WebSVN - FlightCtrl - Blame - Rev 1322 - /branches/V0.82a_ACC-HH

Rev	Author	Line No.	Line
1	ingob	1	#include "main.h"
1320	hbuss	2	#include "spectrum.h"
1	ingob	3
		4	volatile unsigned int CountMilliseconds = 0;
		5	volatile static unsigned int tim_main;
		6	volatile unsigned char UpdateMotor = 0;
		7	volatile unsigned int cntKompass = 0;
		8	volatile unsigned int beeptime = 0;
1171	hbuss	9	volatile unsigned char SendSPI = 0, ServoActive = 0;
723	hbuss	10
173	holgerb	11	unsigned int BeepMuster = 0xffff;
1105	killagreg	12	int ServoValue = 0;
1	ingob	13
1156	hbuss	14	volatile int16_t ServoNickValue = 0;
		15	volatile int16_t ServoRollValue = 0;
		16
		17
1	ingob	18	enum {
		19	STOP = 0,
		20	CK = 1,
		21	CK8 = 2,
		22	CK64 = 3,
		23	CK256 = 4,
		24	CK1024 = 5,
		25	T0_FALLING_EDGE = 6,
		26	T0_RISING_EDGE = 7
		27	};
		28
		29
1322	hbuss	30	SIGNAL (SIG_OVERFLOW0) // 9,7kHz
1	ingob	31	{
		32	static unsigned char cnt_1ms = 1,cnt = 0;
173	holgerb	33	unsigned char pieper_ein = 0;
723	hbuss	34	if(SendSPI) SendSPI--;
1320	hbuss	35	if(SpektrumTimer) SpektrumTimer--;
		36
1	ingob	37	if(!cnt--)
		38	{
1105	killagreg	39	cnt = 9;
1	ingob	40	cnt_1ms++;
		41	cnt_1ms %= 2;
		42	if(!cnt_1ms) UpdateMotor = 1;
		43	CountMilliseconds++;
1105	killagreg	44	}
1	ingob	45
1232	hbuss	46	if(beeptime >= 1)
1	ingob	47	{
1105	killagreg	48	beeptime--;
		49	if(beeptime & BeepMuster)
173	holgerb	50	{
		51	pieper_ein = 1;
		52	}
		53	else pieper_ein = 0;
1	ingob	54	}
1105	killagreg	55	else
173	holgerb	56	{
		57	pieper_ein = 0;
		58	BeepMuster = 0xffff;
1105	killagreg	59	}
173	holgerb	60
		61	if(pieper_ein)
		62	{
		63	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
		64	else PORTC \|= (1<<7); // Speaker an PORTC.7
		65	}
1105	killagreg	66	else
173	holgerb	67	{
		68	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		69	else PORTC &= ~(1<<7);
1105	killagreg	70	}
		71
1	ingob	72	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		73	{
		74	if(PINC & 0x10)
		75	{
1105	killagreg	76	cntKompass++;
1	ingob	77	}
		78	else
		79	{
1105	killagreg	80	if((cntKompass) && (cntKompass < 362))
		81	{
693	hbuss	82	cntKompass += cntKompass / 41;
		83	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1105	killagreg	84	}
1320	hbuss	85	// if(cntKompass < 10) cntKompass =r 10;
1	ingob	86	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
		87	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		88	cntKompass = 0;
1105	killagreg	89	}
1	ingob	90	}
1320	hbuss	91
1	ingob	92	}
		93
		94
		95	// -----------------------------------------------------------------------
		96
		97	unsigned int SetDelay (unsigned int t)
		98	{
		99	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	100	return(CountMilliseconds + t + 1);
1	ingob	101	// TIMSK0 \|= _BV(TOIE0);
		102	}
		103
		104	// -----------------------------------------------------------------------
		105	char CheckDelay(unsigned int t)
		106	{
		107	// TIMSK0 &= ~_BV(TOIE0);
		108	return(((t - CountMilliseconds) & 0x8000) >> 9);
		109	// TIMSK0 \|= _BV(TOIE0);
		110	}
		111
		112	// -----------------------------------------------------------------------
		113	void Delay_ms(unsigned int w)
		114	{
		115	unsigned int akt;
		116	akt = SetDelay(w);
		117	while (!CheckDelay(akt));
		118	}
		119
395	hbuss	120	void Delay_ms_Mess(unsigned int w)
		121	{
		122	unsigned int akt;
		123	akt = SetDelay(w);
1166	hbuss	124	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	125	}
		126
1156	hbuss	127	/*****************************************************/
		128	/* Initialize Timer 2 */
		129	/*****************************************************/
		130	// The timer 2 is used to generate the PWM at PD7 (J7)
		131	// to control a camera servo for nick compensation.
