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#include "main.h"
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int beeptime = 0;
volatile unsigned int cntKompass = 800;
int ServoValue = 0;
enum {
STOP = 0,
CK = 1,
CK8 = 2,
CK64 = 3,
CK256 = 4,
CK1024 = 5,
T0_FALLING_EDGE = 6,
T0_RISING_EDGE = 7
};
SIGNAL (SIG_OVERFLOW0) // 9,8kHz
{
static unsigned char cnt_1ms = 1,cnt = 0;
// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
if(!cnt--)
{
cnt = 10;
cnt_1ms++;
cnt_1ms %= 2;
if(!cnt_1ms) UpdateMotor = 1;
CountMilliseconds++;
if(Timeout) Timeout--;
}
if(beeptime > 1)
{
beeptime--;
PORTD |= (1<<PD2);
}
else
PORTD &= ~(1<<PD2);
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
timer0_MM3(); // Kompass auslesen
if (!cntKompass--) // Aufruf mit 10 Hz
{
int heading;
heading = heading_MM3();
KompassValue = (KompassValue * 7 + heading) / 8; // Filtern
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
cntKompass = 980;
}
}
}
void Timer_Init(void)
{
tim_main = SetDelay(10);
TCCR0B = CK8;
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
OCR0A = 0;
OCR0B = 120;
//TCNT0 = -TIMER_RELOAD_VALUE; // reload
//OCR1 = 0x00;
TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
// TIMSK2 |= _BV(TOIE2);
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));
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Servo ansteuern
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SIGNAL(SIG_OUTPUT_COMPARE2A)
{
static unsigned char timer = 10;
if(!timer--)
{
TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;
ServoValue = Parameter_ServoNickControl;
if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
//DebugOut.Analog[10] = ServoValue;
OCR2A = ServoValue;// + 75;
timer = EE_Parameter.ServoNickRefresh;
}
else
{
TCCR2A =3;
PORTD&=~0x80;
}
}