WebSVN - FlightCtrl - Blame - Rev 1232

Rev	Author	Line No.	Line
1	ingob	1	#include "main.h"
		2
		3	volatile unsigned int CountMilliseconds = 0;
		4	volatile static unsigned int tim_main;
		5	volatile unsigned char UpdateMotor = 0;
		6	volatile unsigned int cntKompass = 0;
		7	volatile unsigned int beeptime = 0;
1171	hbuss	8	volatile unsigned char SendSPI = 0, ServoActive = 0;
723	hbuss	9
173	holgerb	10	unsigned int BeepMuster = 0xffff;
1105	killagreg	11	int ServoValue = 0;
1	ingob	12
1156	hbuss	13	volatile int16_t ServoNickValue = 0;
		14	volatile int16_t ServoRollValue = 0;
		15
		16
1	ingob	17	enum {
		18	STOP = 0,
		19	CK = 1,
		20	CK8 = 2,
		21	CK64 = 3,
		22	CK256 = 4,
		23	CK1024 = 5,
		24	T0_FALLING_EDGE = 6,
		25	T0_RISING_EDGE = 7
		26	};
		27
		28
		29	SIGNAL (SIG_OVERFLOW0) // 8kHz
		30	{
		31	static unsigned char cnt_1ms = 1,cnt = 0;
173	holgerb	32	unsigned char pieper_ein = 0;
1	ingob	33	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
723	hbuss	34	if(SendSPI) SendSPI--;
1	ingob	35	if(!cnt--)
		36	{
1105	killagreg	37	cnt = 9;
1	ingob	38	cnt_1ms++;
		39	cnt_1ms %= 2;
		40	if(!cnt_1ms) UpdateMotor = 1;
		41	CountMilliseconds++;
1105	killagreg	42	}
1	ingob	43
1232	hbuss	44	if(beeptime >= 1)
1	ingob	45	{
1105	killagreg	46	beeptime--;
		47	if(beeptime & BeepMuster)
173	holgerb	48	{
		49	pieper_ein = 1;
		50	}
		51	else pieper_ein = 0;
1	ingob	52	}
1105	killagreg	53	else
173	holgerb	54	{
		55	pieper_ein = 0;
		56	BeepMuster = 0xffff;
1105	killagreg	57	}
173	holgerb	58
		59	if(pieper_ein)
		60	{
		61	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
		62	else PORTC \|= (1<<7); // Speaker an PORTC.7
		63	}
1105	killagreg	64	else
173	holgerb	65	{
		66	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		67	else PORTC &= ~(1<<7);
1105	killagreg	68	}
		69
1	ingob	70	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		71	{
		72	if(PINC & 0x10)
		73	{
1105	killagreg	74	cntKompass++;
1	ingob	75	}
		76	else
		77	{
1105	killagreg	78	if((cntKompass) && (cntKompass < 362))
		79	{
693	hbuss	80	cntKompass += cntKompass / 41;
		81	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1105	killagreg	82	}
1	ingob	83	// if(cntKompass < 10) cntKompass = 10;
		84	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
		85	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		86	cntKompass = 0;
1105	killagreg	87	}
1	ingob	88	}
		89	}
		90
		91
		92	// -----------------------------------------------------------------------
		93
		94	unsigned int SetDelay (unsigned int t)
		95	{
		96	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	97	return(CountMilliseconds + t + 1);
1	ingob	98	// TIMSK0 \|= _BV(TOIE0);
		99	}
		100
		101	// -----------------------------------------------------------------------
		102	char CheckDelay(unsigned int t)
		103	{
		104	// TIMSK0 &= ~_BV(TOIE0);
		105	return(((t - CountMilliseconds) & 0x8000) >> 9);
		106	// TIMSK0 \|= _BV(TOIE0);
		107	}
		108
		109	// -----------------------------------------------------------------------
		110	void Delay_ms(unsigned int w)
		111	{
		112	unsigned int akt;
		113	akt = SetDelay(w);
		114	while (!CheckDelay(akt));
		115	}
		116
395	hbuss	117	void Delay_ms_Mess(unsigned int w)
		118	{
		119	unsigned int akt;
		120	akt = SetDelay(w);
1166	hbuss	121	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	122	}
		123
1156	hbuss	124	/*****************************************************/
		125	/* Initialize Timer 2 */
		126	/*****************************************************/
		127	// The timer 2 is used to generate the PWM at PD7 (J7)
		128	// to control a camera servo for nick compensation.
