Rev 1127 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1127 | Rev 1133 | ||
|---|---|---|---|
| Line 12... | Line 12... | ||
| 12 | 12 | ||
| 13 | unsigned int BeepMuster = 0xffff; |
13 | unsigned int BeepMuster = 0xffff; |
| Line 14... | Line 14... | ||
| 14 | unsigned int ServoValue = 0; |
14 | unsigned int ServoValue = 0; |
| 15 | 15 | ||
| 16 | enum { |
16 | enum { |
| 17 | STOP = 0, |
17 | STOP = 0, |
| 18 | CK = 1, |
18 | CK = 1, |
| 19 | CK8 = 2, |
19 | CK8 = 2, |
| 20 | CK64 = 3, |
20 | CK64 = 3, |
| 21 | CK256 = 4, |
21 | CK256 = 4, |
| 22 | CK1024 = 5, |
22 | CK1024 = 5, |
| 23 | T0_FALLING_EDGE = 6, |
23 | T0_FALLING_EDGE = 6, |
| Line -... | Line 24... | ||
| - | 24 | T0_RISING_EDGE = 7 |
|
| 24 | T0_RISING_EDGE = 7 |
25 | }; |
| 25 | }; |
26 | |
| 26 | 27 | ||
| 27 | SIGNAL(SIG_OVERFLOW0) // 8kHz |
28 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
| 28 | { |
29 | { |
| 29 | static unsigned char cnt_1ms = 1, cnt = 0; |
30 | static unsigned char cnt_1ms = 1,cnt = 0; |
| 30 | unsigned char pieper_ein = 0; |
31 | unsigned char pieper_ein = 0; |
| 31 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
32 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| 32 | if (SendSPI) |
- | |
| 33 | SendSPI--; |
33 | if(SendSPI) SendSPI--; |
| 34 | if (!cnt--) { |
34 | if(!cnt--) |
| 35 | // cnt = 9; // Wenn der Kommentar 8kHz oben stimmt, muß durch 8 geteilt werden, nicht durch 10! |
35 | { |
| 36 | cnt = 7; |
- | |
| 37 | // cnt_1ms++; |
- | |
| 38 | // cnt_1ms %= 2; |
36 | cnt = 9; |
| 39 | cnt_1ms = !cnt_1ms; // So ist das etwas einfacher |
37 | cnt_1ms++; |
| 40 | if (!cnt_1ms) |
38 | cnt_1ms %= 2; |
| 41 | UpdateMotor = 1; |
39 | if(!cnt_1ms) UpdateMotor = 1; |
| 42 | CountMilliseconds++; |
40 | CountMilliseconds++; |
| - | 41 | } |
|
| 43 | } |
42 | |
| 44 | 43 | if(beeptime > 1) |
|
| 45 | if (beeptime > 1) { |
- | |
| 46 | beeptime--; |
44 | { |
| 47 | if (beeptime & BeepMuster) |
45 | beeptime--; |
| 48 | pieper_ein = 1; |
46 | if(beeptime & BeepMuster) |
| 49 | else |
47 | { |
| 50 | pieper_ein = 0; |
- | |
| 51 | } else { |
48 | pieper_ein = 1; |
| 52 | pieper_ein = 0; |
- | |
| 53 | BeepMuster = 0xffff; |
- | |
| 54 | } |
- | |
| 55 | - | ||
| 56 | if (pieper_ein) { |
49 | } |
| 57 | if (PlatinenVersion == 10) |
- | |
| 58 | PORTD |= (1 << 2); // Speaker an PORTD.2 |
50 | else pieper_ein = 0; |
| 59 | else |
51 | } |
| 60 | PORTC |= (1 << 7); // Speaker an PORTC.7 |
52 | else |
| 61 | } else { |
53 | { |
| 62 | if (PlatinenVersion == 10) |
- | |
| 63 | PORTD &= ~(1 << 2); |
54 | pieper_ein = 0; |
| 64 | else |
55 | BeepMuster = 0xffff; |
| 65 | PORTC &= ~(1 << 7); |
- | |
| 66 | } |
56 | } |
| 67 | - | ||
| 68 | if (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) { |
57 | |
| 69 | if (PINC & 0x10) |
- | |
| 70 | cntKompass++; |
- | |
| 71 | else { |
58 | |
| 72 | if ((cntKompass) && (cntKompass < 362)) { |
- | |
| 73 | cntKompass += cntKompass / 41; |
- | |
| 74 | if (cntKompass > 10) KompassValue = cntKompass - 10; |
59 | if(pieper_ein) |
