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Rev 838 Rev 966
Line 8... Line 8...
8 
volatile unsigned int cntKompass = 0;
 8 
volatile unsigned int cntKompass = 0;
9 
volatile unsigned int beeptime = 0;
 9 
volatile unsigned int beeptime = 0;
10 
unsigned int BeepMuster = 0xffff;
 10 
unsigned int BeepMuster = 0xffff;
11 
int ServoValue = 0;
 11 
int ServoValue = 0;
12 
extern void MM3_Update(void);
 12 
extern void MM3_Update(void);
13 
 
 13 
 
14 
enum {
 14 
enum {
15 
  STOP             = 0,
 15 
  STOP             = 0,
16 
  CK               = 1,
 16 
    CK               = 1,
17 
  CK8              = 2,
 17 
    CK8              = 2,
18 
  CK64             = 3,
 18 
    CK64             = 3,
19 
  CK256            = 4,
 19 
    CK256            = 4,
20 
  CK1024           = 5,
 20 
    CK1024           = 5,
21 
  T0_FALLING_EDGE  = 6,
 21 
    T0_FALLING_EDGE  = 6,
22 
  T0_RISING_EDGE   = 7
 22 
    T0_RISING_EDGE   = 7
23 
};
 23 
};
Line 24... Line 24...
24 
 
 24 
 
25 
 
 25 
 
26 
SIGNAL (SIG_OVERFLOW0)    // 8kHz
 26 
SIGNAL (SIG_OVERFLOW0)    // 8kHz
27 
{
 27 
{
28 
    static unsigned char cnt_1ms = 1,cnt = 0;
 28 
  static unsigned char cnt_1ms = 1,cnt = 0;
29 
    unsigned char pieper_ein = 0;
 29 
  unsigned char pieper_ein = 0;
30 
 
 30 
 
31 
   Count8Khz++;
 31 
  Count8Khz++;
32 
   
 32 
 
33 
        if(!cnt--)
 33 
  if(!cnt--)
34 
    {
 34 
  {
35 
                cnt = 9;
 35 
    cnt = 9;
36 
                cnt_1ms++;
 36 
    cnt_1ms++;
37 
                cnt_1ms %= 2;
 - 
 
38 
                if(!cnt_1ms)
 - 
 
39 
                {
 - 
 
40 
                        UpdateMotor = 1;
 - 
 
41 
                }
 - 
 
42 
                CountMilliseconds++;
 - 
 
43 
                cnt_ms++;
 - 
 
44 
                // update compass value if this option is enabled in the settings
 - 
 
45 
                MM3_Update(); // read out mm3 board
 - 
 
46 
     }  
 - 
 
47 
 
 - 
 
48 
     if(beeptime > 1)
 - 
 
49 
        {
 - 
 
50 
        beeptime--;      
 - 
 
51 
        if(beeptime & BeepMuster)
 - 
 
52 
         {
 - 
 
53 
          pieper_ein = 1;
 - 
 
54 
         }
 - 
 
55 
         else pieper_ein = 0;
 - 
 
56 
        }
 - 
 
57 
     else
 - 
 
58 
      {
 - 
 
59 
       pieper_ein = 0;
 - 
 
60 
       BeepMuster = 0xffff;
 - 
 
61 
      }
 - 
 
62 
 
 37 
    cnt_1ms %= 2;
63 
    if(pieper_ein)
 38 
    if(!cnt_1ms)
64 
    {
 39 
    {
- 
 
 40 
      UpdateMotor = 1;
65 
        PORTC |= (1<<7); // Speaker an PORTC.7
 41 
    }
- 
 
 42 
    CountMilliseconds++;
- 
 
 43 
    cnt_ms++;
- 
 
 44 
    // update compass value if this option is enabled in the settings
- 
 
 45 
    MM3_Update(); // read out mm3 board
- 
 
 46 
  }  
- 
 
 47 
 
- 
 
 48 
  if(beeptime > 1)
- 
 
 49 
  {
66 
    }
 50 
    beeptime--;      
- 
 
 51 
    if(beeptime & BeepMuster)
- 
 
 52 
    {
- 
 
 53 
      pieper_ein = 1;
- 
 
 54 
    }
- 
 
 55 
    else pieper_ein = 0;
- 
 
 56 
  }
- 
 
 57 
  else
- 
 
 58 
  {
- 
 
 59 
    pieper_ein = 0;
- 
 
 60 
    BeepMuster = 0xffff;
- 
 
 61 
  }
- 
 
 62 
 
- 
 
 63 
  if(pieper_ein)
- 
 
 64 
  {
- 
 
 65 
    PORTC |= (1<<7); // Speaker an PORTC.7
- 
 
 66 
  }
67 
    else  
 67 
  else  
- 
 
 68 
  {
- 
 
 69 
    PORTC &= ~(1<<7);
- 
 
 70 
  }
- 
 
 71 
 
- 
 
 72 
#if 0
- 
 
 73 
  if(PINC & 0x10)
- 
 
 74 
  {
- 
 
 75 
    cntKompass++;
- 
 
 76 
  }
- 
 
 77 
  else
- 
 
 78 
  {
- 
 
 79 
    if((cntKompass) && (cntKompass < 4000))
- 
 
 80 
    {
- 
 
 81 
      if(cntKompass < 10)
- 
 
 82 
      {
- 
 
 83 
        cntKompass = 10;
68 
    {
 84 
      }
69 
        PORTC &= ~(1<<7);
 - 
 
