Subversion Repositories FlightCtrl

Rev

Rev 849 | Rev 872 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 849 Rev 871
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 100... Line -...
100 
    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
 - 
 
- 
 
 101 
    TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22);      // clk/64
101 
   
 102 
   
Line 102... Line 103...
102 
//    TIMSK2 |= _BV(TOIE2);
 103 
 
103 
TIMSK2 |= _BV(OCIE2A);
 104 
  TIMSK2 |= _BV(OCIE2A);
104 
 
 105 
 
Line 141... Line 142...
141 
}
 142 
}
Line 142... Line 143...
142 
 
 143 
 
143 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
144 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
144 
//  Servo ansteuern
 145 
//  Servo ansteuern
- 
 
 146 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
- 
 
 147 
SIGNAL(SIG_OVERFLOW2)
- 
 
 148 
{
- 
 
 149 
  PORTD |= 0x80;
- 
 
 150 
  TCCR2A =3;
- 
 
 151 
  TIMSK2 &= ~_BV(TOIE2);
- 
 
 152 
}
145 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
153 
 
146 
SIGNAL(SIG_OUTPUT_COMPARE2A)
 154 
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--;
147 
{
 198 
       
Line 148... Line 199...
148 
  static unsigned char timer = 10;
 199 
/*  static unsigned char timer = 10;
149 
 
 200 
 
150 
  if(!timer--)  
 201 
  if(!timer--)  
151 
    {
 202 
    {
Line 162... Line 213...
162 
    }
 213 
    }
163 
    else
 214 
    else
164 
    {
 215 
    {
165 
     TCCR2A =3;
 216 
     TCCR2A =3;
166 
     PORTD&=~0x80;
 217 
     PORTD&=~0x80;
167 
    }
 218 
    } */
- 
 
 219 
       
168 
}
 220 
}