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| Rev 1071 | Rev 1105 | ||
|---|---|---|---|
| Line 7... | Line 7... | ||
| 7 | volatile unsigned int beeptime = 0; |
7 | volatile unsigned int beeptime = 0; |
| 8 | volatile unsigned char SendSPI = 0; |
8 | volatile unsigned char SendSPI = 0; |
| 9 | volatile unsigned int ServoState = 40; |
9 | volatile unsigned int ServoState = 40; |
| Line 10... | Line 10... | ||
| 10 | 10 | ||
| 11 | unsigned int BeepMuster = 0xffff; |
11 | unsigned int BeepMuster = 0xffff; |
| Line 12... | Line 12... | ||
| 12 | unsigned int ServoValue = 0; |
12 | int ServoValue = 0; |
| 13 | 13 | ||
| 14 | enum { |
14 | enum { |
| 15 | STOP = 0, |
15 | STOP = 0, |
| Line 29... | Line 29... | ||
| 29 | unsigned char pieper_ein = 0; |
29 | unsigned char pieper_ein = 0; |
| 30 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
30 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| 31 | if(SendSPI) SendSPI--; |
31 | if(SendSPI) SendSPI--; |
| 32 | if(!cnt--) |
32 | if(!cnt--) |
| 33 | { |
33 | { |
| 34 | cnt = 9; |
34 | cnt = 9; |
| 35 | cnt_1ms++; |
35 | cnt_1ms++; |
| 36 | cnt_1ms %= 2; |
36 | cnt_1ms %= 2; |
| 37 | if(!cnt_1ms) UpdateMotor = 1; |
37 | if(!cnt_1ms) UpdateMotor = 1; |
| 38 | CountMilliseconds++; |
38 | CountMilliseconds++; |
| 39 | } |
39 | } |
| Line 40... | Line 40... | ||
| 40 | 40 | ||
| 41 | if(beeptime > 1) |
41 | if(beeptime > 1) |
| 42 | { |
42 | { |
| 43 | beeptime--; |
43 | beeptime--; |
| 44 | if(beeptime & BeepMuster) |
44 | if(beeptime & BeepMuster) |
| 45 | { |
45 | { |
| 46 | pieper_ein = 1; |
46 | pieper_ein = 1; |
| 47 | } |
47 | } |
| 48 | else pieper_ein = 0; |
48 | else pieper_ein = 0; |
| 49 | } |
49 | } |
| 50 | else |
50 | else |
| 51 | { |
51 | { |
| 52 | pieper_ein = 0; |
52 | pieper_ein = 0; |
| 53 | BeepMuster = 0xffff; |
53 | BeepMuster = 0xffff; |
| Line 54... | Line 54... | ||
| 54 | } |
54 | } |
| 55 | 55 | ||
| 56 | 56 | ||
| 57 | if(pieper_ein) |
57 | if(pieper_ein) |
| 58 | { |
58 | { |
| 59 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
59 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| 60 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
60 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
| 61 | } |
61 | } |
| 62 | else |
62 | else |
| 63 | { |
63 | { |
| 64 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
64 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| 65 | else PORTC &= ~(1<<7); |
65 | else PORTC &= ~(1<<7); |
| 66 | } |
66 | } |
| 67 | 67 | ||
| 68 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
68 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| 69 | { |
69 | { |
| 70 | if(PINC & 0x10) |
70 | if(PINC & 0x10) |
| 71 | { |
71 | { |
| 72 | cntKompass++; |
72 | cntKompass++; |
| 73 | } |
73 | } |
| 74 | else |
74 | else |
| 75 | { |
75 | { |
| 76 | if((cntKompass) && (cntKompass < 362)) |
76 | if((cntKompass) && (cntKompass < 362)) |
| 77 | { |
77 | { |
| 78 | cntKompass += cntKompass / 41; |
78 | cntKompass += cntKompass / 41; |
| 79 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
79 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| 80 | } |
80 | } |
| 81 | // if(cntKompass < 10) cntKompass = 10; |
81 | // if(cntKompass < 10) cntKompass = 10; |
| 82 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
82 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| 83 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
83 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 84 | cntKompass = 0; |
84 | cntKompass = 0; |
| Line 85... | Line 85... | ||
| 85 | } |
85 | } |
| 86 | } |
86 | } |
| Line 98... | Line 98... | ||
| 98 | //OCR1 = 0x00; |
98 | //OCR1 = 0x00; |
| Line 99... | Line 99... | ||
| 99 | 99 | ||
| 100 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
100 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| 101 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
101 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
| 102 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
102 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
| 103 | 103 | ||
| 104 | 104 | ||
| Line 105... | Line 105... | ||
| 105 | TIMSK2 |= _BV(OCIE2A); |
105 | TIMSK2 |= _BV(OCIE2A); |
| 106 | 106 | ||
| 107 | TIMSK0 |= _BV(TOIE0); |
107 | TIMSK0 |= _BV(TOIE0); |
| 108 | OCR2A = 10; |
108 | OCR2A = 10; |
| 109 | TCNT2 = 0; |