70 
    }
 - 
 
71 
 
 - 
 
72 
 #if 0
 - 
 
73 
        if(PINC & 0x10)
 - 
 
74 
        {
 - 
 
75 
                cntKompass++;
 - 
 
76 
        }
 - 
 
77 
        else
 - 
 
78 
        {
 - 
 
79 
                if((cntKompass) && (cntKompass < 4000))
 - 
 
80 
                {
 - 
 
81 
                        if(cntKompass < 10)
 85 
      KompassValue = (((int) cntKompass-10) * 36) / 35;
82 
                        {
 - 
 
83 
                                cntKompass = 10;
 - 
 
84 
                        }
 86 
    }
85 
                        KompassValue = (((int) cntKompass-10) * 36) / 35;
 - 
 
86 
                }
 - 
 
87 
                cntKompass = 0;
 87 
    cntKompass = 0;
88 
        }
 88 
  }
Line 89... Line 89...
89 
#endif
 89 
#endif
90 
}
 90 
}
91 
 
 91 
 
92 
 
 92 
 
93 
void Timer_Init(void)
 93 
void Timer_Init(void)
94 
{
 94 
{
95 
    tim_main = SetDelay(10);
 95 
  tim_main = SetDelay(10);
96 
    TCCR0B = CK8;
 96 
  TCCR0B = CK8;
97 
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
 97 
  TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
98 
    OCR0A =  0;
 98 
  OCR0A =  0;
99 
    OCR0B = 120;
 99 
  OCR0B = 120;
100 
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
 100 
  TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
101 
   
 101 
 
102 
    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
 102 
  TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
103 
    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
 103 
  TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
104 
        TIMSK2 |= _BV(OCIE2A);
 104 
  TIMSK2 |= _BV(OCIE2A);
105 
 
 105 
 
Line 106... Line 106...
106 
    TIMSK0 |= _BV(TOIE0);
 106 
  TIMSK0 |= _BV(TOIE0);
Line 107... Line 107...
107 
    OCR2A = 10;
 107 
  OCR2A = 10;
108 
    TCNT2 = 0;
 108 
  TCNT2 = 0;
109 
}
 109 
}
110 
 
 110 
 
111 
// -----------------------------------------------------------------------
 111 
// -----------------------------------------------------------------------
112 
 
 112 
 
Line 113... Line 113...
113 
unsigned int SetDelay (unsigned int t)
 113 
unsigned int SetDelay (unsigned int t)
114 
{
 114 
{
115 
//  TIMSK0 &= ~_BV(TOIE0);
 115 
  //  TIMSK0 &= ~_BV(TOIE0);
116 
  return(CountMilliseconds + t + 1);                                            
 116 
  return(CountMilliseconds + t + 1);                                            
117 
//  TIMSK0 |= _BV(TOIE0);
 117 
  //  TIMSK0 |= _BV(TOIE0);
118 
}
 118 
}
119 
 
 119 
 
Line 120... Line 120...
120 
// -----------------------------------------------------------------------
 120 
// -----------------------------------------------------------------------
121 
char CheckDelay(unsigned int t)
 121 
char CheckDelay(unsigned int t)
122 
{
 122 
{
123 
//  TIMSK0 &= ~_BV(TOIE0);
 123 
  //  TIMSK0 &= ~_BV(TOIE0);
124 
  return(((t - CountMilliseconds) & 0x8000) >> 9);
 124 
  return(((t - CountMilliseconds) & 0x8000) >> 9);
125 
//  TIMSK0 |= _BV(TOIE0);
 125 
  //  TIMSK0 |= _BV(TOIE0);
126 
}
 126 
}
Line 127... Line 127...
127 
 
 127 
 
128 
// -----------------------------------------------------------------------
 128 
// -----------------------------------------------------------------------
129 
void Delay_ms(unsigned int w)
 129 
void Delay_ms(unsigned int w)
130 
{
 130 
{
131 
 unsigned int akt;
 131 
  unsigned int akt;
132 
 akt = SetDelay(w);
 132 
  akt = SetDelay(w);
Line 133... Line 133...
133 
 while (!CheckDelay(akt));
 133 
  while (!CheckDelay(akt));
134 
}
 134 
}
135 
 
 135 
 
136 
void Delay_ms_Mess(unsigned int w)
 136 
void Delay_ms_Mess(unsigned int w)
137 
{
 137 
{
138 
 unsigned int akt;
 138 
  unsigned int akt;
139 
 akt = SetDelay(w);
 139 
  akt = SetDelay(w);
140 
 while (!CheckDelay(akt)) ANALOG_ON;
 140 
  while (!CheckDelay(akt)) ANALOG_ON;
141 
}
 141 
}
142 
 
 142 
 
143 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
143 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
144 
//  Servo ansteuern
 144 
//  Servo ansteuern
145 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
145 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
146 
SIGNAL(SIG_OUTPUT_COMPARE2A)
 146 
SIGNAL(SIG_OUTPUT_COMPARE2A)
147 
{
 147 
{
148 
  static unsigned char timer = 10;
 148 
  static unsigned char timer = 10;
149 
  unsigned char Parameter_ServoNickControl = 100;
 149 
  unsigned char Parameter_ServoNickControl = 100;
150 
 
 150 
 
151 
  if(!timer--)  
 151 
  if(!timer--)  
152 
    {
 152 
  {
153 
     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
 153 
    TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
154 
     ServoValue =  Parameter_ServoNickControl;
 154 
    ServoValue =  Parameter_ServoNickControl;
155 
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512;
 155 
    if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512;
156 
     else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512;
 156 
    else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512;
157 
     
 157 
   
158 
     if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
 158 
    if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
159 
     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
 159 
    else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;