Rev 130 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 130 | Rev 243 | ||
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Line 3... | Line 3... | ||
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 | unsigned int BeepMuster = 0xffff; |
|
8 | int ServoValue = 0; |
9 | int ServoValue = 0; |
Line 9... | Line 10... | ||
9 | 10 | ||
10 | enum { |
11 | enum { |
11 | STOP = 0, |
12 | STOP = 0, |
Line 20... | Line 21... | ||
20 | 21 | ||
21 | 22 | ||
22 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
23 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
- | 24 | { |
|
23 | { |
25 | static unsigned char cnt_1ms = 1,cnt = 0; |
Line 24... | Line 26... | ||
24 | static unsigned char cnt_1ms = 1,cnt = 0; |
26 | unsigned char pieper_ein = 0; |
25 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
27 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
26 | 28 | ||
27 | if(!cnt--) |
29 | if(!cnt--) |
28 | { |
30 | { |
29 | cnt = 9; |
31 | cnt = 9; |
30 | cnt_1ms++; |
32 | cnt_1ms++; |
31 | cnt_1ms %= 2; |
- | |
32 | if(!cnt_1ms) UpdateMotor = 1; |
33 | cnt_1ms %= 2; |
Line 33... | Line 34... | ||
33 | CountMilliseconds++; |
34 | if(!cnt_1ms) UpdateMotor = 1; |
34 | if(Timeout) Timeout--; |
35 | CountMilliseconds++; |
35 | } |
36 | } |
- | 37 | ||
- | 38 | if(beeptime > 1) |
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36 | 39 | { |
|
- | 40 | beeptime--; |
|
- | 41 | if(beeptime & BeepMuster) |
|
37 | if(beeptime > 1) |
42 | { |
38 | { |
43 | pieper_ein = 1; |
- | 44 | } |
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- | 45 | else pieper_ein = 0; |
|
39 | beeptime--; |
46 | } |
- | 47 | else |
|
- | 48 | { |
|
Line -... | Line 49... | ||
- | 49 | pieper_ein = 0; |
|
- | 50 | BeepMuster = 0xffff; |
|
- | 51 | } |
|
- | 52 | ||
- | 53 | ||
- | 54 | if(pieper_ein) |
|
- | 55 | { |
|
- | 56 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
|
- | 57 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
|
- | 58 | } |
|
- | 59 | else |
|
40 | PORTD |= (1<<2); |
60 | { |
41 | } |
61 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
42 | else |
62 | else PORTC &= ~(1<<7); |
43 | PORTD &= ~(1<<2); |
63 | } |
44 | 64 | ||
Line 125... | Line 145... | ||
125 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
145 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
Line 126... | Line 146... | ||
126 | 146 | ||
127 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
147 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
Line 128... | Line -... | ||
128 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
- | |
129 | 148 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
|
130 | DebugOut.Analog[10] = ServoValue; |
149 | |
131 | OCR2A = ServoValue;// + 75; |
150 | OCR2A = ServoValue;// + 75; |
132 | timer = EE_Parameter.ServoNickRefresh; |
151 | timer = EE_Parameter.ServoNickRefresh; |
133 | } |
152 | } |