Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include "eeprom.h"

#include "uart0.h"

#include "rc.h"

#include "attitude.h"

volatile int16_t        ServoPitchValue = 0;

volatile int16_t        ServoRollValue = 0;

volatile uint8_t        ServoActive = 0;

#define HEF4017R_ON     PORTC |=  (1<<PORTC6)

#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)

/*****************************************************

 *              Initialize Timer 2                  

 *****************************************************/

// The timer 2 is used to generate the PWM at PD7 (J7)

// to control a camera servo for pitch compensation.

void timer2_init(void) {

  uint8_t sreg = SREG;

  // disable all interrupts before reconfiguration

  cli();

  // set PD7 as output of the PWM for pitch servo

  DDRD  |= (1<<DDD7);

  PORTD &= ~(1<<PORTD7);        // set PD7 to low

  DDRC  |= (1<<DDC6);     // set PC6 as output (Reset for HEF4017)

  //PORTC &= ~(1<<PORTC6);      // set PC6 to low

  HEF4017R_ON; // enable reset

  // Timer/Counter 2 Control Register A

  // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)

  // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)

  // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)

  TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));

  TCCR2A |= (1<<WGM21)|(1<<WGM20);

  // Timer/Counter 2 Control Register B

  // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz

  // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us

  // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms

  // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)

  TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));

  TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);

  // Initialize the Timer/Counter 2 Register

  TCNT2 = 0;

  // Initialize the Output Compare Register A used for PWM generation on port PD7.

  OCR2A = 255;

  TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0

  // Timer/Counter 2 Interrupt Mask Register

  // Enable timer output compare match A Interrupt only

  TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));

  TIMSK2 |= (1<<OCIE2A);

  SREG = sreg;

}

void Servo_On(void) {

  ServoActive = 1;

}

void Servo_Off(void) {

  ServoActive = 0;

  HEF4017R_ON; // enable reset

}

/*****************************************************

 * Control Servo Position              

 *****************************************************/

ISR(TIMER2_COMPA_vect) {

  // frame len 22.5 ms = 14063 * 1.6 us

  // stop pulse: 0.3 ms = 188 * 1.6 us

  // min servo pulse: 0.6 ms =  375 * 1.6 us

  // max servo pulse: 2.4 ms = 1500 * 1.6 us

  // resolution: 1500 - 375 = 1125 steps

#define PPM_STOPPULSE 188

#define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel

#define MINSERVOPULSE 375

#define MAXSERVOPULSE 1500

#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)

  static uint8_t  isGeneratingPulse = 0;

  static uint16_t remainingPulseLength = 0;

  static uint16_t ServoFrameTime = 0;

  static uint8_t  ServoIndex = 0;

#define MULTIPLIER 4

  static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position

  static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position

#endif

#ifdef USE_NON_4017_SERVO_OUTPUTS 

  //---------------------------

  // Pitch servo state machine

  //---------------------------

  if (!isGeneratingPulse) {    // pulse output complete on _next_ interrupt

    if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse

      TCCR2A &= ~(1<<COM2A0);  // make a low pulse on _next_ interrupt, and now

      remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms

      ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset

      if(staticParams.ServoPitchCompInvert & 0x01) {

        // inverting movement of servo

        // todo: function.

        ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));

      } else {

        // todo: function.

        // non inverting movement of servo

        ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));

      }

      // limit servo value to its parameter range definition

      if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) {

        ServoPitchValue = (int16_t)staticParams.ServoPitchMin;

      } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) {

        ServoPitchValue = (int16_t)staticParams.ServoPitchMax;

      }

      remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position

      // range servo pulse width

      if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit

      else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit

      // accumulate time for correct update rate

      ServoFrameTime = remainingPulseLength;

    } else { // we had a high pulse

      TCCR2A |= (1<<COM2A0); // make a low pulse

      remainingPulseLength = PPM_FRAMELEN - ServoFrameTime;

    }

    // set pulse output active

    isGeneratingPulse = 1;

  } // EOF Pitch servo state machine

#elseif defined(USE_4017_SERVOS)

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

  // PPM state machine, onboard demultiplexed by HEF4017

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

  if(!isGeneratingPulse) { // pulse output complete

    if(TCCR2A & (1<<COM2A0)) { // we had a low pulse

    TCCR2A &= ~(1<<COM2A0);// make a high pulse

    if(ServoIndex == 0) { // if we are at the sync gap

      remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time

      ServoFrameTime = 0; // reset servo frame time

      HEF4017R_ON; // enable HEF4017 reset

    } else { // servo channels

      remainingPulseLength  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms

      switch(ServoIndex) { // map servo channels

      case 1: // Pitch Compensation Servo

        ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset

        ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765)

        if(staticParams.ServoPitchCompInvert & 0x01) {

          // inverting movement of servo

          ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );

        } else {        // non inverting movement of servo

          ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );

        }

        // limit servo value to its parameter range definition

        if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {

          ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;

        } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {

          ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;

        }

        remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position

        ServoPitchValue /= MULTIPLIER;

        break;

      case 2: // Roll Compensation Servo

        ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset

        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)

        //if(staticParams.ServoRollCompInvert & 0x01)

        {       // inverting movement of servo

          ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) );

        }

        /*                                                      else

                                                                {       // non inverting movement of servo

                                                                ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) );

                                                                }

        */                                                      // limit servo value to its parameter range definition

        if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {

          ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;

        } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {

          ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;

        }

        remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position

        ServoRollValue /= MULTIPLIER;

        break;

      default: // other servo channels

        remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs

        break;

      }

      // range servo pulse width

      if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit

      else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit

      // substract stop pulse width

      remainingPulseLength -= PPM_STOPPULSE;

      // accumulate time for correct sync gap

      ServoFrameTime += remainingPulseLength;

    }

  } else { // we had a high pulse

    TCCR2A |= (1<<COM2A0); // make a low pulse

    // set pulsewidth to stop pulse width

    remainingPulseLength = PPM_STOPPULSE;

    // accumulate time for correct sync gap

    ServoFrameTime += remainingPulseLength;

    if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset

    ServoIndex++; // change to next servo channel

    if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap

  }

  // set pulse output active

  isGeneratingPulse = 1;

 }

#endif

/*

 * Cases:

 * 1) 255 + 128 <= remainingPulseLength --> delta = 255

 * 2) 255 <= remainingPulseLength < 255 + 128 --> delta = 255 - 128  

 *    this is to avoid a too short delta on the last cycle, which would cause

 *    an interupt-on-interrupt condition and the loss of the last interrupt.

 * 3) remainingPulseLength < 255 --> delta = remainingPulseLength

 */

#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)

  uint8_t delta;

  if (remainingPulseLength >= (255 + 128)) {

    delta = 255;

  } else if (remainingPulseLength >= 255) {

    delta = 255- 128;

  } else {

    delta = remainingPulseLength;

    isGeneratingPulse = 0; // trigger to stop pulse 

  }

  OCR2A = delta;

  remainingPulseLength -= delta;

#endif

}