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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 | unsigned int BeepMuster = 0xffff; |
8 | unsigned int BeepMuster = 0xffff; |
9 | int ServoValue = 0; |
9 | int ServoValue = 0; |
10 | //Salvo 8.9.2007 |
10 | //Salvo 8.9.2007 |
11 | volatile uint8_t Kompass_Neuer_Wert= 0; |
11 | volatile uint8_t Kompass_Neuer_Wert= 0; |
12 | volatile unsigned int Kompass_Value_Old = 0; |
12 | volatile unsigned int Kompass_Value_Old = 0; |
13 | // Salvo End |
13 | // Salvo End |
14 | //Salvo 21.9.2007 |
14 | //Salvo 21.9.2007 |
15 | short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
15 | short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
16 | // Salvo End |
16 | // Salvo End |
17 | enum { |
17 | enum { |
18 | STOP = 0, |
18 | STOP = 0, |
19 | CK = 1, |
19 | CK = 1, |
20 | CK8 = 2, |
20 | CK8 = 2, |
21 | CK64 = 3, |
21 | CK64 = 3, |
22 | CK256 = 4, |
22 | CK256 = 4, |
23 | CK1024 = 5, |
23 | CK1024 = 5, |
24 | T0_FALLING_EDGE = 6, |
24 | T0_FALLING_EDGE = 6, |
25 | T0_RISING_EDGE = 7 |
25 | T0_RISING_EDGE = 7 |
26 | }; |
26 | }; |
27 | 27 | ||
28 | // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007 |
28 | // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 24.12.2007 |
29 | /* |
29 | /* |
30 | Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
30 | Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
31 | */ |
31 | */ |
32 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
32 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
33 | { |
33 | { |
34 | static unsigned char cnt_1ms = 1,cnt = 0; |
34 | static unsigned char cnt_1ms = 1,cnt = 0; |
35 | unsigned char pieper_ein = 0; |
35 | unsigned char pieper_ein = 0; |
36 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
36 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
37 | 37 | ||
38 | if(!cnt--) |
38 | if(!cnt--) |
39 | { |
39 | { |
40 | if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
40 | if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
41 | cnt = 9; |
41 | cnt = 9; |
42 | cnt_1ms++; |
42 | cnt_1ms++; |
43 | cnt_1ms %= 2; |
43 | cnt_1ms %= 2; |
44 | if(!cnt_1ms) UpdateMotor = 1; |
44 | if(!cnt_1ms) UpdateMotor = 1; |
45 | CountMilliseconds++; |
45 | CountMilliseconds++; |
46 | } |
46 | } |
47 | 47 | ||
48 | if(beeptime > 1) |
48 | if(beeptime > 1) |
49 | { |
49 | { |
50 | beeptime--; |
50 | beeptime--; |
51 | if(beeptime & BeepMuster) |
51 | if(beeptime & BeepMuster) |
52 | { |
52 | { |
53 | pieper_ein = 1; |
53 | pieper_ein = 1; |
54 | } |
54 | } |
55 | else pieper_ein = 0; |
55 | else pieper_ein = 0; |
56 | } |
56 | } |
57 | else |
57 | else |
58 | { |
58 | { |
59 | pieper_ein = 0; |
59 | pieper_ein = 0; |
60 | BeepMuster = 0xffff; |
60 | BeepMuster = 0xffff; |
61 | } |
61 | } |
62 | 62 | ||
63 | 63 | ||
64 | if(pieper_ein) |
64 | if(pieper_ein) |
65 | { |
65 | { |
66 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
66 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
67 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
67 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
68 | } |
68 | } |
69 | else |
69 | else |
70 | { |
70 | { |
71 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
71 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
72 | else PORTC &= ~(1<<7); |
72 | else PORTC &= ~(1<<7); |
73 | } |
73 | } |
74 | 74 | ||
75 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
75 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
76 | { |
76 | { |
77 | if(PINC & 0x10) |
77 | if(PINC & 0x10) |
78 | { |
78 | { |
79 | cntKompass++; |
79 | cntKompass++; |
80 | } |
80 | } |
81 | else |
81 | else |
82 | { |
82 | { |
83 | if((cntKompass) && (cntKompass < 4000)) |
83 | if((cntKompass) && (cntKompass < 4000)) |
84 | { |
84 | { |
85 | // Salvo Kompassoffset 23.12.2007 *********** |
85 | // Salvo Kompassoffset 23.12.2007 *********** |
86 | Kompass_present = 255; |
86 | Kompass_present = 255; |
87 | // Kompass_Value_Old = KompassValue; |
87 | // Kompass_Value_Old = KompassValue; |
88 | if (KOMPASS_OFFSET > 0) KompassValue = cntKompass -KOMPASS_OFFSET; |
88 | if (KOMPASS_OFFSET > 0) KompassValue = cntKompass -KOMPASS_OFFSET; |
89 | else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2)); |
89 | else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2)); |
90 | 90 | ||
91 | if (KompassValue < 0) |
91 | if (KompassValue < 0) |
92 | { |
92 | { |
93 | KompassValue += 360; |
93 | KompassValue += 360; |
94 | } |
94 | } |
95 | if (KompassValue >= 360) |
95 | if (KompassValue >= 360) |
96 | { |
96 | { |
97 | KompassValue -= 360; |
97 | KompassValue -= 360; |
98 | } |
98 | } |
99 | // Salvo End |
99 | // Salvo End |
100 | } |
100 | } |
101 | // if(cntKompass < 10) cntKompass = 10; |
101 | // if(cntKompass < 10) cntKompass = 10; |
102 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
102 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
103 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
