Rev 1127 | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1127 | Rev 1133 | ||
|---|---|---|---|
| Line 22... | Line 22... | ||
| 22 | CK1024 = 5, |
22 | CK1024 = 5, |
| 23 | T0_FALLING_EDGE = 6, |
23 | T0_FALLING_EDGE = 6, |
| 24 | T0_RISING_EDGE = 7 |
24 | T0_RISING_EDGE = 7 |
| 25 | }; |
25 | }; |
| Line -... | Line 26... | ||
| - | 26 | ||
| 26 | 27 | ||
| 27 | SIGNAL(SIG_OVERFLOW0) // 8kHz |
28 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
| 28 | { |
29 | { |
| 29 | static unsigned char cnt_1ms = 1, cnt = 0; |
30 | static unsigned char cnt_1ms = 1,cnt = 0; |
| 30 | unsigned char pieper_ein = 0; |
31 | unsigned char pieper_ein = 0; |
| 31 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
32 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| 32 | if (SendSPI) |
33 | if(SendSPI) SendSPI--; |
| 33 | SendSPI--; |
34 | if(!cnt--) |
| 34 | if (!cnt--) { |
- | |
| 35 | // cnt = 9; // Wenn der Kommentar 8kHz oben stimmt, muß durch 8 geteilt werden, nicht durch 10! |
35 | { |
| 36 | cnt = 7; |
36 | cnt = 9; |
| 37 | // cnt_1ms++; |
37 | cnt_1ms++; |
| 38 | // cnt_1ms %= 2; |
- | |
| 39 | cnt_1ms = !cnt_1ms; // So ist das etwas einfacher |
- | |
| 40 | if (!cnt_1ms) |
38 | cnt_1ms %= 2; |
| 41 | UpdateMotor = 1; |
39 | if(!cnt_1ms) UpdateMotor = 1; |
| 42 | CountMilliseconds++; |
40 | CountMilliseconds++; |
| Line 43... | Line 41... | ||
| 43 | } |
41 | } |
| - | 42 | ||
| 44 | 43 | if(beeptime > 1) |
|
| 45 | if (beeptime > 1) { |
44 | { |
| - | 45 | beeptime--; |
|
| 46 | beeptime--; |
46 | if(beeptime & BeepMuster) |
| - | 47 | { |
|
| - | 48 | pieper_ein = 1; |
|
| - | 49 | } |
|
| 47 | if (beeptime & BeepMuster) |
50 | else pieper_ein = 0; |
| 48 | pieper_ein = 1; |
- | |
| 49 | else |
51 | } |
| 50 | pieper_ein = 0; |
52 | else |
| 51 | } else { |
53 | { |
| 52 | pieper_ein = 0; |
54 | pieper_ein = 0; |
| Line -... | Line 55... | ||
| - | 55 | BeepMuster = 0xffff; |
|
| 53 | BeepMuster = 0xffff; |
56 | } |
| 54 | } |
57 | |
| 55 | 58 | ||
| 56 | if (pieper_ein) { |
- | |
| 57 | if (PlatinenVersion == 10) |
59 | if(pieper_ein) |
| 58 | PORTD |= (1 << 2); // Speaker an PORTD.2 |
60 | { |
| 59 | else |
- | |
| 60 | PORTC |= (1 << 7); // Speaker an PORTC.7 |
- | |
| 61 | } else { |
61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| - | 62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
|
| - | 63 | } |
|
| 62 | if (PlatinenVersion == 10) |
64 | else |
| 63 | PORTD &= ~(1 << 2); |
65 | { |
| Line 64... | Line 66... | ||
| 64 | else |
66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| - | 67 | else PORTC &= ~(1<<7); |
|
| 65 | PORTC &= ~(1 << 7); |
68 | } |
| - | 69 | ||
| 66 | } |
70 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| - | 71 | { |
|
| 67 | 72 | if(PINC & 0x10) |
|
| - | 73 | { |
|
| 68 | if (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) { |
74 | cntKompass++; |
| - | 75 | } |
|
| 69 | if (PINC & 0x10) |
76 | else |
| 70 | cntKompass++; |
77 | { |
| 71 | else { |
- | |
| 72 | if ((cntKompass) && (cntKompass < 362)) { |
78 | if((cntKompass) && (cntKompass < 362)) |
| 73 | cntKompass += cntKompass / 41; |
79 | { |
| 74 | if (cntKompass > 10) KompassValue = cntKompass - 10; |
80 | cntKompass += cntKompass / 41; |
| 75 | else KompassValue = 0; |
81 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| 76 | } |
82 | } |
| 77 | // if(cntKompass < 10) cntKompass = 10; |
83 | // if(cntKompass < 10) cntKompass = 10; |
| 78 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| 79 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| Line 80... | Line 86... | ||
| 80 | cntKompass = 0; |
86 | cntKompass = 0; |
| 81 | } |
- | |
| 82 | } |
87 | } |
| - | 88 | } |
|
| 83 | } |
89 | } |
| 84 | 90 | ||
| 85 | //---------------------------- |
91 | //---------------------------- |
| 86 | 92 | void Timer_Init(void) |
|
| 87 | void Timer_Init(void) { |
93 | { |
| Line 106... | Line 112... | ||
| 106 | 112 | ||
| Line 107... | Line 113... | ||
