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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2751 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
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| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | // + Software Nutzungsbedingungen (english version: see below) |
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| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 19 | // + des Mitverschuldens offen. |
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| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Software LICENSING TERMS |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 34 | // + The Software may only be used with the Licensor's products. |
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| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 37 | // + agreement shall be the property of the Licensor. |
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| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 40 | // + The customer shall be responsible for taking reasonable precautions |
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| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 50 | // + #### END OF LICENSING TERMS #### |
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| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 53 | |||
| 54 | #include "main.h" |
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| 55 | #define MULTIPLYER 4 |
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| 56 | |||
| 57 | volatile unsigned int CountMilliseconds = 0; |
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| 58 | volatile unsigned int tim_main; |
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| 59 | volatile unsigned char UpdateMotor = 0; |
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| 60 | volatile unsigned int cntKompass = 0; |
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| 61 | volatile unsigned int beeptime = 0; |
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| 62 | volatile unsigned char BytegapSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
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| 63 | unsigned char JustMK3MagConnected = 0; |
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| 64 | uint16_t RemainingPulse = 0; |
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| 65 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
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| 66 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
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| 67 | |||
| 68 | unsigned int BeepMuster = 0xffff; |
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| 69 | signed int NickServoValue = 128 * MULTIPLYER * 16; |
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| 70 | |||
| 71 | volatile int16_t ServoNickValue = 0; |
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| 72 | volatile int16_t ServoRollValue = 0; |
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| 73 | |||
| 74 | |||
| 75 | enum { |
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| 76 | STOP = 0, |
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| 77 | CK = 1, |
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| 78 | CK8 = 2, |
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| 79 | CK64 = 3, |
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| 80 | CK256 = 4, |
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| 81 | CK1024 = 5, |
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| 82 | T0_FALLING_EDGE = 6, |
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| 83 | T0_RISING_EDGE = 7 |
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| 84 | }; |
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| 85 | |||
| 86 | |||
| 87 | ISR(TIMER0_OVF_vect) // 9,7kHz |
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| 88 | { |
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| 89 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 90 | unsigned char pieper_ein = 0; |
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| 91 | if(BytegapSPI) BytegapSPI--; |
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| 92 | if(SpektrumTimer) SpektrumTimer--; |
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| 93 | if(!cnt--) |
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| 94 | { |
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| 95 | cnt = 9; |
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| 96 | CountMilliseconds++; |
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| 97 | cnt_1ms++; |
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| 98 | cnt_1ms %= 2; |
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| 99 | |||
| 100 | if(!cnt_1ms) if(UpdateMotor < 4) UpdateMotor++; |
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| 101 | if(!(PINC & 0x10)) JustMK3MagConnected = 1; |
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| 102 | |||
| 103 | if(beeptime) |
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| 104 | { |
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| 105 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
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| 106 | if(beeptime & BeepMuster) |
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| 107 | { |
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| 108 | pieper_ein = 1; |
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| 109 | } |
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| 110 | else pieper_ein = 0; |
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| 111 | } |
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| 112 | else |
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| 113 | { |
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| 114 | pieper_ein = 0; |
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| 115 | BeepMuster = 0xffff; |
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| 116 | } |
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| 117 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 119 | else PORTC &= ~(1<<7); |
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| 120 | #else |
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| 121 | if(pieper_ein) |
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| 122 | { |
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| 123 | // if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 124 | // else |
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| 125 | PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 126 | } |
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| 127 | else |
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| 128 | { |
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| 129 | // if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 130 | // else |
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| 131 | PORTC &= ~(1<<7); |
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| 132 | } |
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| 133 | #endif |
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| 134 | } |
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| 135 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 136 | { |
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| 137 | if(PINC & 0x10) |
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| 138 | { |
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| 139 | if(++cntKompass > 1000) JustMK3MagConnected = 0; |
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| 140 | } |
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| 141 | else |
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| 142 | { |
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| 143 | if((cntKompass) && (cntKompass < 362)) |
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| 144 | { |
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| 145 | cntKompass += cntKompass / 41; |
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| 146 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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| 147 | } |
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| 148 | cntKompass = 0; |
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| 149 | } |
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| 150 | } |
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| 151 | } |
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| 152 | |||
| 153 | |||
| 154 | // ----------------------------------------------------------------------- |
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| 155 | unsigned int SetDelay(unsigned int t) |
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| 156 | { |
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| 157 | // TIMSK0 &= ~_BV(TOIE0); |
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| 158 | return(CountMilliseconds + t + 1); |
