WebSVN - FlightCtrl - Blame - Rev 1354 - /branches/V0.74d-FredericG/timer0.c

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
		44	if(beeptime > 1)
		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
		60	if(pieper_ein)
		61	{
		62	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
		63	else PORTC \|= (1<<7); // Speaker an PORTC.7
		64	}
1105	killagreg	65	else
173	holgerb	66	{
		67	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		68	else PORTC &= ~(1<<7);
1105	killagreg	69	}
		70
1	ingob	71	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		72	{
		73	if(PINC & 0x10)
		74	{
1105	killagreg	75	cntKompass++;
1	ingob	76	}
		77	else
		78	{
1105	killagreg	79	if((cntKompass) && (cntKompass < 362))
		80	{
693	hbuss	81	cntKompass += cntKompass / 41;
		82	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1105	killagreg	83	}
1	ingob	84	// if(cntKompass < 10) cntKompass = 10;
		85	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
		86	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		87	cntKompass = 0;
1105	killagreg	88	}
1	ingob	89	}
		90	}
		91
		92
		93	// -----------------------------------------------------------------------
		94
		95	unsigned int SetDelay (unsigned int t)
		96	{
		97	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	98	return(CountMilliseconds + t + 1);
1	ingob	99	// TIMSK0 \|= _BV(TOIE0);
		100	}
		101
		102	// -----------------------------------------------------------------------
		103	char CheckDelay(unsigned int t)
		104	{
		105	// TIMSK0 &= ~_BV(TOIE0);
		106	return(((t - CountMilliseconds) & 0x8000) >> 9);
		107	// TIMSK0 \|= _BV(TOIE0);
		108	}
		109
		110	// -----------------------------------------------------------------------
		111	void Delay_ms(unsigned int w)
		112	{
		113	unsigned int akt;
		114	akt = SetDelay(w);
		115	while (!CheckDelay(akt));
		116	}
		117
395	hbuss	118	void Delay_ms_Mess(unsigned int w)
		119	{
		120	unsigned int akt;
		121	akt = SetDelay(w);
1166	hbuss	122	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	123	}
		124
1156	hbuss	125	/*****************************************************/
		126	/* Initialize Timer 2 */
		127	/*****************************************************/
		128	// The timer 2 is used to generate the PWM at PD7 (J7)
		129	// to control a camera servo for nick compensation.
		130	void TIMER2_Init(void)
910	hbuss	131	{
1156	hbuss	132	uint8_t sreg = SREG;
		133
		134	// disable all interrupts before reconfiguration
		135	cli();
		136
		137	// set PD7 as output of the PWM for nick servo
		138	DDRD \|= (1<<DDD7);
		139	PORTD &= ~(1<<PORTD7); // set PD7 to low
		140
		141	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	142	HEF4017R_ON;
1156	hbuss	143	// Timer/Counter 2 Control Register A
		144
		145	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		146	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		147	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		148	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		149	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		150
		151	// Timer/Counter 2 Control Register B
		152
		153	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		154	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		155	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		156
		157	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		158	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		159	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		160
		161	// Initialize the Timer/Counter 2 Register
		162	TCNT2 = 0;
		163
		164	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		165	OCR2A = 255;
		166	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		167
		168	// Timer/Counter 2 Interrupt Mask Register
		169	// Enable timer output compare match A Interrupt only
		170	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		171	TIMSK2 \|= (1<<OCIE2A);
		172
		173	SREG = sreg;
910	hbuss	174	}
		175
1156	hbuss	176	//----------------------------
		177	void Timer_Init(void)
1	ingob	178	{
1156	hbuss	179	tim_main = SetDelay(10);
		180	TCCR0B = CK8;
		181	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		182	OCR0A = 0;
		183	OCR0B = 120;
		184	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		185	//OCR1 = 0x00;
1105	killagreg	186
1156	hbuss	187	TIMSK0 \|= _BV(TOIE0);
		188	}
		189
		190
		191	/*****************************************************/
		192	/* Control Servo Position */
		193	/*****************************************************/
		194
		195	ISR(TIMER2_COMPA_vect)
		196	{
		197
		198	// frame len 22.5 ms = 14063 * 1.6 us
		199	// stop pulse: 0.3 ms = 188 * 1.6 us
		200	// min servo pulse: 0.6 ms = 375 * 1.6 us
		201	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		202	// resolution: 1500 - 375 = 1125 steps
		203
		204	#define IRS_RUNTIME 127
		205	#define PPM_STOPPULSE 188
		206	// #define PPM_FRAMELEN (14063
1171	hbuss	207	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	208	#define MINSERVOPULSE 375
		209	#define MAXSERVOPULSE 1500
		210	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		211
		212	static uint8_t PulseOutput = 0;
		213	static uint16_t RemainingPulse = 0;
		214	static uint16_t ServoFrameTime = 0;
		215	static uint8_t ServoIndex = 0;
		216
		217	#define MULTIPLYER 4
		218	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	219	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	220
		221	if(PlatinenVersion < 20)
		222	{
		223	//---------------------------
		224	// Nick servo state machine
		225	//---------------------------
		226	if(!PulseOutput) // pulse output complete
		227	{
		228	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		229	{
		230	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		231	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		232
		233	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		234	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		235	if(EE_Parameter.ServoNickCompInvert & 0x01)
		236	{ // inverting movement of servo
		237	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		238	}
		239	else
		240	{ // non inverting movement of servo
		241	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		242	}
		243	// limit servo value to its parameter range definition
		244	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		245	{