| 75 | else KompassValue = 0; |
- | |
| 76 | } |
- | |
| 77 | // if(cntKompass < 10) cntKompass = 10; |
- | |
| 78 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
60 | { |
| - | 61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
|
| - | 62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
|
| - | 63 | } |
|
| - | 64 | else |
|
| - | 65 | { |
|
| - | 66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
|
| - | 67 | else PORTC &= ~(1<<7); |
|
| - | 68 | } |
|
| - | 69 | ||
| - | 70 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
|
| - | 71 | { |
|
| - | 72 | if(PINC & 0x10) |
|
| - | 73 | { |
|
| - | 74 | cntKompass++; |
|
| - | 75 | } |
|
| - | 76 | else |
|
| - | 77 | { |
|
| - | 78 | if((cntKompass) && (cntKompass < 362)) |
|
| 79 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
79 | { |
| - | 80 | cntKompass += cntKompass / 41; |
|
| - | 81 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
|
| - | 82 | } |
|
| - | 83 | // if(cntKompass < 10) cntKompass = 10; |
|
| - | 84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
|
| - | 85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
| 80 | cntKompass = 0; |
86 | cntKompass = 0; |
| Line 81... | Line 87... | ||
| 81 | } |
87 | } |
| 82 | } |
- | |
| 83 | } |
88 | } |
| - | 89 | } |
|
| 84 | 90 | ||
| 85 | //---------------------------- |
91 | //---------------------------- |
| 86 | 92 | void Timer_Init(void) |
|
| 87 | void Timer_Init(void) { |
93 | { |
| 88 | tim_main = SetDelay(10); |
94 | tim_main = SetDelay(10); |
| 89 | TCCR0B = CK8; |
95 | TCCR0B = CK8; |
| 90 | TCCR0A = (1 << COM0A1) | (1 << COM0B1) | 3; //fast PWM |
96 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| Line 91... | Line 97... | ||
| 91 | OCR0A = 0; |
97 | OCR0A = 0; |
| 92 | OCR0B = 120; |
98 | OCR0B = 120; |
| 93 | TCNT0 = (unsigned char) - TIMER_RELOAD_VALUE; // reload |
99 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| 94 | //OCR1 = 0x00; |
100 | //OCR1 = 0x00; |
| 95 | 101 | ||
| 96 | TCCR2A = (1 << COM2A1) | (1 << COM2A0) | 3; |
102 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| Line 97... | Line 103... | ||
| 97 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
103 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
| 98 | TCCR2B = (0 << CS20) | (0 << CS21) | (1 << CS22); // clk/64 |
104 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
| 99 | 105 | ||
| 100 | 106 | ||
| 101 | TIMSK2 |= _BV(OCIE2A); |
107 | TIMSK2 |= _BV(OCIE2A); |
| Line 102... | Line 108... | ||
| 102 | 108 | ||
| Line 103... | Line 109... | ||
| 103 | TIMSK0 |= _BV(TOIE0); |
109 | TIMSK0 |= _BV(TOIE0); |
| - | 110 | OCR2A = 10; |
|
| 104 | OCR2A = 10; |
111 | TCNT2 = 0; |
| 105 | TCNT2 = 0; |
112 | |
| 106 | 113 | } |
|
| 107 | } |
114 | |
| Line 108... | Line 115... | ||
| 108 | 115 | // ----------------------------------------------------------------------- |
|
| 109 | // ----------------------------------------------------------------------- |
- | |
| 110 | 116 | ||
| - | 117 | unsigned int SetDelay (unsigned int t) |
|