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| 159 | // TIMSK0 |= _BV(TOIE0); |
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| 160 | } |
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| 161 | |||
| 162 | // ----------------------------------------------------------------------- |
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| 163 | char CheckDelay(unsigned int t) |
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| 164 | { |
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| 165 | // TIMSK0 &= ~_BV(TOIE0); |
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| 166 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 167 | // TIMSK0 |= _BV(TOIE0); |
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| 168 | } |
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| 169 | |||
| 170 | // ----------------------------------------------------------------------- |
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| 171 | void Delay_ms(unsigned int w) |
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| 172 | { |
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| 173 | unsigned int akt; |
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| 174 | akt = SetDelay(w); |
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| 175 | while (!CheckDelay(akt)); |
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| 176 | } |
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| 177 | |||
| 178 | void Delay_ms_Mess(unsigned int w) |
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| 179 | { |
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| 180 | unsigned int akt; |
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| 181 | akt = SetDelay(w); |
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| 182 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
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| 183 | } |
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| 184 | |||
| 185 | /*****************************************************/ |
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| 186 | /* Initialize Timer 2 */ |
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| 187 | /*****************************************************/ |
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| 188 | // The timer 2 is used to generate the PWM at PD7 (J7) |
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| 189 | // to control a camera servo for nick compensation. |
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| 190 | void TIMER2_Init(void) |
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| 191 | { |
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| 192 | uint8_t sreg = SREG; |
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| 193 | |||
| 194 | // disable all interrupts before reconfiguration |
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| 195 | cli(); |
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| 196 | |||
| 197 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
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| 198 | |||
| 199 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
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| 200 | HEF4017Reset_ON; |
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| 201 | // Timer/Counter 2 Control Register A |
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| 202 | |||
| 203 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
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| 204 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
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| 205 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
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| 206 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
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| 207 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
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| 208 | |||
| 209 | // Timer/Counter 2 Control Register B |
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| 210 | |||
| 211 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
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| 212 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
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| 213 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
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| 214 | |||
| 215 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
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| 216 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
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| 217 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
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| 218 | |||
| 219 | // Initialize the Timer/Counter 2 Register |
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| 220 | TCNT2 = 0; |
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| 221 | |||
| 222 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
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| 223 | OCR2A = 255; |
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| 224 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
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| 225 | |||
| 226 | // Timer/Counter 2 Interrupt Mask Register |
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| 227 | // Enable timer output compare match A Interrupt only |
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| 228 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
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| 229 | TIMSK2 |= (1<<OCIE2A); |
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| 230 | |||
| 231 | SREG = sreg; |
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| 232 | } |
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| 233 | |||
| 234 | //---------------------------- |
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| 235 | void Timer_Init(void) |
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| 236 | { |
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| 237 | tim_main = SetDelay(10); |
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| 238 | TCCR0B = CK8; |
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| 239 | // TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 240 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM |
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| 241 | OCR0B = 255; |
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| 242 | OCR0A = 180; |
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| 243 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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| 244 | //OCR1 = 0x00; |
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| 245 | TIMSK0 |= _BV(TOIE0); |
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| 246 | } |
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| 247 | |||
| 248 | |||
| 249 | /*****************************************************/ |
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| 250 | /* Control Servo Position */ |
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| 251 | /*****************************************************/ |
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| 252 | void CalcNickServoValue(void) |
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| 253 | { |
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| 254 | signed int max, min; |
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| 255 | |||
| 256 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
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| 257 | { |
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| 258 | max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
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| 259 | min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
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| 260 | NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
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| 261 | LIMIT_MIN_MAX(NickServoValue,min, max); |
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| 262 | } |
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| 263 | else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
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| 264 | } |
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| 265 | |||
| 266 | void CalculateServo(void) |
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| 267 | { |
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| 268 | signed char cosinus, sinus; |
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| 269 | signed long nick, roll; |
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| 270 | |||
| 271 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
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| 272 | sinus = sintab[EE_Parameter.CamOrientation]; |
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| 273 | |||
