WebSVN - FlightCtrl - Diff - Rev 251 and 341 - /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;
volatile unsigned int cntKompass = 800;
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<<PD2);
        }
     else  
        PORTD &= ~(1<<PD2);
 
        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
        {
                MM3_timer0();           // Kompass auslesen
 
                if (!cntKompass--)              // Aufruf mit 10 Hz
                {
                        KompassValue = MM3_heading();
                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
                        cntKompass = 800;
                }
        }
 
 
}
 
 
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 251	Rev 341
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	volatile unsigned int cntKompass = 800;
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<<PD2);	40	PORTD \|= (1<<PD2);
41	}	41	}
42	else	42	else
43	PORTD &= ~(1<<PD2);	43	PORTD &= ~(1<<PD2);
44		44
45	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	45	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
46	{	46	{
47	MM3_timer0(); // Kompass auslesen	47	MM3_timer0(); // Kompass auslesen
48		48
49	if (!cntKompass--) // Aufruf mit 25 Hz	49	if (!cntKompass--) // Aufruf mit 10 Hz
50	{	50	{
51	KompassValue = MM3_heading();	51	KompassValue = MM3_heading();
52	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	52	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
53	cntKompass = 320;	53	cntKompass = 800;
54	}	54	}
55	}	55	}
56		56
57		57
58	}	58	}
59		59
60		60
61	void Timer_Init(void)	61	void Timer_Init(void)
62	{	62	{
63	tim_main = SetDelay(10);	63	tim_main = SetDelay(10);
64	TCCR0B = CK8;	64	TCCR0B = CK8;
65	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	65	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
66	OCR0A = 0;	66	OCR0A = 0;
67	OCR0B = 120;	67	OCR0B = 120;
68	TCNT0 = -TIMER_RELOAD_VALUE; // reload	68	//TCNT0 = -TIMER_RELOAD_VALUE; // reload
69	//OCR1 = 0x00;	69	//OCR1 = 0x00;
70		70
71	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	71	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
72	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	72	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
73		73
74	// TIMSK2 \|= _BV(TOIE2);	74	// TIMSK2 \|= _BV(TOIE2);
75	TIMSK2 \|= _BV(OCIE2A);	75	TIMSK2 \|= _BV(OCIE2A);
76		76
77	TIMSK0 \|= _BV(TOIE0);	77	TIMSK0 \|= _BV(TOIE0);
78	OCR2A = 10;	78	OCR2A = 10;
79	TCNT2 = 0;	79	TCNT2 = 0;
80		80
81	}	81	}
82		82
83	// -----------------------------------------------------------------------	83	// -----------------------------------------------------------------------
84		84
85	unsigned int SetDelay (unsigned int t)	85	unsigned int SetDelay (unsigned int t)
86	{	86	{
87	// TIMSK0 &= ~_BV(TOIE0);	87	// TIMSK0 &= ~_BV(TOIE0);
88	return(CountMilliseconds + t + 1);	88	return(CountMilliseconds + t + 1);
89	// TIMSK0 \|= _BV(TOIE0);	89	// TIMSK0 \|= _BV(TOIE0);
90	}	90	}
91		91
92	// -----------------------------------------------------------------------	92	// -----------------------------------------------------------------------
93	char CheckDelay(unsigned int t)	93	char CheckDelay(unsigned int t)
94	{	94	{
95	// TIMSK0 &= ~_BV(TOIE0);	95	// TIMSK0 &= ~_BV(TOIE0);
96	return(((t - CountMilliseconds) & 0x8000) >> 9);	96	return(((t - CountMilliseconds) & 0x8000) >> 9);
97	// TIMSK0 \|= _BV(TOIE0);	97	// TIMSK0 \|= _BV(TOIE0);
98	}	98	}
99		99
100	// -----------------------------------------------------------------------	100	// -----------------------------------------------------------------------
101	void Delay_ms(unsigned int w)	101	void Delay_ms(unsigned int w)
102	{	102	{
103	unsigned int akt;	103	unsigned int akt;
104	akt = SetDelay(w);	104	akt = SetDelay(w);
105	while (!CheckDelay(akt));	105	while (!CheckDelay(akt));
106	}	106	}
107		107
108	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	108	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
109	// Servo ansteuern	109	// Servo ansteuern
110	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	110	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
111	SIGNAL(SIG_OUTPUT_COMPARE2A)	111	SIGNAL(SIG_OUTPUT_COMPARE2A)
112	{	112	{
113	static unsigned char timer = 10;	113	static unsigned char timer = 10;
114		114
115	if(!timer--)	115	if(!timer--)
116	{	116	{
117	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	117	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
118	ServoValue = Parameter_ServoNickControl;	118	ServoValue = Parameter_ServoNickControl;
119	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;
120	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	120	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
121		121
122	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	122	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
123	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	123	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
124		124
125	//DebugOut.Analog[10] = ServoValue;	125	//DebugOut.Analog[10] = ServoValue;
126	OCR2A = ServoValue;// + 75;	126	OCR2A = ServoValue;// + 75;
127	timer = EE_Parameter.ServoNickRefresh;	127	timer = EE_Parameter.ServoNickRefresh;
128	}	128	}
129	else	129	else
130	{	130	{
131	TCCR2A =3;	131	TCCR2A =3;
132	PORTD&=~0x80;	132	PORTD&=~0x80;
133	}	133	}
134	}	134	}
135		135

Subversion Repositories FlightCtrl

(root)/branches/v0.60_MicroMag3_Nick666/timer0.c @ 415 - Rev 251 → 341