		129	void TIMER2_Init(void)
910	hbuss	130	{
1156	hbuss	131	uint8_t sreg = SREG;
		132
		133	// disable all interrupts before reconfiguration
		134	cli();
1232	hbuss	135
1156	hbuss	136	PORTD &= ~(1<<PORTD7); // set PD7 to low
		137
		138	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	139	HEF4017R_ON;
1156	hbuss	140	// Timer/Counter 2 Control Register A
		141
		142	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		143	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		144	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		145	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		146	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		147
		148	// Timer/Counter 2 Control Register B
		149
		150	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		151	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		152	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		153
		154	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		155	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		156	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		157
		158	// Initialize the Timer/Counter 2 Register
		159	TCNT2 = 0;
		160
		161	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		162	OCR2A = 255;
		163	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		164
		165	// Timer/Counter 2 Interrupt Mask Register
		166	// Enable timer output compare match A Interrupt only
		167	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		168	TIMSK2 \|= (1<<OCIE2A);
		169
		170	SREG = sreg;
910	hbuss	171	}
		172
1156	hbuss	173	//----------------------------
		174	void Timer_Init(void)
1	ingob	175	{
1156	hbuss	176	tim_main = SetDelay(10);
		177	TCCR0B = CK8;
		178	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		179	OCR0A = 0;
		180	OCR0B = 120;
		181	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		182	//OCR1 = 0x00;
1105	killagreg	183
1156	hbuss	184	TIMSK0 \|= _BV(TOIE0);
		185	}
		186
		187
		188	/*****************************************************/
		189	/* Control Servo Position */
		190	/*****************************************************/
		191
		192	ISR(TIMER2_COMPA_vect)
		193	{
		194	// frame len 22.5 ms = 14063 * 1.6 us
		195	// stop pulse: 0.3 ms = 188 * 1.6 us
		196	// min servo pulse: 0.6 ms = 375 * 1.6 us
		197	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		198	// resolution: 1500 - 375 = 1125 steps
		199
		200	#define IRS_RUNTIME 127
		201	#define PPM_STOPPULSE 188
		202	// #define PPM_FRAMELEN (14063
1171	hbuss	203	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	204	#define MINSERVOPULSE 375
		205	#define MAXSERVOPULSE 1500
		206	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		207
		208	static uint8_t PulseOutput = 0;
		209	static uint16_t RemainingPulse = 0;
		210	static uint16_t ServoFrameTime = 0;
		211	static uint8_t ServoIndex = 0;
		212
		213	#define MULTIPLYER 4
		214	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	215	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	216
		217	if(PlatinenVersion < 20)
		218	{
		219	//---------------------------
		220	// Nick servo state machine
		221	//---------------------------
		222	if(!PulseOutput) // pulse output complete
		223	{
		224	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		225	{
		226	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		227	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		228
		229	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		230	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	231	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	232	{ // inverting movement of servo
		233	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		234	}
		235	else
		236	{ // non inverting movement of servo
		237	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		238	}
		239	// limit servo value to its parameter range definition
		240	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		241	{
		242	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		243	}
		244	else
		245	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		246	{
		247	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		248	}
		249
		250	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		251
		252	ServoNickValue /= MULTIPLYER;
		253	DebugOut.Analog[20] = ServoNickValue;
		254
		255	// range servo pulse width
		256	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		257	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		258	// accumulate time for correct update rate
		259	ServoFrameTime = RemainingPulse;
		260	}
		261	else // we had a high pulse
		262	{
		263	TCCR2A \|= (1<<COM2A0); // make a low pulse
		264	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		265	}