| 274 | |||
| 275 | if(CalculateServoSignals == 1) |
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| 276 | { |
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| 277 | if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0; |
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| 278 | else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
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| 279 | nick -= POI_KameraNick * 7; |
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| 280 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
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| 281 | // offset (Range from 0 to 255 * 3 = 765) |
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| 282 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
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| 283 | else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
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| 284 | |||
| 285 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
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| 286 | { |
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| 287 | nick = ServoNickOffset / 16 + nick; |
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| 288 | } |
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| 289 | else |
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| 290 | { // inverting movement of servo |
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| 291 | nick = ServoNickOffset / 16 - nick; |
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| 292 | } |
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| 293 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
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| 294 | else ServoNickValue = nick; |
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| 295 | // limit servo value to its parameter range definition |
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| 296 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
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| 297 | { |
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| 298 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
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| 299 | } |
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| 300 | else |
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| 301 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
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| 302 | { |
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| 303 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
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| 304 | } |
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| 305 | // if(PlatinenVersion < 20) CalculateServoSignals = 0; else |
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| 306 | CalculateServoSignals++; |
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| 307 | } |
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| 308 | else |
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| 309 | { |
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| 310 | if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) roll = 0; |
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| 311 | else roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
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| 312 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
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| 313 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
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| 314 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
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| 315 | { // inverting movement of servo |
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| 316 | roll = ServoRollOffset / 16 + roll; |
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| 317 | } |
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| 318 | else |
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| 319 | { // inverting movement of servo |
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| 320 | roll = ServoRollOffset / 16 - roll; |
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| 321 | } |
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| 322 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
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| 323 | else ServoRollValue = roll; |
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| 324 | // limit servo value to its parameter range definition |
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| 325 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
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| 326 | { |
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| 327 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
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| 328 | } |
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| 329 | else |
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| 330 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
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| 331 | { |
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| 332 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
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| 333 | } |
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| 334 | CalculateServoSignals = 0; |
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| 335 | } |
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| 336 | } |
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| 337 | |||
| 338 | ISR(TIMER2_COMPA_vect) |
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| 339 | { |
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| 340 | // frame len 22.5 ms = 14063 * 1.6 us |
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| 341 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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| 342 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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| 343 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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| 344 | // resolution: 1500 - 375 = 1125 steps |
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| 345 | |||
| 346 | #define IRS_RUNTIME 127 |
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| 347 | #define PPM_STOPPULSE 188 |
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| 348 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
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| 349 | #define MINSERVOPULSE 375 |
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| 350 | #define MAXSERVOPULSE 1500 |
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| 351 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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| 352 | |||
| 353 | static uint8_t PulseOutput = 0; |
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| 354 | static uint16_t ServoFrameTime = 0; |
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| 355 | static uint8_t ServoIndex = 0; |
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| 356 | |||
| 357 | /* |
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| 358 | if(PlatinenVersion < 20) |
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| 359 | { |
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| 360 | //--------------------------- |
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| 361 | // Nick servo state machine |
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| 362 | //--------------------------- |
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| 363 | if(!PulseOutput) // pulse output complete |
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| 364 | { |
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| 365 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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| 366 | { |
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| 367 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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| 368 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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| 369 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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| 370 | // range servo pulse width |
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| 371 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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| 372 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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| 373 | // accumulate time for correct update rate |
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| 374 | ServoFrameTime = RemainingPulse; |
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| 375 | } |
