WebSVN - FlightCtrl - Diff - Rev 455 and 461 - /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)    // 9,8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
   if(!cnt--)
    {
     cnt = 10;
     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) timer0_MM3();         // Kompass auslesen
}
 
 
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 455	Rev 461
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) // 9,8kHz	21	SIGNAL (SIG_OVERFLOW0) // 9,8kHz
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 = 10;	28	cnt = 10;
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);	39	PORTD \|= (1<<PD2);
40	}	40	}
41	else	41	else
42	PORTD &= ~(1<<PD2);	42	PORTD &= ~(1<<PD2);
43		43
44	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	-
45	{	-
46	timer0_MM3(); // Kompass auslesen	-
47	}	44	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen
48	}	45	}
49		46
50		47
51	void Timer_Init(void)	48	void Timer_Init(void)
52	{	49	{
53	tim_main = SetDelay(10);	50	tim_main = SetDelay(10);
54	TCCR0B = CK8;	51	TCCR0B = CK8;
55	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	52	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
56	OCR0A = 0;	53	OCR0A = 0;
57	OCR0B = 120;	54	OCR0B = 120;
58	//TCNT0 = -TIMER_RELOAD_VALUE; // reload	55	//TCNT0 = -TIMER_RELOAD_VALUE; // reload
59	//OCR1 = 0x00;	56	//OCR1 = 0x00;
60		57
61	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	58	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
62	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	59	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);
63		60
64	// TIMSK2 \|= _BV(TOIE2);	61	// TIMSK2 \|= _BV(TOIE2);
65	TIMSK2 \|= _BV(OCIE2A);	62	TIMSK2 \|= _BV(OCIE2A);
66		63
67	TIMSK0 \|= _BV(TOIE0);	64	TIMSK0 \|= _BV(TOIE0);
68	OCR2A = 10;	65	OCR2A = 10;
69	TCNT2 = 0;	66	TCNT2 = 0;
70		67
71	}	68	}
72		69
73	// -----------------------------------------------------------------------	70	// -----------------------------------------------------------------------
74		71
75	unsigned int SetDelay (unsigned int t)	72	unsigned int SetDelay (unsigned int t)
76	{	73	{
77	// TIMSK0 &= ~_BV(TOIE0);	74	// TIMSK0 &= ~_BV(TOIE0);
78	return(CountMilliseconds + t + 1);	75	return(CountMilliseconds + t + 1);
79	// TIMSK0 \|= _BV(TOIE0);	76	// TIMSK0 \|= _BV(TOIE0);
80	}	77	}
81		78
82	// -----------------------------------------------------------------------	79	// -----------------------------------------------------------------------
83	char CheckDelay(unsigned int t)	80	char CheckDelay(unsigned int t)
84	{	81	{
85	// TIMSK0 &= ~_BV(TOIE0);	82	// TIMSK0 &= ~_BV(TOIE0);
86	return(((t - CountMilliseconds) & 0x8000) >> 9);	83	return(((t - CountMilliseconds) & 0x8000) >> 9);
87	// TIMSK0 \|= _BV(TOIE0);	84	// TIMSK0 \|= _BV(TOIE0);
88	}	85	}
89		86
90	// -----------------------------------------------------------------------	87	// -----------------------------------------------------------------------
91	void Delay_ms(unsigned int w)	88	void Delay_ms(unsigned int w)
92	{	89	{
93	unsigned int akt;	90	unsigned int akt;
94	akt = SetDelay(w);	91	akt = SetDelay(w);
95	while (!CheckDelay(akt));	92	while (!CheckDelay(akt));
96	}	93	}
97		94
98	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	95	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
99	// Servo ansteuern	96	// Servo ansteuern
100	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	97	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
101	SIGNAL(SIG_OUTPUT_COMPARE2A)	98	SIGNAL(SIG_OUTPUT_COMPARE2A)
102	{	99	{
103	static unsigned char timer = 10;	100	static unsigned char timer = 10;
104		101
105	if(!timer--)	102	if(!timer--)
106	{	103	{
107	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	104	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
108	ServoValue = Parameter_ServoNickControl;	105	ServoValue = Parameter_ServoNickControl;
109	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	106	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
110	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	107	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
111		108
112	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	109	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
113	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	110	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
114		111
115	//DebugOut.Analog[10] = ServoValue;	112	//DebugOut.Analog[10] = ServoValue;
116	OCR2A = ServoValue;// + 75;	113	OCR2A = ServoValue;// + 75;
117	timer = EE_Parameter.ServoNickRefresh;	114	timer = EE_Parameter.ServoNickRefresh;
118	}	115	}
119	else	116	else
120	{	117	{
121	TCCR2A =3;	118	TCCR2A =3;
122	PORTD&=~0x80;	119	PORTD&=~0x80;
123	}	120	}
124	}	121	}
125		122

Subversion Repositories FlightCtrl

(root)/branches/v0.60_MicroMag3_Nick666/timer0.c @ 480 - Rev 455 → 461