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| Rev 1 | Rev 173 | ||
|---|---|---|---|
| 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) |
|
| 36 | 39 | { |
|
| - | 40 | beeptime--; |
|
| - | 41 | if(beeptime & BeepMuster) |
|
| 37 | if(beeptime > 1) |
42 | { |
| 38 | { |
43 | pieper_ein = 1; |
| - | 44 | } |
|
| - | 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 | } |