		266	// set pulse output active
		267	PulseOutput = 1;
		268	}
		269	} // EOF Nick servo state machine
		270	else
		271	{
		272	//-----------------------------------------------------
		273	// PPM state machine, onboard demultiplexed by HEF4017
		274	//-----------------------------------------------------
		275	if(!PulseOutput) // pulse output complete
		276	{
		277	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		278	{
		279	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		280
		281	if(ServoIndex == 0) // if we are at the sync gap
		282	{
		283	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		284	ServoFrameTime = 0; // reset servo frame time
		285	HEF4017R_ON; // enable HEF4017 reset
		286	}
		287	else // servo channels
		288	{
		289	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		290	switch(ServoIndex) // map servo channels
		291	{
		292	case 1: // Nick Compensation Servo
		293	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		294	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	295	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	296	{ // inverting movement of servo
		297	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		298	}
		299	else
		300	{ // non inverting movement of servo
		301	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		302	}
		303	// limit servo value to its parameter range definition
		304	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		305	{
		306	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		307	}
		308	else
		309	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		310	{
		311	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		312	}
		313	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		314	ServoNickValue /= MULTIPLYER;
		315	DebugOut.Analog[20] = ServoNickValue;
		316	break;
1224	hbuss	317	case 2: // Roll Compensation Servo
1232	hbuss	318	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
1224	hbuss	319	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	320	if(EE_Parameter.ServoCompInvert & 0x02)
1224	hbuss	321	{ // inverting movement of servo
1232	hbuss	322	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	323	}
		324	else
		325	{ // non inverting movement of servo
1232	hbuss	326	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	327	}
1232	hbuss	328	// limit servo value to its parameter range definition
1224	hbuss	329	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		330	{
		331	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		332	}
		333	else
		334	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		335	{
		336	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		337	}
		338	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		339	ServoRollValue /= MULTIPLYER;
		340	//DebugOut.Analog[20] = ServoRollValue;
1232	hbuss	341	break;
1224	hbuss	342
1156	hbuss	343	default: // other servo channels
		344	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		345	break;
		346	}
		347	// range servo pulse width
		348	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		349	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		350	// substract stop pulse width
		351	RemainingPulse -= PPM_STOPPULSE;
		352	// accumulate time for correct sync gap
		353	ServoFrameTime += RemainingPulse;
		354	}
		355	}
		356	else // we had a high pulse
		357	{
		358	TCCR2A \|= (1<<COM2A0); // make a low pulse
		359	// set pulsewidth to stop pulse width
		360	RemainingPulse = PPM_STOPPULSE;
		361	// accumulate time for correct sync gap
		362	ServoFrameTime += RemainingPulse;
1171	hbuss	363	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1232	hbuss	364	else HEF4017R_ON;
1156	hbuss	365	ServoIndex++; // change to next servo channel
		366	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		367	}
		368	// set pulse output active
		369	PulseOutput = 1;
		370	}
		371	} // EOF PPM state machine
		372
		373	// General pulse output generator
		374	if(RemainingPulse > (255 + IRS_RUNTIME))
		375	{
		376	OCR2A = 255;
		377	RemainingPulse -= 255;
910	hbuss	378	}
1156	hbuss	379	else
		380	{
		381	if(RemainingPulse > 255) // this is the 2nd last part
		382	{
		383	if((RemainingPulse - 255) < IRS_RUNTIME)
		384	{
		385	OCR2A = 255 - IRS_RUNTIME;
		386	RemainingPulse -= 255 - IRS_RUNTIME;
		387
		388	}
		389	else // last part > ISR_RUNTIME
		390	{
		391	OCR2A = 255;
		392	RemainingPulse -= 255;
		393	}
		394	}
		395	else // this is the last part
		396	{
		397	OCR2A = RemainingPulse;
		398	RemainingPulse = 0;
		399	PulseOutput = 0; // trigger to stop pulse
		400	}
		401	} // EOF general pulse output generator
1111	hbuss	402	}

Subversion Repositories FlightCtrl

(root)/tags/V0.88n/timer0.c @ 2167 - Rev 1232