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| 376 | else // we had a high pulse |
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| 377 | { |
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| 378 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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| 379 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
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| 380 | CalculateServoSignals = 1; |
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| 381 | } |
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| 382 | // set pulse output active |
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| 383 | PulseOutput = 1; |
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| 384 | } |
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| 385 | } // EOF Nick servo state machine |
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| 386 | else |
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| 387 | */ |
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| 388 | { |
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| 389 | //----------------------------------------------------- |
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| 390 | // PPM state machine, onboard demultiplexed by HEF4017 |
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| 391 | //----------------------------------------------------- |
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| 392 | if(!PulseOutput) // pulse output complete |
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| 393 | { |
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| 394 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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| 395 | { |
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| 396 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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| 397 | if(ServoIndex == 0) // if we are at the sync gap |
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| 398 | { |
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| 399 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
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| 400 | ServoFrameTime = 0; // reset servo frame time |
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| 401 | HEF4017Reset_ON; // enable HEF4017 reset |
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| 402 | } |
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| 403 | else // servo channels |
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| 404 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
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| 405 | { |
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| 406 | RemainingPulse = 10; // end it here |
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| 407 | } |
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| 408 | else |
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| 409 | { |
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| 410 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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| 411 | if(ServoFailsafeActive && ServoIndex < 6 && EE_Parameter.ServoFS_Pos[ServoIndex-1]) RemainingPulse += ((int16_t)EE_Parameter.ServoFS_Pos[ServoIndex-1] * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
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| 412 | else |
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| 413 | switch(ServoIndex) // map servo channels |
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| 414 | { |
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| 415 | case 1: // Nick Compensation Servo |
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| 416 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; |
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| 417 | break; |
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| 418 | case 2: // Roll Compensation Servo |
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| 419 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; |
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| 420 | break; |
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| 421 | case 3: |
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| 422 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
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| 423 | break; |
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| 424 | case 4: |
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| 425 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
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| 426 | break; |
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| 427 | case 5: |
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| 428 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
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| 429 | break; |
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| 430 | default: // other servo channels |
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| 431 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
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| 432 | break; |
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| 433 | } |
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| 434 | // range servo pulse width |
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| 435 | if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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| 436 | else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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| 437 | // substract stop pulse width |
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| 438 | RemainingPulse -= PPM_STOPPULSE; |
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| 439 | // accumulate time for correct sync gap |
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| 440 | ServoFrameTime += RemainingPulse; |
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| 441 | } |
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| 442 | } |
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| 443 | else // we had a high pulse |
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| 444 | { |
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| 445 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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| 446 | // set pulsewidth to stop pulse width |
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| 447 | RemainingPulse = PPM_STOPPULSE; |
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| 448 | // accumulate time for correct sync gap |
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| 449 | ServoFrameTime += RemainingPulse; |
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| 450 | if((ServoActive/* && SenderOkay*/) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
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| 451 | else HEF4017Reset_ON; |
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| 452 | ServoIndex++; |
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| 453 | if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
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| 454 | { |
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| 455 | CalculateServoSignals = 1; |
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| 456 | ServoIndex = 0; // reset to the sync gap |
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| 457 | } |
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| 458 | } |
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| 459 | // set pulse output active |
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| 460 | PulseOutput = 1; |
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| 461 | } |
||
| 462 | } // EOF PPM state machine |
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| 463 | |||
| 464 | // General pulse output generator |
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| 465 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
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| 466 | { |
||
| 467 | OCR2A = 255; |
||
| 468 | RemainingPulse -= 255; |
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| 469 | } |
||
| 470 | else |
||
| 471 | { |
||
| 472 | if(RemainingPulse > 255) // this is the 2nd last part |
||
| 473 | { |
||
| 474 | if((RemainingPulse - 255) < IRS_RUNTIME) |
||
| 475 | { |
||
| 476 | OCR2A = 255 - IRS_RUNTIME; |
||
| 477 | RemainingPulse -= 255 - IRS_RUNTIME; |
||
| 478 | |||
| 479 | } |
||
| 480 | else // last part > ISR_RUNTIME |
||
| 481 | { |
||
| 482 | OCR2A = 255; |
||
| 483 | RemainingPulse -= 255; |
||
| 484 | } |
||
| 485 | } |
||
| 486 | else // this is the last part |
||
| 487 | { |
||
| 488 | OCR2A = RemainingPulse; |
||
| 489 | RemainingPulse = 0; |
||
| 490 | PulseOutput = 0; // trigger to stop pulse |
||
| 491 | } |
||
| 492 | } // EOF general pulse output generator |
||
| 493 | } |