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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 beeptime = 0; |
6 | volatile unsigned int beeptime = 0; |
- | 7 | volatile unsigned int cntKompass = 0; |
|
7 | int ServoValue = 0; |
8 | int ServoValue = 0; |
8 | 9 | ||
9 | enum { |
10 | enum { |
10 | STOP = 0, |
11 | STOP = 0, |
11 | CK = 1, |
12 | CK = 1, |
12 | CK8 = 2, |
13 | CK8 = 2, |
13 | CK64 = 3, |
14 | CK64 = 3, |
14 | CK256 = 4, |
15 | CK256 = 4, |
15 | CK1024 = 5, |
16 | CK1024 = 5, |
16 | T0_FALLING_EDGE = 6, |
17 | T0_FALLING_EDGE = 6, |
17 | T0_RISING_EDGE = 7 |
18 | T0_RISING_EDGE = 7 |
18 | }; |
19 | }; |
19 | 20 | ||
20 | 21 | ||
21 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
22 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
22 | { |
23 | { |
23 | static unsigned char cnt_1ms = 1,cnt = 0; |
24 | static unsigned char cnt_1ms = 1,cnt = 0; |
24 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
25 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
25 | 26 | ||
26 | if(!cnt--) |
27 | if(!cnt--) |
27 | { |
28 | { |
28 | cnt = 9; |
29 | cnt = 9; |
29 | cnt_1ms++; |
30 | cnt_1ms++; |
30 | cnt_1ms %= 2; |
31 | cnt_1ms %= 2; |
31 | if(!cnt_1ms) UpdateMotor = 1; |
32 | if(!cnt_1ms) UpdateMotor = 1; |
32 | CountMilliseconds++; |
33 | CountMilliseconds++; |
33 | if(Timeout) Timeout--; |
34 | if(Timeout) Timeout--; |
34 | } |
35 | } |
35 | 36 | ||
36 | if(beeptime > 1) |
37 | if(beeptime > 1) |
37 | { |
38 | { |
38 | beeptime--; |
39 | beeptime--; |
39 | PORTD |= (1<<PD2); |
40 | PORTD |= (1<<PD2); |
40 | } |
41 | } |
41 | else |
42 | else |
42 | PORTD &= ~(1<<PD2); |
43 | PORTD &= ~(1<<PD2); |
43 | 44 | ||
- | 45 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
|
- | 46 | { |
|
44 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) MM3_timer0(); |
47 | MM3_timer0(); // Kompass auslesen |
- | 48 | ||
- | 49 | if (!cntKompass--) // Aufruf mit 25 Hz |
|
- | 50 | { |
|
45 | 51 | KompassValue = MM3_heading(); |
|
- | 52 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
- | 53 | cntKompass = 320; |
|
- | 54 | } |
|
46 | //KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
55 | } |
47 | 56 | ||
48 | 57 | ||
49 | } |
58 | } |
50 | 59 | ||
51 | 60 | ||
52 | void Timer_Init(void) |
61 | void Timer_Init(void) |
53 | { |
62 | { |
54 | tim_main = SetDelay(10); |
63 | tim_main = SetDelay(10); |
55 | TCCR0B = CK8; |
64 | TCCR0B = CK8; |
56 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
65 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
57 | OCR0A = 0; |
66 | OCR0A = 0; |
58 | OCR0B = 120; |
67 | OCR0B = 120; |
59 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
68 | TCNT0 = -TIMER_RELOAD_VALUE; // reload |
60 | //OCR1 = 0x00; |
69 | //OCR1 = 0x00; |
61 | 70 | ||
62 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
71 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
63 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
72 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
64 | 73 | ||
65 | // TIMSK2 |= _BV(TOIE2); |
74 | // TIMSK2 |= _BV(TOIE2); |
66 | TIMSK2 |= _BV(OCIE2A); |
75 | TIMSK2 |= _BV(OCIE2A); |
67 | 76 | ||
68 | TIMSK0 |= _BV(TOIE0); |
77 | TIMSK0 |= _BV(TOIE0); |
69 | OCR2A = 10; |
78 | OCR2A = 10; |
70 | TCNT2 = 0; |
79 | TCNT2 = 0; |
71 | 80 | ||
72 | } |
81 | } |
73 | 82 | ||
74 | // ----------------------------------------------------------------------- |
83 | // ----------------------------------------------------------------------- |
75 | 84 | ||
76 | unsigned int SetDelay (unsigned int t) |
85 | unsigned int SetDelay (unsigned int t) |
77 | { |
86 | { |
78 | // TIMSK0 &= ~_BV(TOIE0); |
87 | // TIMSK0 &= ~_BV(TOIE0); |
79 | return(CountMilliseconds + t + 1); |
88 | return(CountMilliseconds + t + 1); |
80 | // TIMSK0 |= _BV(TOIE0); |
89 | // TIMSK0 |= _BV(TOIE0); |
81 | } |
90 | } |
82 | 91 | ||
83 | // ----------------------------------------------------------------------- |
92 | // ----------------------------------------------------------------------- |
84 | char CheckDelay(unsigned int t) |
93 | char CheckDelay(unsigned int t) |
85 | { |
94 | { |
86 | // TIMSK0 &= ~_BV(TOIE0); |
95 | // TIMSK0 &= ~_BV(TOIE0); |
87 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
96 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
88 | // TIMSK0 |= _BV(TOIE0); |
97 | // TIMSK0 |= _BV(TOIE0); |
89 | } |
98 | } |
90 | 99 | ||
91 | // ----------------------------------------------------------------------- |
100 | // ----------------------------------------------------------------------- |
92 | void Delay_ms(unsigned int w) |
101 | void Delay_ms(unsigned int w) |
93 | { |
102 | { |
94 | unsigned int akt; |
103 | unsigned int akt; |
95 | akt = SetDelay(w); |
104 | akt = SetDelay(w); |
96 | while (!CheckDelay(akt)); |
105 | while (!CheckDelay(akt)); |
97 | } |
106 | } |
98 | 107 | ||
99 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
108 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
100 | // Servo ansteuern |
109 | // Servo ansteuern |
101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
102 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
111 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
103 | { |
112 | { |
104 | static unsigned char timer = 10; |
113 | static unsigned char timer = 10; |
105 | 114 | ||
106 | if(!timer--) |
115 | if(!timer--) |
107 | { |
116 | { |
108 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
117 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
109 | ServoValue = Parameter_ServoNickControl; |
118 | ServoValue = Parameter_ServoNickControl; |
110 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
119 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
111 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
120 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
112 | 121 | ||
113 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
122 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
114 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
123 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
115 | 124 | ||
116 | //DebugOut.Analog[10] = ServoValue; |
125 | //DebugOut.Analog[10] = ServoValue; |
117 | OCR2A = ServoValue;// + 75; |
126 | OCR2A = ServoValue;// + 75; |
118 | timer = EE_Parameter.ServoNickRefresh; |
127 | timer = EE_Parameter.ServoNickRefresh; |
119 | } |
128 | } |
120 | else |
129 | else |
121 | { |
130 | { |
122 | TCCR2A =3; |
131 | TCCR2A =3; |
123 | PORTD&=~0x80; |
132 | PORTD&=~0x80; |
124 | } |
133 | } |
125 | } |
134 | } |
126 | 135 |