		246	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		247	}
		248	else
		249	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		250	{
		251	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		252	}
		253
		254	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		255
		256	ServoNickValue /= MULTIPLYER;
		257	DebugOut.Analog[20] = ServoNickValue;
		258
		259	// range servo pulse width
		260	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		261	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		262	// accumulate time for correct update rate
		263	ServoFrameTime = RemainingPulse;
		264	}
		265	else // we had a high pulse
		266	{
		267	TCCR2A \|= (1<<COM2A0); // make a low pulse
		268	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		269	}
		270	// set pulse output active
		271	PulseOutput = 1;
		272	}
		273	} // EOF Nick servo state machine
		274	else
		275	{
		276	//-----------------------------------------------------
		277	// PPM state machine, onboard demultiplexed by HEF4017
		278	//-----------------------------------------------------
		279	if(!PulseOutput) // pulse output complete
		280	{
		281	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		282	{
		283	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		284
		285	if(ServoIndex == 0) // if we are at the sync gap
		286	{
		287	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		288	ServoFrameTime = 0; // reset servo frame time
		289	HEF4017R_ON; // enable HEF4017 reset
		290	}
		291	else // servo channels
		292	{
		293	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		294	switch(ServoIndex) // map servo channels
		295	{
		296	case 1: // Nick Compensation Servo
		297	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		298	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		299	if(EE_Parameter.ServoNickCompInvert & 0x01)
		300	{ // inverting movement of servo
		301	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		302	}
		303	else
		304	{ // non inverting movement of servo
		305	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		306	}
		307	// limit servo value to its parameter range definition
		308	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		309	{
		310	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		311	}
		312	else
		313	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		314	{
		315	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		316	}
		317	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		318	ServoNickValue /= MULTIPLYER;
		319	DebugOut.Analog[20] = ServoNickValue;
		320	break;
1224	hbuss	321	case 2: // Roll Compensation Servo
		322	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset
		323	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		324	//if(EE_Parameter.ServoRollCompInvert & 0x01)
		325	{ // inverting movement of servo
		326	ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		327	}
		328	/* else
		329	{ // non inverting movement of servo
		330	ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		331	}
		332	*/ // limit servo value to its parameter range definition
		333	if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		334	{
		335	ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		336	}
		337	else
		338	if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		339	{
		340	ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		341	}
		342	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		343	ServoRollValue /= MULTIPLYER;
		344	//DebugOut.Analog[20] = ServoRollValue;
1156	hbuss	345
1224	hbuss	346	/* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
		347	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		348	if(EE_Parameter.ServoRollCompInvert & 0x01)
		349	{ // inverting movement of servo
		350	ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		351	}
		352	else
		353	{ // non inverting movement of servo
		354	ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		355	}
		356	// limit servo value to its parameter range definition
		357	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		358	{
		359	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		360	}
		361	else
		362	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		363	{
		364	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		365	}
		366	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		367	ServoRollValue /= MULTIPLYER;
		368	//DebugOut.Analog[20] = ServoRollValue;
		369	*/ break;
		370
1156	hbuss	371	default: // other servo channels
		372	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		373	break;
		374	}
		375	// range servo pulse width
		376	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		377	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		378	// substract stop pulse width
		379	RemainingPulse -= PPM_STOPPULSE;
		380	// accumulate time for correct sync gap
		381	ServoFrameTime += RemainingPulse;
		382	}
		383	}
		384	else // we had a high pulse
		385	{
		386	TCCR2A \|= (1<<COM2A0); // make a low pulse
		387	// set pulsewidth to stop pulse width
		388	RemainingPulse = PPM_STOPPULSE;
		389	// accumulate time for correct sync gap
		390	ServoFrameTime += RemainingPulse;
1171	hbuss	391	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1156	hbuss	392	ServoIndex++; // change to next servo channel
		393	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		394	}
		395	// set pulse output active
		396	PulseOutput = 1;
		397	}
		398	} // EOF PPM state machine
		399
		400	// General pulse output generator
		401	if(RemainingPulse > (255 + IRS_RUNTIME))
		402	{
		403	OCR2A = 255;
		404	RemainingPulse -= 255;
910	hbuss	405	}
1156	hbuss	406	else
		407	{
		408	if(RemainingPulse > 255) // this is the 2nd last part
		409	{
		410	if((RemainingPulse - 255) < IRS_RUNTIME)
		411	{
		412	OCR2A = 255 - IRS_RUNTIME;
		413	RemainingPulse -= 255 - IRS_RUNTIME;
		414
		415	}
		416	else // last part > ISR_RUNTIME
		417	{
		418	OCR2A = 255;
		419	RemainingPulse -= 255;
		420	}
		421	}
		422	else // this is the last part
		423	{
		424	OCR2A = RemainingPulse;
		425	RemainingPulse = 0;
		426	PulseOutput = 0; // trigger to stop pulse
		427	}
		428	} // EOF general pulse output generator
1111	hbuss	429	}

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(root)/branches/V0.74d-FredericG/timer0.c @ 2654 - Rev 1354