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| 1 | #include "main.h" |
1 | #include "main.h" |
| Line 2... | Line 2... | ||
| 2 | 2 | ||
| 3 | volatile unsigned int CountMilliseconds = 0; |
- | |
| 4 | volatile static unsigned int tim_main; |
3 | volatile uint16_t CountMilliseconds = 0; |
| 5 | volatile unsigned char UpdateMotor = 0; |
4 | volatile uint8_t UpdateMotor = 0; |
| 6 | volatile unsigned int cntKompass = 0; |
5 | volatile uint16_t cntKompass = 0; |
| 7 | volatile unsigned int beeptime = 0; |
6 | volatile uint16_t BeepTime = 0; |
| 8 | unsigned int BeepMuster = 0xffff; |
- | |
| 9 | int ServoValue = 0; |
- | |
| 10 | - | ||
| 11 | enum { |
- | |
| 12 | STOP = 0, |
- | |
| 13 | CK = 1, |
- | |
| 14 | CK8 = 2, |
- | |
| 15 | CK64 = 3, |
- | |
| 16 | CK256 = 4, |
- | |
| 17 | CK1024 = 5, |
- | |
| 18 | T0_FALLING_EDGE = 6, |
- | |
| 19 | T0_RISING_EDGE = 7 |
- | |
| 20 | }; |
- | |
| 21 | - | ||
| 22 | - | ||
| 23 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
- | |
| 24 | { |
- | |
| 25 | static unsigned char cnt_1ms = 1,cnt = 0; |
- | |
| 26 | unsigned char pieper_ein = 0; |
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| Line -... | Line 7... | ||
| - | 7 | uint16_t BeepModulation = 0xFFFF; |
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| - | 8 | ||
| - | 9 | ||
| - | 10 | ||
| - | 11 | /*****************************************************/ |
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| - | 12 | /* Initialize Timer 0 */ |
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| - | 13 | /*****************************************************/ |
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| - | 14 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
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| - | 15 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
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| - | 16 | void TIMER0_Init(void) |
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| - | 17 | { |
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| - | 18 | uint8_t sreg = SREG; |
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| - | 19 | ||
| - | 20 | // disable all interrupts before reconfiguration |
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| - | 21 | cli(); |
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| - | 22 | ||
| - | 23 | // set PB3 and PB4 as output for the PWM |
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| - | 24 | DDRB |= (1<<DDB4)|(1<<DDB3); |
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| - | 25 | PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
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| - | 26 | ||
| - | 27 | // Timer/Counter 0 Control Register A |
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| - | 28 | ||
| - | 29 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
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| - | 30 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
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| - | 31 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
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| - | 32 | TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
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| - | 33 | TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
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| - | 34 | ||
| - | 35 | // Timer/Counter 0 Control Register B |
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| - | 36 | ||
| - | 37 | // set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
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| - | 38 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
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| - | 39 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
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| - | 40 | ||
| - | 41 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
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| - | 42 | TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
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| - | 43 | TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
