WebSVN - FlightCtrl - Diff - Rev 872 and 910


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 0;
volatile unsigned int beeptime = 0;
volatile unsigned char SendSPI = 0;
volatile unsigned int ServoState = 40;
 
unsigned int BeepMuster = 0xffff;
unsigned 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;
    unsigned char pieper_ein = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
   if(SendSPI) SendSPI--;
   if(!cnt--)
    {
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
    }  
 
     if(beeptime > 1)
        {
        beeptime--;      
        if(beeptime & BeepMuster)
         {
          pieper_ein = 1;
         }
         else pieper_ein = 0;
        }
     else
      {
       pieper_ein = 0;
       BeepMuster = 0xffff;
      }
 
 
     if(pieper_ein)
        {
          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
          else                      PORTC |= (1<<7); // Speaker an PORTC.7
        }
     else  
        {
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
         else                      PORTC &= ~(1<<7);
        }
 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 362))
    {
     cntKompass += cntKompass / 41;
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
    }
//     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 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
    //OCR1  = 0x00;
 
    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
//    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);    // clk/256
    TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22);      // clk/64
 
   
 
  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));
}
 
void Delay_ms_Mess(unsigned int w)
{
 unsigned int akt;
 akt = SetDelay(w);
 while (!CheckDelay(akt)) ANALOG_ON;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
//  Servo ansteuern
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
SIGNAL(SIG_OVERFLOW2)
{
  if (ServoState > 0) PORTD |= 0x80;
  else PORTD &= ~0x80;
  TCCR2A =3;
  TIMSK2 &= ~_BV(TOIE2);
}
 
SIGNAL(SIG_OUTPUT_COMPARE2A)
{
  static unsigned char postPulse = 0x80;
 
  static int filterServo = 100;
  #define MULTIPLIER 4
  if(ServoState == 4)  
    {
     ServoValue = 0x0030;  // Offset Part1
     filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;
         ServoValue += filterServo;
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);
     else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);
 
     if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3;
     else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3;
   
         DebugOut.Analog[20] = ServoValue;
         if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;
         OCR2A = 255-(ServoValue % 256);
         TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;  
        }
  else if ((ServoState > 0) && (ServoState < 4))
    {
          if(ServoValue > 255)
          { PORTD |= 0x80;
                TCCR2A =3;
                ServoValue -= 255;
          }
          else
      {  
             TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
                 OCR2A = postPulse; // Offset Part2
                 ServoState = 1;
      }
  }
  else if (ServoState == 0)
          {
             ServoState  = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;
         PORTD&=~0x80;
                 TCCR2A = 3;
          }
  ServoState--;
 