103 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
104 | //Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
104 | //Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
105 | Kompass_Neuer_Wert = 1; |
105 | Kompass_Neuer_Wert = 1; |
106 | // Salvo End |
106 | // Salvo End |
107 | cntKompass = 0; |
107 | cntKompass = 0; |
108 | } |
108 | } |
109 | } |
109 | } |
110 | } |
110 | } |
111 | 111 | ||
112 | 112 | ||
113 | void Timer_Init(void) |
113 | void Timer_Init(void) |
114 | { |
114 | { |
115 | tim_main = SetDelay(10); |
115 | tim_main = SetDelay(10); |
116 | TCCR0B = CK8; |
116 | TCCR0B = CK8; |
117 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
117 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
118 | OCR0A = 0; |
118 | OCR0A = 0; |
119 | OCR0B = 120; |
119 | OCR0B = 120; |
120 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
120 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
121 | //OCR1 = 0x00; |
121 | //OCR1 = 0x00; |
122 | 122 | ||
123 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
123 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
124 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
124 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
125 | 125 | ||
126 | // TIMSK2 |= _BV(TOIE2); |
126 | // TIMSK2 |= _BV(TOIE2); |
127 | TIMSK2 |= _BV(OCIE2A); |
127 | TIMSK2 |= _BV(OCIE2A); |
128 | 128 | ||
129 | TIMSK0 |= _BV(TOIE0); |
129 | TIMSK0 |= _BV(TOIE0); |
130 | OCR2A = 10; |
130 | OCR2A = 10; |
131 | TCNT2 = 0; |
131 | TCNT2 = 0; |
132 | 132 | ||
133 | } |
133 | } |
134 | 134 | ||
135 | // ----------------------------------------------------------------------- |
135 | // ----------------------------------------------------------------------- |
136 | 136 | ||
137 | unsigned int SetDelay (unsigned int t) |
137 | unsigned int SetDelay (unsigned int t) |
138 | { |
138 | { |
139 | // TIMSK0 &= ~_BV(TOIE0); |
139 | // TIMSK0 &= ~_BV(TOIE0); |
140 | return(CountMilliseconds + t + 1); |
140 | return(CountMilliseconds + t + 1); |
141 | // TIMSK0 |= _BV(TOIE0); |
141 | // TIMSK0 |= _BV(TOIE0); |
142 | } |
142 | } |
143 | 143 | ||
144 | // ----------------------------------------------------------------------- |
144 | // ----------------------------------------------------------------------- |
145 | char CheckDelay(unsigned int t) |
145 | char CheckDelay(unsigned int t) |
146 | { |
146 | { |
147 | // TIMSK0 &= ~_BV(TOIE0); |
147 | // TIMSK0 &= ~_BV(TOIE0); |
148 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
148 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
149 | // TIMSK0 |= _BV(TOIE0); |
149 | // TIMSK0 |= _BV(TOIE0); |
150 | } |
150 | } |
151 | 151 | ||
152 | // ----------------------------------------------------------------------- |
152 | // ----------------------------------------------------------------------- |
153 | void Delay_ms(unsigned int w) |
153 | void Delay_ms(unsigned int w) |
154 | { |
154 | { |
155 | unsigned int akt; |
155 | unsigned int akt; |
156 | akt = SetDelay(w); |
156 | akt = SetDelay(w); |
157 | while (!CheckDelay(akt)); |
157 | while (!CheckDelay(akt)); |
158 | } |
158 | } |
159 | 159 | ||
160 | void Delay_ms_Mess(unsigned int w) |
160 | void Delay_ms_Mess(unsigned int w) |
161 | { |
161 | { |
162 | unsigned int akt; |
162 | unsigned int akt; |
163 | akt = SetDelay(w); |
163 | akt = SetDelay(w); |
164 | while (!CheckDelay(akt)) ANALOG_ON; |
164 | while (!CheckDelay(akt)) ANALOG_ON; |
165 | } |
165 | } |
166 | 166 | ||
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // Servo ansteuern |
168 | // Servo ansteuern |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
170 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
170 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
171 | { |
171 | { |
172 | static unsigned char timer = 10; |
172 | static unsigned char timer = 10; |
173 | 173 | ||
174 | if(!timer--) |
174 | if(!timer--) |
175 | { |
175 | { |
176 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
176 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
177 | ServoValue = Parameter_ServoNickControl; |
177 | ServoValue = Parameter_ServoNickControl; |
178 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
178 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
179 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
179 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
180 | 180 | ||
181 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
181 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
182 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
182 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
183 | 183 | ||
184 | OCR2A = ServoValue;// + 75; |
184 | OCR2A = ServoValue;// + 75; |
185 | timer = EE_Parameter.ServoNickRefresh; |
185 | timer = EE_Parameter.ServoNickRefresh; |
186 | } |
186 | } |
187 | else |
187 | else |
188 | { |
188 | { |
189 | TCCR2A =3; |
189 | TCCR2A =3; |
190 | PORTD&=~0x80; |
190 | PORTD&=~0x80; |
191 | } |
191 | } |
192 | } |
192 | } |
193 | 193 |