| 111 | unsigned int SetDelay(unsigned int t) { |
118 | { |
| 112 | // TIMSK0 &= ~_BV(TOIE0); |
119 | // TIMSK0 &= ~_BV(TOIE0); |
| 113 | return (CountMilliseconds + t + 1); |
120 | return(CountMilliseconds + t + 1); |
| 114 | // TIMSK0 |= _BV(TOIE0); |
121 | // TIMSK0 |= _BV(TOIE0); |
| Line 115... | Line 122... | ||
| 115 | } |
122 | } |
| 116 | - | ||
| 117 | // ----------------------------------------------------------------------- |
123 | |
| - | 124 | // ----------------------------------------------------------------------- |
|
| 118 | 125 | char CheckDelay(unsigned int t) |
|
| 119 | char CheckDelay(unsigned int t) { |
126 | { |
| 120 | // TIMSK0 &= ~_BV(TOIE0); |
127 | // TIMSK0 &= ~_BV(TOIE0); |
| 121 | return (((t - CountMilliseconds) & 0x8000) >> 9); |
128 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
| Line 122... | Line 129... | ||
| 122 | // TIMSK0 |= _BV(TOIE0); |
129 | // TIMSK0 |= _BV(TOIE0); |
| - | 130 | } |
|
| 123 | } |
131 | |
| 124 | 132 | // ----------------------------------------------------------------------- |
|
| 125 | // ----------------------------------------------------------------------- |
133 | void Delay_ms(unsigned int w) |
| 126 | - | ||
| 127 | void Delay_ms(unsigned int w) { |
134 | { |
| Line 128... | Line 135... | ||
| 128 | unsigned int akt; |
135 | unsigned int akt; |
| 129 | akt = SetDelay(w); |
136 | akt = SetDelay(w); |
| 130 | while (!CheckDelay(akt)); |
137 | while (!CheckDelay(akt)); |
| 131 | } |
- | |
| 132 | 138 | } |
|
| Line 133... | Line 139... | ||
| 133 | void Delay_ms_Mess(unsigned int w) { |
139 | |
| 134 | unsigned int akt; |
140 | void Delay_ms_Mess(unsigned int w) |
| 135 | akt = SetDelay(w); |
141 | { |
| 136 | while (!CheckDelay(akt)) |
142 | unsigned int akt; |
| 137 | ANALOG_ON; |
143 | akt = SetDelay(w); |
| 138 | } |
144 | while (!CheckDelay(akt)) ANALOG_ON; |
| 139 | 145 | } |
|
| 140 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
146 | |
| Line 141... | Line 147... | ||
| 141 | // Servo ansteuern |
147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 142... | Line 148... | ||
| 142 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
148 | // Servo ansteuern |
| 143 | 149 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 144 | SIGNAL(SIG_OVERFLOW2) { |
150 | SIGNAL(SIG_OVERFLOW2) { |
| 145 | 151 | ||
| 146 | if (ServoState > 0) |
152 | if (ServoState > 0) |
| 147 | PORTD |= 0x80; |
153 | PORTD |= 0x80; |
| 148 | else |
154 | else |
| 149 | PORTD &= ~0x80; |
155 | PORTD &= ~0x80; |
| 150 | 156 | ||
| 151 | TCCR2A = 3; |
157 | TCCR2A = 3; |
| 152 | TIMSK2 &= ~_BV(TOIE2); |
158 | TIMSK2 &= ~_BV( TOIE2 ); |
| 153 | } |
159 | } |
| 154 | 160 | ||
| 155 | SIGNAL(SIG_OUTPUT_COMPARE2A) { |
161 | SIGNAL(SIG_OUTPUT_COMPARE2A) { |
| 156 | 162 | ||
| 157 | static unsigned char postPulse = 0x80; |
163 | static unsigned char postPulse = 0x80; |
| 158 | static int filterServo = 100; |
164 | static int filterServo = 100; |
| 159 | 165 | ||
| 160 | if (ServoState == 4) { |
166 | if( ServoState == 4 ) { |
| 161 | 167 | ||