}
 

Rev 872	Rev 910
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	volatile unsigned char SendSPI = 0;	8	volatile unsigned char SendSPI = 0;
-		9	volatile unsigned int ServoState = 40;
9		10
10	unsigned int BeepMuster = 0xffff;	11	unsigned int BeepMuster = 0xffff;
11	int ServoValue = 0;	12	unsigned int ServoValue = 0;
12		13
13	enum {	14	enum {
14	STOP = 0,	15	STOP = 0,
15	CK = 1,	16	CK = 1,
16	CK8 = 2,	17	CK8 = 2,
17	CK64 = 3,	18	CK64 = 3,
18	CK256 = 4,	19	CK256 = 4,
19	CK1024 = 5,	20	CK1024 = 5,
20	T0_FALLING_EDGE = 6,	21	T0_FALLING_EDGE = 6,
21	T0_RISING_EDGE = 7	22	T0_RISING_EDGE = 7
22	};	23	};
23		24
24		25
25	SIGNAL (SIG_OVERFLOW0) // 8kHz	26	SIGNAL (SIG_OVERFLOW0) // 8kHz
26	{	27	{
27	static unsigned char cnt_1ms = 1,cnt = 0;	28	static unsigned char cnt_1ms = 1,cnt = 0;
28	unsigned char pieper_ein = 0;	29	unsigned char pieper_ein = 0;
29	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	30	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
30	if(SendSPI) SendSPI--;	31	if(SendSPI) SendSPI--;
31	if(!cnt--)	32	if(!cnt--)
32	{	33	{
33	cnt = 9;	34	cnt = 9;
34	cnt_1ms++;	35	cnt_1ms++;
35	cnt_1ms %= 2;	36	cnt_1ms %= 2;
36	if(!cnt_1ms) UpdateMotor = 1;	37	if(!cnt_1ms) UpdateMotor = 1;
37	CountMilliseconds++;	38	CountMilliseconds++;
38	}	39	}
39		40
40	if(beeptime > 1)	41	if(beeptime > 1)
41	{	42	{
42	beeptime--;	43	beeptime--;
43	if(beeptime & BeepMuster)	44	if(beeptime & BeepMuster)
44	{	45	{
45	pieper_ein = 1;	46	pieper_ein = 1;
46	}	47	}
47	else pieper_ein = 0;	48	else pieper_ein = 0;
48	}	49	}
49	else	50	else
50	{	51	{
51	pieper_ein = 0;	52	pieper_ein = 0;
52	BeepMuster = 0xffff;	53	BeepMuster = 0xffff;
53	}	54	}
54		55
55		56
56	if(pieper_ein)	57	if(pieper_ein)
57	{	58	{
58	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2	59	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
59	else PORTC \|= (1<<7); // Speaker an PORTC.7	60	else PORTC \|= (1<<7); // Speaker an PORTC.7
60	}	61	}
61	else	62	else
62	{	63	{
63	if(PlatinenVersion == 10) PORTD &= ~(1<<2);	64	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
64	else PORTC &= ~(1<<7);	65	else PORTC &= ~(1<<7);
65	}	66	}
66		67
67	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	68	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
68	{	69	{
69	if(PINC & 0x10)	70	if(PINC & 0x10)
70	{	71	{
71	cntKompass++;	72	cntKompass++;
72	}	73	}
73	else	74	else
74	{	75	{
75	if((cntKompass) && (cntKompass < 362))	76	if((cntKompass) && (cntKompass < 362))
76	{	77	{
77	cntKompass += cntKompass / 41;	78	cntKompass += cntKompass / 41;
78	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;	79	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
79	}	80	}
80	// if(cntKompass < 10) cntKompass = 10;	81	// if(cntKompass < 10) cntKompass = 10;
81	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	82	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
82	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	83	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
83	cntKompass = 0;	84	cntKompass = 0;
84	}	85	}
85	}	86	}
86	}	87	}
87		-
-		88
88		89	//----------------------------
89	void Timer_Init(void)	90	void Timer_Init(void)
90	{	91	{
91	tim_main = SetDelay(10);	92	tim_main = SetDelay(10);
92	TCCR0B = CK8;	93	TCCR0B = CK8;
93	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	94	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
94	OCR0A = 0;	95	OCR0A = 0;
95	OCR0B = 120;	96	OCR0B = 120;
96	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload	97	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
97	//OCR1 = 0x00;	98	//OCR1 = 0x00;
98		99
99	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;	100	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
100	TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22);	101	// TCCR2B=(0<<CS20)\|(1<<CS21)\|(1<<CS22); // clk/256
-		102	TCCR2B=(0<<CS20)\|(0<<CS21)\|(1<<CS22); // clk/64
101		-
-		103
102	// TIMSK2 \|= _BV(TOIE2);	104
103	TIMSK2 \|= _BV(OCIE2A);	105	TIMSK2 \|= _BV(OCIE2A);
104		106
105	TIMSK0 \|= _BV(TOIE0);	107	TIMSK0 \|= _BV(TOIE0);
106	OCR2A = 10;	108	OCR2A = 10;
107	TCNT2 = 0;	109	TCNT2 = 0;
108		110