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| - | 44 | ||
| - | 45 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
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| - | 46 | OCR0A = 0; // for PB3 |
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| - | 47 | OCR0B = 120; // for PB4 |
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| 27 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
48 | |
| - | 49 | // init Timer/Counter 0 Register |
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| - | 50 | TCNT0 = 0; |
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| - | 51 | ||
| - | 52 | // Timer/Counter 0 Interrupt Mask Register |
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| - | 53 | // enable timer overflow interrupt only |
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| - | 54 | TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
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| - | 55 | TIMSK0 |= (1<<TOIE0); |
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| - | 56 | ||
| - | 57 | SREG = sreg; |
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| - | 58 | } |
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| - | 59 | ||
| - | 60 | ||
| - | 61 | ||
| - | 62 | /*****************************************************/ |
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| - | 63 | /* Interrupt Routine of Timer 0 */ |
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| - | 64 | /*****************************************************/ |
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| - | 65 | ISR(TIMER0_OVF_vect) // 9.765 kHz |
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| - | 66 | { |
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| - | 67 | static uint8_t cnt_1ms = 1,cnt = 0; |
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| - | 68 | uint8_t Beeper_On = 0; |
|
| 28 | 69 | ||
| 29 | if(!cnt--) |
70 | if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
| 30 | { |
71 | { |
| 31 | cnt = 9; |
72 | cnt = 9; |
| 32 | cnt_1ms++; |
73 | cnt_1ms++; |
| 33 | cnt_1ms %= 2; |
74 | cnt_1ms %= 2; |
| 34 | if(!cnt_1ms) UpdateMotor = 1; |
75 | if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz) |
| Line 35... | Line -... | ||
| 35 | CountMilliseconds++; |
- | |
| 36 | } |
76 | CountMilliseconds++; // increment millisecond counter |
| 37 | 77 | } |
|
| 38 | if(beeptime > 1) |
78 | |
| 39 | { |
79 | |
| 40 | beeptime--; |
80 | // beeper on if duration is not over |
| 41 | if(beeptime & BeepMuster) |
81 | if(BeepTime > 1) |
| 42 | { |
82 | { |
| 43 | pieper_ein = 1; |
83 | BeepTime--; // decrement BeepTime |
| 44 | } |
84 | if(BeepTime & BeepModulation) Beeper_On = 1; |
| 45 | else pieper_ein = 0; |
85 | else Beeper_On = 0; |
| 46 | } |
86 | } |
| 47 | else |
87 | else // beeper off if duration is over |
| 48 | { |
88 | { |
| Line 49... | Line -... | ||
| 49 | pieper_ein = 0; |
- | |
| - | 89 | Beeper_On = 0; |
|
| 50 | BeepMuster = 0xffff; |
90 | BeepModulation = 0xFFFF; |
| 51 | } |
91 | } |
| - | 92 | ||
| 52 | 93 | // if beeper is on |
|
| 53 | 94 | if(Beeper_On) |
|
| 54 | if(pieper_ein) |
95 | { |
| 55 | { |
96 | // set speaker port to high |
| 56 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
97 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker at PD2 |
| - | 98 | else PORTC |= (1<<7); // Speaker at PC7 |
|
| 57 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
99 | } |
| 58 | } |
100 | else // beeper is off |
| 59 | else |
101 | { |
| Line -... | Line 102... | ||
| - | 102 | // set speaker port to low |
|
| 60 | { |
103 | if(PlatinenVersion == 10) PORTD &= ~(1<<2);// Speaker at PD2 |
| 61 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
104 | else PORTC &= ~(1<<7);// Speaker at PC7 |
| 62 | else PORTC &= ~(1<<7); |
105 | } |
| 63 | } |
106 | |
| 64 | 107 | // update compass value if this option is enabled in the settings |
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| Line 72... | Line 115... | ||
| 72 | { |
115 | { |
| 73 | if((cntKompass) && (cntKompass < 4000)) |
116 | if((cntKompass) && (cntKompass < 4000)) |
| 74 | { |
117 | { |
| 75 | KompassValue = cntKompass; |