| 162 | ServoValue = 0x0030; // Offset Part1 |
168 | ServoValue = 0x0030; // Offset Part1 |
| 163 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2) >> DIV_4; |
169 | filterServo = ( filterServo * 3 + (int) Parameter_ServoNickControl * 2 ) >> DIV_4; |
| 164 | ServoValue += filterServo; |
170 | ServoValue += filterServo; |
| 165 | 171 | ||
| - | 172 | // Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden |
|
| 166 | // Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden |
173 | if( ServoValue < ( (int) EE_Parameter.ServoNickMin * 3 ) ) |
| 167 | if (ServoValue < ((int) EE_Parameter.ServoNickMin * 3)) |
174 | ServoValue = (int) EE_Parameter.ServoNickMin * 3; |
| 168 | ServoValue = (int) EE_Parameter.ServoNickMin * 3; |
175 | else if( ServoValue > ( (int) EE_Parameter.ServoNickMax * 3 ) ) |
| 169 | else if (ServoValue > ((int) EE_Parameter.ServoNickMax * 3)) |
176 | ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
| 170 | ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
177 | |
| 171 | 178 | long integral; |
|
| 172 | long integral; |
179 | |
| 173 | 180 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
|
| 174 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
181 | * umschalten (sh. parameter.h) |
| 175 | * umschalten (sh. parameter.h) |
182 | */ |
| 176 | */ |
183 | if( PARAM_X_FORMATION ) { |
| 177 | if (PARAM_X_FORMATION) |
184 | integral = IntegralNick - IntegralRoll; |
| 178 | integral = IntegralNick - IntegralRoll; |
185 | } else { |
| - | 186 | integral = IntegralNick; |
|
| 179 | else |
187 | } |
| 180 | integral = IntegralNick; |
188 | |
| 181 | 189 | if( EE_Parameter.ServoNickCompInvert & 0x01 ) |
|
| 182 | if (EE_Parameter.ServoNickCompInvert & 0x01) |
190 | ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| 183 | ServoValue += ((long) ((long) EE_Parameter.ServoNickComp * integral) >> DIV_128) / (512L >> DIV_4); |
191 | else |
| 184 | else |
192 | ServoValue -= ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| 185 | ServoValue -= ((long) ((long) EE_Parameter.ServoNickComp * integral) >> DIV_128) / (512L >> DIV_4); |
193 | |
| 186 | 194 | DebugOut.Analog[20] = ServoValue; |
|
| 187 | DebugOut.Analog[20] = ServoValue; |
195 | |
| 188 | 196 | if ( ( ServoValue % 255 ) < 45 ) { |
|
| 189 | if ((ServoValue % 255) < 45) { |
197 | ServoValue += 77; |
| 190 | ServoValue += 77; |
198 | postPulse = 0x60 - 77; |
| 191 | postPulse = 0x60 - 77; |
199 | } else { |
| 192 | } else |
200 | postPulse = 0x60; |
| 193 | postPulse = 0x60; |
201 | } |
| 194 | 202 | ||
| 195 | OCR2A = 255 - (ServoValue % 256); |
203 | OCR2A = 255 - ( ServoValue % 256 ); |
| 196 | TCCR2A = (1 << COM2A1) | (1 << COM2A0) | 3; |
204 | TCCR2A = (1 << COM2A1 ) | ( 1 << COM2A0 ) | 3; |
| 197 | 205 | ||
| 198 | } else if ((ServoState > 0) && (ServoState < 4)) { |
206 | } else if( ( ServoState > 0 ) && ( ServoState < 4 ) ) { |
| 199 | 207 | ||
| 200 | if (ServoValue > 255) { |
208 | if( ServoValue > 255 ) { |
| 201 | PORTD |= 0x80; |
209 | PORTD |= 0x80; |
| 202 | TCCR2A = 3; |
210 | TCCR2A = 3; |