| 107 | } |
113 | } |
| Line 108... | Line 114... | ||
| 108 | 114 | ||
| - | 115 | // ----------------------------------------------------------------------- |
|
| 109 | // ----------------------------------------------------------------------- |
116 | |
| 110 | 117 | unsigned int SetDelay (unsigned int t) |
|
| 111 | unsigned int SetDelay(unsigned int t) { |
118 | { |
| 112 | // TIMSK0 &= ~_BV(TOIE0); |
119 | // TIMSK0 &= ~_BV(TOIE0); |
| Line 113... | Line 120... | ||
| 113 | return (CountMilliseconds + t + 1); |
120 | return(CountMilliseconds + t + 1); |
| 114 | // TIMSK0 |= _BV(TOIE0); |
- | |
| 115 | } |
121 | // TIMSK0 |= _BV(TOIE0); |
| - | 122 | } |
|
| 116 | 123 | ||
| 117 | // ----------------------------------------------------------------------- |
124 | // ----------------------------------------------------------------------- |
| 118 | 125 | char CheckDelay(unsigned int t) |
|
| 119 | char CheckDelay(unsigned int t) { |
126 | { |
| Line 120... | Line 127... | ||
| 120 | // TIMSK0 &= ~_BV(TOIE0); |
127 | // TIMSK0 &= ~_BV(TOIE0); |
| 121 | return (((t - CountMilliseconds) & 0x8000) >> 9); |
- | |
| 122 | // TIMSK0 |= _BV(TOIE0); |
128 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
| - | 129 | // TIMSK0 |= _BV(TOIE0); |
|
| 123 | } |
130 | } |
| 124 | 131 | ||
| 125 | // ----------------------------------------------------------------------- |
132 | // ----------------------------------------------------------------------- |
| 126 | 133 | void Delay_ms(unsigned int w) |
|
| Line 127... | Line 134... | ||
| 127 | void Delay_ms(unsigned int w) { |
134 | { |
| - | 135 | unsigned int akt; |
|
| 128 | unsigned int akt; |
136 | akt = SetDelay(w); |
| 129 | akt = SetDelay(w); |
137 | while (!CheckDelay(akt)); |
| 130 | while (!CheckDelay(akt)); |
138 | } |
| 131 | } |
- | |
| 132 | 139 | ||
| Line 133... | Line 140... | ||
| 133 | void Delay_ms_Mess(unsigned int w) { |
140 | void Delay_ms_Mess(unsigned int w) |
| 134 | unsigned int akt; |
141 | { |
| 135 | akt = SetDelay(w); |
142 | unsigned int akt; |
| 136 | while (!CheckDelay(akt)) |
- | |
| 137 | ANALOG_ON; |
143 | akt = SetDelay(w); |
| Line 138... | Line 144... | ||
| 138 | } |
144 | while (!CheckDelay(akt)) ANALOG_ON; |
| 139 | 145 | } |
|
| 140 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
146 | |
| Line 172... | Line 178... | ||
| 172 | long integral; |
178 | long integral; |
| Line 173... | Line 179... | ||
| 173 | 179 | ||
| 174 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
180 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
| 175 | * umschalten (sh. parameter.h) |
181 | * umschalten (sh. parameter.h) |
| 176 | */ |
182 | */ |
| 177 | if (PARAM_X_FORMATION) |
183 | if( PARAM_X_FORMATION ) { |
| 178 | integral = IntegralNick - IntegralRoll; |
184 | integral = IntegralNick - IntegralRoll; |
| 179 | else |
185 | } else { |
| - | 186 | integral = IntegralNick; |
|
| Line 180... | Line 187... | ||
| 180 | integral = IntegralNick; |
187 | } |
| 181 | 188 | ||
| 182 | if (EE_Parameter.ServoNickCompInvert & 0x01) |
189 | if( EE_Parameter.ServoNickCompInvert & 0x01 ) |
| 183 | ServoValue += ((long) ((long) EE_Parameter.ServoNickComp * integral) >> DIV_128) / (512L >> DIV_4); |
190 | ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| Line 187... | Line 194... | ||
| 187 | DebugOut.Analog[20] = ServoValue; |
194 | DebugOut.Analog[20] = ServoValue; |
| Line 188... | Line 195... | ||
| 188 | 195 | ||
| 189 | if ((ServoValue % 255) < 45) { |
196 | if ( ( ServoValue % 255 ) < 45 ) { |
| 190 | ServoValue += 77; |
197 | ServoValue += 77; |
| 191 | postPulse = 0x60 - 77; |
198 | postPulse = 0x60 - 77; |
| 192 | } else |
199 | } else { |
| - | 200 | postPulse = 0x60; |
|
| Line 193... | Line 201... | ||
| 193 | postPulse = 0x60; |
201 | } |
| 194 | 202 | ||
| Line 195... | Line 203... | ||
| 195 | OCR2A = 255 - (ServoValue % 256); |
203 | OCR2A = 255 - ( ServoValue % 256 ); |