		132	void TIMER2_Init(void)
910	hbuss	133	{
1156	hbuss	134	uint8_t sreg = SREG;
		135
		136	// disable all interrupts before reconfiguration
		137	cli();
1232	hbuss	138
1156	hbuss	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	// frame len 22.5 ms = 14063 * 1.6 us
		198	// stop pulse: 0.3 ms = 188 * 1.6 us
		199	// min servo pulse: 0.6 ms = 375 * 1.6 us
		200	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		201	// resolution: 1500 - 375 = 1125 steps
		202
		203	#define IRS_RUNTIME 127
		204	#define PPM_STOPPULSE 188
		205	// #define PPM_FRAMELEN (14063
1171	hbuss	206	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	207	#define MINSERVOPULSE 375
		208	#define MAXSERVOPULSE 1500
		209	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		210
		211	static uint8_t PulseOutput = 0;
		212	static uint16_t RemainingPulse = 0;
		213	static uint16_t ServoFrameTime = 0;
		214	static uint8_t ServoIndex = 0;
		215
		216	#define MULTIPLYER 4
		217	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	218	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	219
		220	if(PlatinenVersion < 20)
		221	{
		222	//---------------------------
		223	// Nick servo state machine
		224	//---------------------------
		225	if(!PulseOutput) // pulse output complete
		226	{
		227	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		228	{
		229	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		230	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		231
		232	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		233	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	234	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	235	{ // inverting movement of servo
		236	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		237	}
		238	else
		239	{ // non inverting movement of servo
		240	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		241	}
		242	// limit servo value to its parameter range definition
		243	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		244	{
		245	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		246	}
		247	else
		248	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		249	{
		250	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		251	}
		252
		253	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		254
		255	ServoNickValue /= MULTIPLYER;
		256	DebugOut.Analog[20] = ServoNickValue;
		257
		258	// range servo pulse width
		259	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		260	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		261	// accumulate time for correct update rate
		262	ServoFrameTime = RemainingPulse;
		263	}
		264	else // we had a high pulse
		265	{
		266	TCCR2A \|= (1<<COM2A0); // make a low pulse
		267	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		268	}
		269	// set pulse output active
		270	PulseOutput = 1;
		271	}
		272	} // EOF Nick servo state machine
		273	else
		274	{
		275	//-----------------------------------------------------
		276	// PPM state machine, onboard demultiplexed by HEF4017
		277	//-----------------------------------------------------
		278	if(!PulseOutput) // pulse output complete
		279	{
		280	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		281	{
		282	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		283
		284	if(ServoIndex == 0) // if we are at the sync gap
		285	{
		286	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		287	ServoFrameTime = 0; // reset servo frame time
		288	HEF4017R_ON; // enable HEF4017 reset
		289	}
		290	else // servo channels
		291	{
		292	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		293	switch(ServoIndex) // map servo channels
		294	{
		295	case 1: // Nick Compensation Servo
		296	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		297	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	298	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	299	{ // inverting movement of servo
		300	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		301	}
		302	else
		303	{ // non inverting movement of servo
		304	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		305	}
		306	// limit servo value to its parameter range definition
		307	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		308	{
		309	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		310	}
		311	else
		312	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		313	{
		314	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		315	}
		316	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		317	ServoNickValue /= MULTIPLYER;
		318	DebugOut.Analog[20] = ServoNickValue;
		319	break;
1224	hbuss	320	case 2: // Roll Compensation Servo
1232	hbuss	321	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
1224	hbuss	322	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	323	if(EE_Parameter.ServoCompInvert & 0x02)
1224	hbuss	324	{ // inverting movement of servo
1232	hbuss	325	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	326	}
		327	else
		328	{ // non inverting movement of servo
1232	hbuss	329	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	330	}
1232	hbuss	331	// limit servo value to its parameter range definition
1224	hbuss	332	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		333	{
		334	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		335	}
		336	else
		337	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		338	{
		339	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		340	}
		341	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		342	ServoRollValue /= MULTIPLYER;
		343	//DebugOut.Analog[20] = ServoRollValue;
1232	hbuss	344	break;
1224	hbuss	345
1156	hbuss	346	default: // other servo channels
		347	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		348	break;
		349	}
		350	// range servo pulse width
		351	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		352	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		353	// substract stop pulse width
		354	RemainingPulse -= PPM_STOPPULSE;
		355	// accumulate time for correct sync gap
		356	ServoFrameTime += RemainingPulse;
		357	}
		358	}
		359	else // we had a high pulse
		360	{
		361	TCCR2A \|= (1<<COM2A0); // make a low pulse
		362	// set pulsewidth to stop pulse width
		363	RemainingPulse = PPM_STOPPULSE;
		364	// accumulate time for correct sync gap
		365	ServoFrameTime += RemainingPulse;
1171	hbuss	366	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1232	hbuss	367	else HEF4017R_ON;
1156	hbuss	368	ServoIndex++; // change to next servo channel
		369	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		370	}
		371	// set pulse output active
		372	PulseOutput = 1;
		373	}
		374	} // EOF PPM state machine
		375
		376	// General pulse output generator
		377	if(RemainingPulse > (255 + IRS_RUNTIME))
		378	{
		379	OCR2A = 255;
		380	RemainingPulse -= 255;
910	hbuss	381	}
1156	hbuss	382	else
		383	{
		384	if(RemainingPulse > 255) // this is the 2nd last part
		385	{
		386	if((RemainingPulse - 255) < IRS_RUNTIME)
		387	{
		388	OCR2A = 255 - IRS_RUNTIME;
		389	RemainingPulse -= 255 - IRS_RUNTIME;
		390
		391	}
		392	else // last part > ISR_RUNTIME
		393	{
		394	OCR2A = 255;
		395	RemainingPulse -= 255;
		396	}
		397	}
		398	else // this is the last part
		399	{
		400	OCR2A = RemainingPulse;
		401	RemainingPulse = 0;
		402	PulseOutput = 0; // trigger to stop pulse
		403	}
		404	} // EOF general pulse output generator
1111	hbuss	405	}

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(root)/branches/V0.82a_ACC-HH_MartinR/timer0.c @ 1797 - Rev 1322