WebSVN - FlightCtrl - Diff - Rev 205 and 206 - /branches/v0.60_MicroMag3


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 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<<PD2);
 
  if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) MM3_timer0();
 
 
  /*
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 4000))
    {
     KompassValue = cntKompass;
    }
//     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 205	Rev 206
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 beeptime = 0;	6	volatile unsigned int beeptime = 0;
7	int ServoValue = 0;	7	int ServoValue = 0;
8		8
9	enum {	9	enum {
10	STOP = 0,	10	STOP = 0,
11	CK = 1,	11	CK = 1,
12	CK8 = 2,	12	CK8 = 2,
13	CK64 = 3,	13	CK64 = 3,
14	CK256 = 4,	14	CK256 = 4,
15	CK1024 = 5,	15	CK1024 = 5,
16	T0_FALLING_EDGE = 6,	16	T0_FALLING_EDGE = 6,
17	T0_RISING_EDGE = 7	17	T0_RISING_EDGE = 7
18	};	18	};
19		19
20		20
21	SIGNAL (SIG_OVERFLOW0) // 8kHz	21	SIGNAL (SIG_OVERFLOW0) // 8kHz
22	{	22	{
23	static unsigned char cnt_1ms = 1,cnt = 0;	23	static unsigned char cnt_1ms = 1,cnt = 0;
24	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	24	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
25		25
26	if(!cnt--)	26	if(!cnt--)
27	{	27	{
28	cnt = 9;	28	cnt = 9;
29	cnt_1ms++;	29	cnt_1ms++;
30	cnt_1ms %= 2;	30	cnt_1ms %= 2;
31	if(!cnt_1ms) UpdateMotor = 1;	31	if(!cnt_1ms) UpdateMotor = 1;
32	CountMilliseconds++;	32	CountMilliseconds++;
33	if(Timeout) Timeout--;	33	if(Timeout) Timeout--;
34	}	34	}
35		35
36	if(beeptime > 1)	36	if(beeptime > 1)
37	{	37	{
38	beeptime--;	38	beeptime--;
39	PORTD &= ~(1<<PD2);//PORTD \|= (1<<2);	39	PORTD \|= (1<<2);
40	}	40	}
41	else	41	else
42	PORTD &= ~(1<<PD2);	42	PORTD &= ~(1<<PD2);
43		43
44	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) MM3_timer0();	44	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) MM3_timer0();
45		-
46		45
47	/*	46	/*
48	if(PINC & 0x10)	47	if(PINC & 0x10)
49	{	48	{
50	cntKompass++;	49	cntKompass++;
51	}	50	}
52	else	51	else
53	{	52	{
54	if((cntKompass) && (cntKompass < 4000))	53	if((cntKompass) && (cntKompass < 4000))
55	{	54	{
56	KompassValue = cntKompass;	55	KompassValue = cntKompass;
57	}	56	}
58	// if(cntKompass < 10) cntKompass = 10;	57	// if(cntKompass < 10) cntKompass = 10;
59	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	58	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
60	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	59	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
61	cntKompass = 0;	60	cntKompass = 0;
62	}	61	}
63		62
64	}*/	63	}*/
65		64
66	}	65	}
67		66
68		67
69	void Timer_Init(void)	68	void Timer_Init(void)
70	{	69	{
71	tim_main = SetDelay(10);	70	tim_main = SetDelay(10);
72	TCCR0B = CK8;	71	TCCR0B = CK8;
73	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	72	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
74	OCR0A = 0;	73	OCR0A = 0;
75	OCR0B = 120;	74	OCR0B = 120;
76	TCNT0 = -TIMER_RELOAD_VALUE; // reload	75	TCNT0 = -TIMER_RELOAD_VALUE; // reload
77	//OCR1 = 0x00;	76	//OCR1 = 0x00;
78		77
79	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	78	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
80	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	79	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
81		80
82	// TIMSK2 \|= _BV(TOIE2);	81	// TIMSK2 \|= _BV(TOIE2);
83	TIMSK2 \|= _BV(OCIE2A);	82	TIMSK2 \|= _BV(OCIE2A);
84		83
85	TIMSK0 \|= _BV(TOIE0);	84	TIMSK0 \|= _BV(TOIE0);
86	OCR2A = 10;	85	OCR2A = 10;
87	TCNT2 = 0;	86	TCNT2 = 0;
88		87
89	}	88	}
90		89
91	// -----------------------------------------------------------------------	90	// -----------------------------------------------------------------------
92		91
93	unsigned int SetDelay (unsigned int t)	92	unsigned int SetDelay (unsigned int t)
94	{	93	{
95	// TIMSK0 &= ~_BV(TOIE0);	94	// TIMSK0 &= ~_BV(TOIE0);
96	return(CountMilliseconds + t + 1);	95	return(CountMilliseconds + t + 1);
97	// TIMSK0 \|= _BV(TOIE0);	96	// TIMSK0 \|= _BV(TOIE0);
98	}	97	}
99		98
100	// -----------------------------------------------------------------------	99	// -----------------------------------------------------------------------
101	char CheckDelay(unsigned int t)	100	char CheckDelay(unsigned int t)
102	{	101	{
103	// TIMSK0 &= ~_BV(TOIE0);	102	// TIMSK0 &= ~_BV(TOIE0);
104	return(((t - CountMilliseconds) & 0x8000) >> 9);	103	return(((t - CountMilliseconds) & 0x8000) >> 9);
105	// TIMSK0 \|= _BV(TOIE0);	104	// TIMSK0 \|= _BV(TOIE0);
106	}	105	}
107		106
108	// -----------------------------------------------------------------------	107	// -----------------------------------------------------------------------
109	void Delay_ms(unsigned int w)	108	void Delay_ms(unsigned int w)
110	{	109	{
111	unsigned int akt;	110	unsigned int akt;
112	akt = SetDelay(w);	111	akt = SetDelay(w);
113	while (!CheckDelay(akt));	112	while (!CheckDelay(akt));
114	}	113	}
115		114
116	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	115	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
117	// Servo ansteuern	116	// Servo ansteuern
118	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	117	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
119	SIGNAL(SIG_OUTPUT_COMPARE2A)	118	SIGNAL(SIG_OUTPUT_COMPARE2A)
120	{	119	{
121	static unsigned char timer = 10;	120	static unsigned char timer = 10;
122		121
123	if(!timer--)	122	if(!timer--)
124	{	123	{
125	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	124	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
126	ServoValue = Parameter_ServoNickControl;	125	ServoValue = Parameter_ServoNickControl;
127	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	126	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
128	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	127	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
129		128
130	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	129	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
131	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	130	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
132		131
133	//DebugOut.Analog[10] = ServoValue;	132	//DebugOut.Analog[10] = ServoValue;
134	OCR2A = ServoValue;// + 75;	133	OCR2A = ServoValue;// + 75;
135	timer = EE_Parameter.ServoNickRefresh;	134	timer = EE_Parameter.ServoNickRefresh;
136	}	135	}
137	else	136	else
138	{	137	{
139	TCCR2A =3;	138	TCCR2A =3;
140	PORTD&=~0x80;	139	PORTD&=~0x80;
141	}	140	}
142	}	141	}
143		142

Subversion Repositories FlightCtrl

(root)/branches/v0.60_MicroMag3_Nick666/timer0.c - Rev 205 → 206