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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "eeprom.h"
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#include "uart0.h"
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#include "rc.h"
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#include "attitude.h"
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volatile int16_t        ServoPitchValue = 0;
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volatile int16_t        ServoRollValue = 0;
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volatile uint8_t        ServoActive = 0;
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#define HEF4017R_ON     PORTC |=  (1<<PORTC6)
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#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
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/*****************************************************
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 *              Initialize Timer 2                  
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 *****************************************************/
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// The timer 2 is used to generate the PWM at PD7 (J7)
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// to control a camera servo for pitch compensation.
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void timer2_init(void) {
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  uint8_t sreg = SREG;
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73
  // disable all interrupts before reconfiguration
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  cli();
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76
  // set PD7 as output of the PWM for pitch servo
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  DDRD  |= (1<<DDD7);
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  PORTD &= ~(1<<PORTD7);        // set PD7 to low
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80
  DDRC  |= (1<<DDC6);     // set PC6 as output (Reset for HEF4017)
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  //PORTC &= ~(1<<PORTC6);      // set PC6 to low
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  HEF4017R_ON; // enable reset
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  // Timer/Counter 2 Control Register A
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  // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
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  // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
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  // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
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  TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));
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  TCCR2A |= (1<<WGM21)|(1<<WGM20);
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92
  // Timer/Counter 2 Control Register B
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  // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
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  // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
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  // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
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98
  // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
99
  TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));
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  TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);
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102
  // Initialize the Timer/Counter 2 Register
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  TCNT2 = 0;
104
 
105
  // Initialize the Output Compare Register A used for PWM generation on port PD7.
106
  OCR2A = 255;
107
  TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
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109
  // Timer/Counter 2 Interrupt Mask Register
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  // Enable timer output compare match A Interrupt only
111
  TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));
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  TIMSK2 |= (1<<OCIE2A);
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114
  SREG = sreg;
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}
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void Servo_On(void) {
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  ServoActive = 1;
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}
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void Servo_Off(void) {
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  ServoActive = 0;
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  HEF4017R_ON; // enable reset
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}
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/*****************************************************
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 * Control Servo Position              
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 *****************************************************/
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ISR(TIMER2_COMPA_vect) {
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  // frame len 22.5 ms = 14063 * 1.6 us
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  // stop pulse: 0.3 ms = 188 * 1.6 us
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  // min servo pulse: 0.6 ms =  375 * 1.6 us
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  // max servo pulse: 2.4 ms = 1500 * 1.6 us
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  // resolution: 1500 - 375 = 1125 steps
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#define PPM_STOPPULSE 188
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#define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel
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#define MINSERVOPULSE 375
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#define MAXSERVOPULSE 1500
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#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
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#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)
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  static uint8_t  isGeneratingPulse = 0;
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  static uint16_t remainingPulseLength = 0;
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  static uint16_t ServoFrameTime = 0;
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  static uint8_t  ServoIndex = 0;
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#define MULTIPLIER 4
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  static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position
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  static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position
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#endif
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#ifdef USE_NON_4017_SERVO_OUTPUTS 
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  //---------------------------
154
  // Pitch servo state machine
155
  //---------------------------
156
  if (!isGeneratingPulse) {    // pulse output complete on _next_ interrupt
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    if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse
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      TCCR2A &= ~(1<<COM2A0);  // make a low pulse on _next_ interrupt, and now
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      remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms
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      ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset
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      if(staticParams.ServoPitchCompInvert & 0x01) {
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        // inverting movement of servo
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        // todo: function.
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        ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));
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      } else {
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        // todo: function.
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        // non inverting movement of servo
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        ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));
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      }
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      // limit servo value to its parameter range definition
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      if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) {
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        ServoPitchValue = (int16_t)staticParams.ServoPitchMin;
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      } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) {
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        ServoPitchValue = (int16_t)staticParams.ServoPitchMax;
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      }
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      remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position
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      // range servo pulse width
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      if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit
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      else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit
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      // accumulate time for correct update rate
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      ServoFrameTime = remainingPulseLength;
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    } else { // we had a high pulse
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      TCCR2A |= (1<<COM2A0); // make a low pulse
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      remainingPulseLength = PPM_FRAMELEN - ServoFrameTime;
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    }
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    // set pulse output active
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    isGeneratingPulse = 1;
191
  } // EOF Pitch servo state machine
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#elseif defined(USE_4017_SERVOS)
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  //-----------------------------------------------------
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  // PPM state machine, onboard demultiplexed by HEF4017
196
  //-----------------------------------------------------
197
  if(!isGeneratingPulse) { // pulse output complete
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    if(TCCR2A & (1<<COM2A0)) { // we had a low pulse
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    TCCR2A &= ~(1<<COM2A0);// make a high pulse
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    if(ServoIndex == 0) { // if we are at the sync gap
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      remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
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      ServoFrameTime = 0; // reset servo frame time
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      HEF4017R_ON; // enable HEF4017 reset
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    } else { // servo channels
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      remainingPulseLength  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
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      switch(ServoIndex) { // map servo channels
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      case 1: // Pitch Compensation Servo
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        ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset
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        ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765)
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        if(staticParams.ServoPitchCompInvert & 0x01) {
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          // inverting movement of servo
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          ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );
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        } else {        // non inverting movement of servo
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          ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );
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        }
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        // limit servo value to its parameter range definition
218
        if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {
219
          ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;
220
        } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {
221
          ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;
222
        }
223
        remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position
224
        ServoPitchValue /= MULTIPLIER;
225
        // DebugOut.Analog[20] = ServoPitchValue;
226
        break;
227
 
