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Rev 871 | Rev 872 | ||
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Line 83... | Line 83... | ||
83 | cntKompass = 0; |
83 | cntKompass = 0; |
84 | } |
84 | } |
85 | } |
85 | } |
86 | } |
86 | } |
Line 87... | Line -... | ||
87 | - | ||
- | 87 | ||
88 | //---------------------------- |
88 | |
89 | void Timer_Init(void) |
89 | void Timer_Init(void) |
90 | { |
90 | { |
91 | tim_main = SetDelay(10); |
91 | tim_main = SetDelay(10); |
92 | TCCR0B = CK8; |
92 | TCCR0B = CK8; |
Line 95... | Line 95... | ||
95 | OCR0B = 120; |
95 | OCR0B = 120; |
96 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
96 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
97 | //OCR1 = 0x00; |
97 | //OCR1 = 0x00; |
Line 98... | Line 98... | ||
98 | 98 | ||
99 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
99 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
100 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
- | |
Line 101... | Line -... | ||
101 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
- | |
- | 100 | TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
|
102 | 101 | ||
Line 103... | Line 102... | ||
103 | 102 | // TIMSK2 |= _BV(TOIE2); |
|
104 | TIMSK2 |= _BV(OCIE2A); |
103 | TIMSK2 |= _BV(OCIE2A); |
105 | 104 | ||
Line 142... | Line 141... | ||
142 | } |
141 | } |
Line 143... | Line 142... | ||
143 | 142 | ||
144 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
145 | // Servo ansteuern |
144 | // Servo ansteuern |
146 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
147 | SIGNAL(SIG_OVERFLOW2) |
- | |
148 | { |
- | |
149 | PORTD |= 0x80; |
- | |
150 | TCCR2A =3; |
- | |
151 | TIMSK2 &= ~_BV(TOIE2); |
- | |
152 | } |
- | |
153 | 145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
154 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
155 | { |
- | |
156 | #define MULTIPLIER 4 |
- | |
157 | #define PPM_OFFSET 256 // 820us |
- | |
158 | static unsigned int timer = 10 * MULTIPLIER; |
- | |
159 | - | ||
160 | if(timer == 3) |
- | |
161 | { |
- | |
162 | ServoValue = PPM_OFFSET; |
- | |
163 | ServoValue += (int) Parameter_ServoNickControl * 2; |
- | |
164 | - | ||
165 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128 )/ (512/MULTIPLIER); |
- | |
166 | else ServoValue -= ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128) / (512/MULTIPLIER); |
- | |
167 | - | ||
168 | if((ServoValue) < ((int)EE_Parameter.ServoNickMin*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMin*MULTIPLIER; |
- | |
169 | else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMax*MULTIPLIER; |
- | |
170 | - | ||
171 | ServoValue = 500; |
- | |
172 | DebugOut.Analog[23] = ServoValue; |
- | |
173 | - | ||
174 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
- | |
175 | OCR2A = ServoValue % 256; |
- | |
176 | TIMSK2 |= _BV(TOIE2); |
- | |
177 | } |
- | |
178 | else if (timer < 3) |
- | |
179 | { |
- | |
180 | - | ||
181 | if (ServoValue > 255) |
- | |
182 | { PORTD |= 0x80; |
- | |
183 | TCCR2A =3; |
- | |
184 | ServoValue -= 255; |
- | |
185 | } |
- | |
186 | else |
- | |
187 | { |
- | |
188 | TCCR2A =3; |
- | |
189 | PORTD&=~0x80; |
- | |
190 | OCR2A = 0xff; |
- | |
191 | } |
- | |
192 | - | ||
193 | if (timer == 0) timer = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
- | |
194 | } |
- | |
195 | - | ||
196 | - | ||
197 | timer--; |
- | |
198 | 147 | { |
|
Line 199... | Line 148... | ||
199 | /* static unsigned char timer = 10; |
148 | static unsigned char timer = 10; |
200 | |
149 | |
201 | if(!timer--) |
150 | if(!timer--) |
202 | { |
151 | { |
Line 213... | Line 162... | ||
213 | } |
162 | } |
214 | else |
163 | else |
215 | { |
164 | { |
216 | TCCR2A =3; |
165 | TCCR2A =3; |
217 | PORTD&=~0x80; |
166 | PORTD&=~0x80; |
218 | } */ |
167 | } |
219 | - | ||
220 | } |
168 | } |