109 | TCNT2 = 0; |
| Line 110... | Line 110... | ||
| 110 | 110 | ||
| Line 111... | Line 111... | ||
| 111 | } |
111 | } |
| 112 | 112 | ||
| 113 | // ----------------------------------------------------------------------- |
113 | // ----------------------------------------------------------------------- |
| 114 | 114 | ||
| 115 | unsigned int SetDelay (unsigned int t) |
115 | unsigned int SetDelay (unsigned int t) |
| 116 | { |
116 | { |
| Line 117... | Line 117... | ||
| 117 | // TIMSK0 &= ~_BV(TOIE0); |
117 | // TIMSK0 &= ~_BV(TOIE0); |
| 118 | return(CountMilliseconds + t + 1); |
118 | return(CountMilliseconds + t + 1); |
| Line 140... | Line 140... | ||
| 140 | unsigned int akt; |
140 | unsigned int akt; |
| 141 | akt = SetDelay(w); |
141 | akt = SetDelay(w); |
| 142 | while (!CheckDelay(akt)) ANALOG_ON; |
142 | while (!CheckDelay(akt)) ANALOG_ON; |
| 143 | } |
143 | } |
| Line 144... | Line 144... | ||
| 144 | 144 | ||
| 145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 146 | // Servo ansteuern |
146 | // Servo ansteuern |
| 147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 148 | SIGNAL(SIG_OVERFLOW2) |
148 | SIGNAL(SIG_OVERFLOW2) |
| 149 | { |
149 | { |
| 150 | if (ServoState > 0) PORTD |= 0x80; |
150 | if (ServoState > 0) PORTD |= 0x80; |
| 151 | else PORTD &= ~0x80; |
151 | else PORTD &= ~0x80; |
| 152 | TCCR2A =3; |
152 | TCCR2A =3; |
| 153 | TIMSK2 &= ~_BV(TOIE2); |
153 | TIMSK2 &= ~_BV(TOIE2); |
| Line 154... | Line 154... | ||
| 154 | } |
154 | } |
| 155 | 155 | ||
| 156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
| 157 | { |
157 | { |
| 158 | static unsigned char postPulse = 0x80; |
158 | static unsigned char postPulse = 0x80; |
| 159 | static int filterServo = 100; |
159 | static int filterServo = 100; |
| 160 | #define MULTIPLIER 4 |
160 | #define MULTIPLIER 4 |
| 161 | if(ServoState == 4) |
161 | if(ServoState == 4) |
| 162 | { |
162 | { |
| 163 | ServoValue = 0x0030; // Offset Part1 |
163 | ServoValue = 0x0030; // Offset Part1 |
| 164 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
164 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
| 165 | ServoValue += filterServo; |
165 | ServoValue += filterServo; |
| 166 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER); |
166 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += (int)( ( (long)EE_Parameter.ServoNickComp * (IntegralNick / 128L) ) / (512L/MULTIPLIER) ); |
| 167 | else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER); |
167 | else ServoValue -= (int)( ( (long)EE_Parameter.ServoNickComp * (IntegralNick / 128L) ) / (512L/MULTIPLIER) ); |
| 168 | if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
168 | if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
| 169 | else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
169 | else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
| 170 | 170 | ||
| 171 | DebugOut.Analog[20] = ServoValue; |
171 | DebugOut.Analog[20] = ServoValue; |
| 172 | if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
172 | if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
| 173 | OCR2A = 255-(ServoValue % 256); |
173 | OCR2A = 255-(ServoValue % 256); |
| 174 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
174 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| 175 | } |
175 | } |
| 176 | else if ((ServoState > 0) && (ServoState < 4)) |
176 | else if ((ServoState > 0) && (ServoState < 4)) |
| 177 | { |
177 | { |
| 178 | if(ServoValue > 255) |
178 | if(ServoValue > 255) |
| 179 | { PORTD |= 0x80; |
179 | { PORTD |= 0x80; |
| 180 | TCCR2A =3; |
180 | TCCR2A =3; |
| 181 | ServoValue -= 255; |
181 | ServoValue -= 255; |
| 182 | } |
182 | } |
| 183 | else |
183 | else |
| 184 | { |
184 | { |
| 185 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
185 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| 186 | OCR2A = postPulse; // Offset Part2 |
186 | OCR2A = postPulse; // Offset Part2 |
| 187 | ServoState = 1; |
187 | ServoState = 1; |
| 188 | } |
188 | } |
| 189 | } |
189 | } |
| 190 | else if (ServoState == 0) |
190 | else if (ServoState == 0) |
| 191 | { |
191 | { |
| 192 | ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
192 | ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
| 193 | PORTD&=~0x80; |
193 | PORTD&=~0x80; |
| 194 | TCCR2A = 3; |
194 | TCCR2A = 3; |