228
      case 2: // Roll Compensation Servo
229
        ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset
230
        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
231
        //if(staticParams.ServoRollCompInvert & 0x01)
232
        {       // inverting movement of servo
233
          ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) );
234
        }
235
        /*                                                      else
236
                                                                {       // non inverting movement of servo
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                                                                ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) );
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                                                                }
239
        */                                                      // limit servo value to its parameter range definition
240
        if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {
241
          ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;
242
        } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {
243
          ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;
244
        }
245
        remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position
246
        ServoRollValue /= MULTIPLIER;
247
        //DebugOut.Analog[20] = ServoRollValue;
248
        break;
249
 
250
      default: // other servo channels
251
        remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
252
        break;
253
      }
254
      // range servo pulse width
255
      if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit
256
      else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit
257
      // substract stop pulse width
258
      remainingPulseLength -= PPM_STOPPULSE;
259
      // accumulate time for correct sync gap
260
      ServoFrameTime += remainingPulseLength;
261
    }
262
  } else { // we had a high pulse
263
    TCCR2A |= (1<<COM2A0); // make a low pulse
264
    // set pulsewidth to stop pulse width
265
    remainingPulseLength = PPM_STOPPULSE;
266
    // accumulate time for correct sync gap
267
    ServoFrameTime += remainingPulseLength;
268
    if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset
269
    ServoIndex++; // change to next servo channel
270
    if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap
271
  }
272
  // set pulse output active
273
  isGeneratingPulse = 1;
274
 }
275
#endif
276
 
277
/*
278
 * Cases:
279
 * 1) 255 + 128 <= remainingPulseLength --> delta = 255
280
 * 2) 255 <= remainingPulseLength < 255 + 128 --> delta = 255 - 128  
281
 *    this is to avoid a too short delta on the last cycle, which would cause
282
 *    an interupt-on-interrupt condition and the loss of the last interrupt.
283
 * 3) remainingPulseLength < 255 --> delta = remainingPulseLength
284
 */
285
#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)
286
  uint8_t delta;
287
  if (remainingPulseLength >= (255 + 128)) {
288
    delta = 255;
289
  } else if (remainingPulseLength >= 255) {
290
    delta = 255- 128;
291
  } else {
292
    delta = remainingPulseLength;
293
    isGeneratingPulse = 0; // trigger to stop pulse 
294
  }
295
  OCR2A = delta;
296
  remainingPulseLength -= delta;
297
#endif
298
}