109	}	111	}
110		112
111	// -----------------------------------------------------------------------	113	// -----------------------------------------------------------------------
112		114
113	unsigned int SetDelay (unsigned int t)	115	unsigned int SetDelay (unsigned int t)
114	{	116	{
115	// TIMSK0 &= ~_BV(TOIE0);	117	// TIMSK0 &= ~_BV(TOIE0);
116	return(CountMilliseconds + t + 1);	118	return(CountMilliseconds + t + 1);
117	// TIMSK0 \|= _BV(TOIE0);	119	// TIMSK0 \|= _BV(TOIE0);
118	}	120	}
119		121
120	// -----------------------------------------------------------------------	122	// -----------------------------------------------------------------------
121	char CheckDelay(unsigned int t)	123	char CheckDelay(unsigned int t)
122	{	124	{
123	// TIMSK0 &= ~_BV(TOIE0);	125	// TIMSK0 &= ~_BV(TOIE0);
124	return(((t - CountMilliseconds) & 0x8000) >> 9);	126	return(((t - CountMilliseconds) & 0x8000) >> 9);
125	// TIMSK0 \|= _BV(TOIE0);	127	// TIMSK0 \|= _BV(TOIE0);
126	}	128	}
127		129
128	// -----------------------------------------------------------------------	130	// -----------------------------------------------------------------------
129	void Delay_ms(unsigned int w)	131	void Delay_ms(unsigned int w)
130	{	132	{
131	unsigned int akt;	133	unsigned int akt;
132	akt = SetDelay(w);	134	akt = SetDelay(w);
133	while (!CheckDelay(akt));	135	while (!CheckDelay(akt));
134	}	136	}
135		137
136	void Delay_ms_Mess(unsigned int w)	138	void Delay_ms_Mess(unsigned int w)
137	{	139	{
138	unsigned int akt;	140	unsigned int akt;
139	akt = SetDelay(w);	141	akt = SetDelay(w);
140	while (!CheckDelay(akt)) ANALOG_ON;	142	while (!CheckDelay(akt)) ANALOG_ON;
141	}	143	}
142		144
143	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
144	// Servo ansteuern	146	// Servo ansteuern
145	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	147	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-		148	SIGNAL(SIG_OVERFLOW2)
-		149	{
-		150	if (ServoState > 0) PORTD \|= 0x80;
-		151	else PORTD &= ~0x80;
-		152	TCCR2A =3;
-		153	TIMSK2 &= ~_BV(TOIE2);
-		154	}
-		155
146	SIGNAL(SIG_OUTPUT_COMPARE2A)	156	SIGNAL(SIG_OUTPUT_COMPARE2A)
147	{	157	{
148	static unsigned char timer = 10;	158	static unsigned char postPulse = 0x80;
149		-
-		159	static int filterServo = 100;
-		160	#define MULTIPLIER 4
150	if(!timer--)	161	if(ServoState == 4)
151	{	162	{
152	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;	163	ServoValue = 0x0030; // Offset Part1
153	ServoValue = Parameter_ServoNickControl;	164	filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;
-		165	ServoValue += filterServo;
154	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	166	if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);
155	else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;	167	else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);
156		-
157	if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;	168	if((ServoValue) < ((int)EE_Parameter.ServoNickMin3)) ServoValue = (int)EE_Parameter.ServoNickMin3;
158	else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;	169	else if((ServoValue) > ((int)EE_Parameter.ServoNickMax3)) ServoValue = (int)EE_Parameter.ServoNickMax3;
159		170
-		171	DebugOut.Analog[20] = ServoValue;
-		172	if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;
160	OCR2A = ServoValue;// + 75;	173	OCR2A = 255-(ServoValue % 256);
161	timer = EE_Parameter.ServoNickRefresh;	174	TCCR2A=(1<<COM2A1)\|(1<<COM2A0)\|3;
162	}	175	}
163	else	176	else if ((ServoState > 0) && (ServoState < 4))
164	{	177	{
-		178	if(ServoValue > 255)
-		179	{ PORTD \|= 0x80;
165	TCCR2A =3;	180	TCCR2A =3;
-		181	ServoValue -= 255;
-		182	}
-		183	else
-		184	{
-		185	TCCR2A=(1<<COM2A1)\|(0<<COM2A0)\|3;
-		186	OCR2A = postPulse; // Offset Part2
-		187	ServoState = 1;
-		188	}
-		189	}
-		190	else if (ServoState == 0)
-		191	{
-		192	ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;
166	PORTD&=~0x80;	193	PORTD&=~0x80;
-		194	TCCR2A = 3;
167	}	195	}
-		196	ServoState--;
-		197
168	}	198	}
169		199

Subversion Repositories FlightCtrl

(root)/tags/V0.70d/timer0.c @ 2163 - Rev 872 → 910