime--; |
43 | PORTD |= (1<<2); |
43 | PORTD |= (1<<2); |
44 | } |
44 | } |
45 | else |
45 | else |
46 | PORTD &= ~(1<<2); |
46 | PORTD &= ~(1<<2); |
47 | 47 | ||
48 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
48 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
49 | { |
49 | { |
50 | if(PINC & 0x10) |
50 | if(PINC & 0x10) |
51 | { |
51 | { |
52 | cntKompass++; |
52 | cntKompass++; |
53 | } |
53 | } |
54 | else |
54 | else |
55 | { |
55 | { |
56 | if((cntKompass) && (cntKompass < 4000)) |
56 | if((cntKompass) && (cntKompass < 4000)) |
57 | { |
57 | { |
58 | // Salvo Kompassoffset 30.8.2007 *********** |
58 | // Salvo Kompassoffset 30.8.2007 *********** |
59 | Kompass_Value_Old = KompassValue; |
59 | Kompass_Value_Old = KompassValue; |
60 | KompassValue = cntKompass -KOMPASS_OFFSET; |
60 | KompassValue = cntKompass -KOMPASS_OFFSET; |
61 | 61 | ||
62 | if (KompassValue < 0) |
62 | if (KompassValue < 0) |
63 | { |
63 | { |
64 | KompassValue += 360; |
64 | KompassValue += 360; |
65 | } |
65 | } |
66 | if (KompassValue >= 360) |
66 | if (KompassValue >= 360) |
67 | { |
67 | { |
68 | KompassValue -= 360; |
68 | KompassValue -= 360; |
69 | } |
69 | } |
70 | // Salvo End |
70 | // Salvo End |
71 | } |
71 | } |
72 | // if(cntKompass < 10) cntKompass = 10; |
72 | // if(cntKompass < 10) cntKompass = 10; |
73 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
73 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
74 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
74 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
75 | Kompass_Neuer_Wert = 1; |
75 | Kompass_Neuer_Wert = 1; |
76 | cntKompass = 0; |
76 | cntKompass = 0; |
77 | } |
77 | } |
78 | } |
78 | } |
79 | } |
79 | } |
80 | 80 | ||
81 | 81 | ||
82 | void Timer_Init(void) |
82 | void Timer_Init(void) |
83 | { |
83 | { |
84 | tim_main = SetDelay(10); |
84 | tim_main = SetDelay(10); |
85 | TCCR0B = CK8; |
85 | TCCR0B = CK8; |
86 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
86 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
87 | OCR0A = 0; |
87 | OCR0A = 0; |
88 | OCR0B = 120; |
88 | OCR0B = 120; |
89 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
89 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
90 | //OCR1 = 0x00; |
90 | //OCR1 = 0x00; |
91 | 91 | ||
92 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
92 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
93 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
93 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
94 | 94 | ||
95 | // TIMSK2 |= _BV(TOIE2); |
95 | // TIMSK2 |= _BV(TOIE2); |
96 | TIMSK2 |= _BV(OCIE2A); |
96 | TIMSK2 |= _BV(OCIE2A); |
97 | 97 | ||
98 | TIMSK0 |= _BV(TOIE0); |
98 | TIMSK0 |= _BV(TOIE0); |
99 | OCR2A = 10; |
99 | OCR2A = 10; |
100 | TCNT2 = 0; |
100 | TCNT2 = 0; |
101 | 101 | ||
102 | } |
102 | } |
103 | 103 | ||
104 | // ----------------------------------------------------------------------- |
104 | // ----------------------------------------------------------------------- |
105 | 105 | ||
106 | unsigned int SetDelay (unsigned int t) |
106 | unsigned int SetDelay (unsigned int t) |
107 | { |
107 | { |
108 | // TIMSK0 &= ~_BV(TOIE0); |
108 | // TIMSK0 &= ~_BV(TOIE0); |
109 | return(CountMilliseconds + t + 1); |
109 | return(CountMilliseconds + t + 1); |
110 | // TIMSK0 |= _BV(TOIE0); |
110 | // TIMSK0 |= _BV(TOIE0); |
111 | } |
111 | } |
112 | 112 | ||
113 | // ----------------------------------------------------------------------- |
113 | // ----------------------------------------------------------------------- |
114 | char CheckDelay(unsigned int t) |
114 | char CheckDelay(unsigned int t) |
115 | { |
115 | { |
116 | // TIMSK0 &= ~_BV(TOIE0); |
116 | // TIMSK0 &= ~_BV(TOIE0); |
117 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
117 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
118 | // TIMSK0 |= _BV(TOIE0); |
118 | // TIMSK0 |= _BV(TOIE0); |
119 | } |
119 | } |
120 | 120 | ||
121 | // ----------------------------------------------------------------------- |
121 | // ----------------------------------------------------------------------- |
122 | void Delay_ms(unsigned int w) |
122 | void Delay_ms(unsigned int w) |
123 | { |
123 | { |
124 | unsigned int akt; |
124 | unsigned int akt; |
125 | akt = SetDelay(w); |
125 | akt = SetDelay(w); |
126 | while (!CheckDelay(akt)); |
126 | while (!CheckDelay(akt)); |
127 | } |
127 | } |
128 | 128 | ||
129 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
129 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
130 | // Servo ansteuern |
130 | // Servo ansteuern |
131 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
131 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
132 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
132 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
133 | { |
133 | { |
134 | static unsigned char timer = 10; |
134 | static unsigned char timer = 10; |
135 | 135 | ||
136 | if(!timer--) |
136 | if(!timer--) |
137 | { |
137 | { |
138 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
138 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
139 | ServoValue = Parameter_ServoNickControl; |
139 | ServoValue = Parameter_ServoNickControl; |
140 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
140 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
141 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
141 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
142 | 142 | ||
143 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
143 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
144 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
144 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
145 | 145 | ||
146 | DebugOut.Analog[10] = ServoValue; |
146 | // DebugOut.Analog[10] = ServoValue; |
147 | OCR2A = ServoValue;// + 75; |
147 | OCR2A = ServoValue;// + 75; |
148 | timer = EE_Parameter.ServoNickRefresh; |
148 | timer = EE_Parameter.ServoNickRefresh; |
149 | } |
149 | } |
150 | else |
150 | else |
151 | { |
151 | { |
152 | TCCR2A =3; |
152 | TCCR2A =3; |
153 | PORTD&=~0x80; |
153 | PORTD&=~0x80; |
154 | } |
154 | } |
155 | } |
155 | } |
156 | 156 |