Subversion Repositories FlightCtrl

#include "main.h"

volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 0;
volatile unsigned int beeptime = 0;
volatile unsigned char SendSPI = 0;
volatile unsigned int ServoState = 40;

unsigned int BeepMuster = 0xffff;
unsigned int ServoValue = 0;
//Salvo 8.9.2007
volatile uint8_t Kompass_Neuer_Wert= 0;
volatile unsigned int Kompass_Value_Old = 0;
// Salvo End
//Salvo 21.9.2007
short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist
// Salvo End
enum {
  STOP             = 0,
  CK               = 1,
  CK8              = 2,
  CK64             = 3,
  CK256            = 4,
  CK1024           = 5,
  T0_FALLING_EDGE  = 6,
  T0_RISING_EDGE   = 7
};

// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 24.12.2007
/*
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
*/
SIGNAL (SIG_OVERFLOW0)    // 8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
    unsigned char pieper_ein = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
   if(SendSPI) SendSPI--;
   if(!cnt--)
    {
         if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
    }  

     if(beeptime > 1)
        {
        beeptime--;      
        if(beeptime & BeepMuster)
         {
          pieper_ein = 1;
         }
         else pieper_ein = 0;
        }
     else
      {
       pieper_ein = 0;
       BeepMuster = 0xffff;
      }


     if(pieper_ein)
        {
          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
          else                      PORTC |= (1<<7); // Speaker an PORTC.7
        }
     else  
        {
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
         else                      PORTC &= ~(1<<7);
        }
 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) //Salvo 25.10.2008
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 362))
    {
     cntKompass += cntKompass / 41;
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
// Salvo Kompassoffset 23.12.2007 ***********
         Kompass_present = 255;
//       Kompass_Value_Old      =       KompassValue;
         if (KOMPASS_OFFSET > 0)  KompassValue = cntKompass -KOMPASS_OFFSET;
         else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2));

         if (KompassValue < 0)
         {
                KompassValue += 360;
         }
         if (KompassValue >= 360)
         {
                KompassValue -= 360;
         }     
 // Salvo End  
    }
//     if(cntKompass < 10) cntKompass = 10;
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses
         Kompass_Neuer_Wert     = 1;
 // Salvo End
     cntKompass = 0;
   }
 }
}

//----------------------------
void Timer_Init(void)
{
    tim_main = SetDelay(10);
    TCCR0B = CK8;
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
    OCR0A =  0;
    OCR0B = 120;
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
    //OCR1  = 0x00;

    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
//    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);    // clk/256
    TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22);      // clk/64
   
 
  TIMSK2 |= _BV(OCIE2A);

    TIMSK0 |= _BV(TOIE0);
    OCR2A = 10;
    TCNT2 = 0;
   
}

// -----------------------------------------------------------------------

unsigned int SetDelay (unsigned int t)
{
//  TIMSK0 &= ~_BV(TOIE0);
  return(CountMilliseconds + t + 1);                                            
//  TIMSK0 |= _BV(TOIE0);
}

// -----------------------------------------------------------------------
char CheckDelay(unsigned int t)
{
//  TIMSK0 &= ~_BV(TOIE0);
  return(((t - CountMilliseconds) & 0x8000) >> 9);
//  TIMSK0 |= _BV(TOIE0);
}

// -----------------------------------------------------------------------
void Delay_ms(unsigned int w)
{
 unsigned int akt;
 akt = SetDelay(w);
 while (!CheckDelay(akt));
}

void Delay_ms_Mess(unsigned int w)
{
 unsigned int akt;
 akt = SetDelay(w);
 while (!CheckDelay(akt)) ANALOG_ON;
}

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
//  Servo ansteuern
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
SIGNAL(SIG_OVERFLOW2)
{
  if (ServoState > 0) PORTD |= 0x80;
  else PORTD &= ~0x80;
  TCCR2A =3;
  TIMSK2 &= ~_BV(TOIE2);
}

SIGNAL(SIG_OUTPUT_COMPARE2A)
{
  static unsigned char postPulse = 0x80;
  static int filterServo = 100;
  #define MULTIPLIER 4
  if(ServoState == 4)  
    {
     ServoValue = 0x0030;  // Offset Part1
     filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;
         ServoValue += filterServo;
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);
     else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);
     if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3;
     else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3;
   
         DebugOut.Analog[20] = ServoValue;
         if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;
         OCR2A = 255-(ServoValue % 256);
         TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;  
        }
  else if ((ServoState > 0) && (ServoState < 4))
    {
          if(ServoValue > 255)
          { PORTD |= 0x80;
                TCCR2A =3;
                ServoValue -= 255;
          }
          else
      {  
             TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
                 OCR2A = postPulse; // Offset Part2
                 ServoState = 1;
      }
  }
  else if (ServoState == 0)
          {
             ServoState  = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;
         PORTD&=~0x80;
                 TCCR2A = 3;
          }
  ServoState--;

}