Rev 787 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 787 | Rev 857 | ||
|---|---|---|---|
| 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 beeptime = 0; |
6 | volatile unsigned int beeptime = 0; |
| 7 | unsigned int BeepMuster = 0xffff; |
7 | unsigned int BeepMuster = 0xffff; |
| 8 | int ServoValue = 0; |
8 | uint8_t ServoValue = 0; |
| Line 9... | Line 9... | ||
| 9 | 9 | ||
| - | 10 | enum |
|
| 10 | enum { |
11 | { |
| 11 | STOP = 0, |
12 | STOP = 0, |
| 12 | CK = 1, |
13 | CK = 1, |
| 13 | CK8 = 2, |
14 | CK8 = 2, |
| 14 | CK64 = 3, |
15 | CK64 = 3, |
| Line 20... | Line 21... | ||
| 20 | 21 | ||
| 21 | 22 | ||
| 22 | SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
23 | SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
| 23 | { |
24 | { |
| Line 24... | Line 25... | ||
| 24 | static uint8_t cnt_1ms = 1,cnt = 0; |
25 | static uint8_t cnt_1ms = 1,cnt = 0; |
| 25 | uint8_t pieper_ein = 0; |
26 | uint8_t pieper_ein; |
| 26 | 27 | ||
| 27 | if(!cnt--) |
28 | if(!cnt--) |
| 28 | { |
29 | { |
| 29 | cnt = 9; |
30 | cnt = 9; |
| 30 | cnt_1ms++; |
31 | cnt_1ms++; |
| 31 | cnt_1ms %= 2; |
32 | cnt_1ms %= 2; |
| 32 | if(!cnt_1ms) UpdateMotor = 1; |
- | |
| 33 | CountMilliseconds++; |
- | |
| Line 34... | Line 33... | ||
| 34 | } |
33 | if(!cnt_1ms) UpdateMotor = 1; |
| 35 | 34 | CountMilliseconds++; |
|
| 36 | PORTD |= (1<<PD4); |
35 | } |
| 37 | 36 | ||
| 38 | if(beeptime > 1) |
37 | if(beeptime > 1) |
| 39 | { |
38 | { |
| 40 | beeptime--; |
39 | beeptime--; |
| 41 | if(beeptime & BeepMuster) |
40 | if(beeptime & BeepMuster) |
| 42 | { |
41 | { |
| 43 | pieper_ein = 1; |
42 | pieper_ein = 1; |
| 44 | } |
43 | } |
| 45 | else pieper_ein = 0; |
44 | else pieper_ein = 0; |
| 46 | } |
45 | } |
| 47 | else |
46 | else |
| Line 48... | Line 47... | ||
| 48 | { |
47 | { |
| 49 | pieper_ein = 0; |
48 | pieper_ein = 0; |
| - | 49 | BeepMuster = 0xffff; |
|
| 50 | BeepMuster = 0xffff; |
50 | } |
| - | 51 | ||
| 51 | } |
52 | |
| - | 53 | if(pieper_ein) |
|
| 52 | 54 | { |
|
| 53 | 55 | #if (PlatinenVersion == 10) |
|
| 54 | if(pieper_ein) |
56 | PORTD |= (1<<2); // Speaker an PORTD.2 |
| 55 | { |
57 | #else |
| - | 58 | PORTC |= (1<<7); // Speaker an PORTC.7 |
|
| - | 59 | #endif |
|
| 56 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
60 | } |
| - | 61 | else |
|
| 57 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
62 | { |
| Line 58... | Line 63... | ||
| 58 | } |
63 | #if (PlatinenVersion == 10) |
| 59 | else |
64 | PORTD &= ~(1<<2); |
| Line 80... | Line 85... | ||
| 80 | TIMSK2 |= _BV(OCIE2A); |
85 | TIMSK2 |= _BV(OCIE2A); |
| Line 81... | Line 86... | ||
| 81 | 86 | ||
| 82 | TIMSK0 |= _BV(TOIE0); |
87 | TIMSK0 |= _BV(TOIE0); |
| 83 | OCR2A = 10; |
88 | OCR2A = 10; |
| 84 | TCNT2 = 0; |
- | |
| 85 | 89 | TCNT2 = 0; |
|
| Line 86... | Line 90... | ||
| 86 | } |
90 | } |
| Line 87... | Line 91... | ||
| 87 | 91 | ||
| 88 | // ----------------------------------------------------------------------- |
92 | // ----------------------------------------------------------------------- |
| 89 | - | ||
| 90 | unsigned int SetDelay (unsigned int t) |
93 | |
| 91 | { |
- | |
| 92 | // TIMSK0 &= ~_BV(TOIE0); |
94 | unsigned int SetDelay (unsigned int t) |
| Line 93... | Line 95... | ||
| 93 | return(CountMilliseconds + t + 1); |
95 | { |
| 94 | // TIMSK0 |= _BV(TOIE0); |
96 | return(CountMilliseconds + t + 1); |
| 95 | } |
97 | } |
| 96 | - | ||
| 97 | // ----------------------------------------------------------------------- |
98 | |
| 98 | char CheckDelay(unsigned int t) |
- | |
| 99 | { |
99 | // ----------------------------------------------------------------------- |
| Line 100... | Line 100... | ||
| 100 | // TIMSK0 &= ~_BV(TOIE0); |
100 | char CheckDelay(unsigned int t) |
| 101 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
101 | { |
| 102 | // TIMSK0 |= _BV(TOIE0); |
102 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
| Line 120... | Line 120... | ||
| 120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 121 | // Servo ansteuern |
121 | // Servo ansteuern |
| 122 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
122 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 123 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
123 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
| 124 | { |
124 | { |
| 125 | static unsigned char timer = 10; |
125 | static uint8_t timer = 10; |
| Line 126... | Line 126... | ||
| 126 | 126 | ||
| 127 | if(!timer--) |
127 | if(!timer--) |
| 128 | { |
128 | { |
| 129 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
129 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| - | 130 | //ServoValue = Parameter_ServoNickControl; |
|
| 130 | ServoValue = Parameter_ServoNickControl; |
131 | ServoValue = (((uint16_t)Parameter_ServoNickControl * Cam_Travel) /255) + EE_Parameter.ServoNickMin; |
| 131 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
132 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((uint16_t)EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| 132 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
133 | else ServoValue -= ((uint16_t)EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| 133 | 134 | ||
| 134 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
135 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| Line 135... | Line 136... | ||
| 135 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
136 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| 136 | 137 | ||
| 137 | OCR2A = ServoValue;// + 75; |
138 | OCR2A = ServoValue;// + 75; |
| 138 | timer = EE_Parameter.ServoNickRefresh; |
139 | timer = EE_Parameter.ServoNickRefresh; |
| 139 | } |
140 | } |
| 140 | else |
141 | else |
| 141 | { |
142 | { |
| 142 | TCCR2A =3; |
143 | TCCR2A = 3; |
| 143 | PORTD&=~0x80; |
144 | PORTD &=~ 0x80; |