118 | KompassValue = cntKompass; |
| 76 | } |
119 | } |
| 77 | // if(cntKompass < 10) cntKompass = 10; |
- | |
| 78 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
- | |
| 79 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
120 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 80 | cntKompass = 0; |
121 | cntKompass = 0; |
| 81 | } |
122 | } |
| 82 | } |
123 | } |
| 83 | } |
124 | } |
| Line 84... | Line -... | ||
| 84 | - | ||
| 85 | - | ||
| 86 | void Timer_Init(void) |
- | |
| 87 | { |
- | |
| 88 | tim_main = SetDelay(10); |
- | |
| 89 | TCCR0B = CK8; |
- | |
| 90 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
- | |
| 91 | OCR0A = 0; |
- | |
| 92 | OCR0B = 120; |
- | |
| 93 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
- | |
| 94 | //OCR1 = 0x00; |
- | |
| 95 | - | ||
| 96 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
- | |
| 97 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
- | |
| 98 | - | ||
| 99 | // TIMSK2 |= _BV(TOIE2); |
- | |
| 100 | TIMSK2 |= _BV(OCIE2A); |
- | |
| 101 | - | ||
| 102 | TIMSK0 |= _BV(TOIE0); |
- | |
| 103 | OCR2A = 10; |
- | |
| 104 | TCNT2 = 0; |
- | |
| Line 105... | Line 125... | ||
| 105 | 125 | ||
| 106 | } |
- | |
| 107 | 126 | ||
| 108 | // ----------------------------------------------------------------------- |
127 | |
| 109 | 128 | // ----------------------------------------------------------------------- |
|
| 110 | unsigned int SetDelay (unsigned int t) |
129 | uint16_t SetDelay (uint16_t t) |
| 111 | { |
130 | { |
| 112 | // TIMSK0 &= ~_BV(TOIE0); |
131 | // TIMSK0 &= ~(1<<TOIE0); |
| Line 113... | Line 132... | ||
| 113 | return(CountMilliseconds + t + 1); |
132 | return(CountMilliseconds + t + 1); |
| 114 | // TIMSK0 |= _BV(TOIE0); |
133 | // TIMSK0 |= (1<<TOIE0); |
| 115 | } |
134 | } |
| 116 | 135 | ||
| 117 | // ----------------------------------------------------------------------- |
136 | // ----------------------------------------------------------------------- |
| 118 | char CheckDelay(unsigned int t) |
137 | int8_t CheckDelay(uint16_t t) |
| 119 | { |
138 | { |
| Line 120... | Line 139... | ||
| 120 | // TIMSK0 &= ~_BV(TOIE0); |
139 | // TIMSK0 &= ~(1<<TOIE0); |
| 121 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
140 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
| 122 | // TIMSK0 |= _BV(TOIE0); |
141 | // TIMSK0 |= (1<<TOIE0); |
| 123 | } |
142 | } |
| 124 | 143 | ||
| 125 | // ----------------------------------------------------------------------- |
144 | // ----------------------------------------------------------------------- |
| 126 | void Delay_ms(unsigned int w) |
145 | void Delay_ms(uint16_t w) |
| Line -... | Line 146... | ||
| - | 146 | { |
|
| 127 | { |
147 | unsigned int t_stop; |
| 128 | unsigned int akt; |
148 | t_stop = SetDelay(w); |
| 129 | akt = SetDelay(w); |
149 | while (!CheckDelay(t_stop)); |
| 130 | while (!CheckDelay(akt)); |
150 | } |
| 131 | } |
151 | |
| 132 | 152 | // ----------------------------------------------------------------------- |
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| Line 133... | Line -... | ||
| 133 | void Delay_ms_Mess(unsigned int w) |
- | |
| 134 | { |
- | |
| 135 | unsigned int akt; |
- | |
| 136 | akt = SetDelay(w); |
- | |
| 137 | while (!CheckDelay(akt)) ANALOG_ON; |
- | |
| 138 | } |
- | |
| 139 | - | ||
| 140 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 141 | // Servo ansteuern |
- | |
| 142 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 143 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
- | |
| 144 | { |
- | |
| 145 | static unsigned char timer = 10; |
- | |
| 146 | - | ||
| 147 | if(!timer--) |
- | |
| 148 | { |
- | |
| 149 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
- | |
| 150 | ServoValue = Parameter_ServoNickControl; |
- | |
| 151 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
- | |
| 152 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
- | |
| 153 | - | ||
| 154 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
- | |
| 155 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
- | |
| 156 | - | ||
| 157 | OCR2A = ServoValue;// + 75; |
- | |
| 158 | timer = EE_Parameter.ServoNickRefresh; |
- | |