WebSVN - FlightCtrl - Blame - Rev 1469 - /branches/V0.82a_ACC-HH

Rev	Author	Line No.	Line
1	ingob	1	#include "main.h"
		2
1424	ingob	3
1	ingob	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;
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
1322	hbuss	29	SIGNAL (SIG_OVERFLOW0) // 9,7kHz
1	ingob	30	{
		31	static unsigned char cnt_1ms = 1,cnt = 0;
173	holgerb	32	unsigned char pieper_ein = 0;
723	hbuss	33	if(SendSPI) SendSPI--;
1469	killagreg	34	if(SpektrumTimer) SpektrumTimer--;
1320	hbuss	35
1	ingob	36	if(!cnt--)
		37	{
1105	killagreg	38	cnt = 9;
1	ingob	39	cnt_1ms++;
		40	cnt_1ms %= 2;
		41	if(!cnt_1ms) UpdateMotor = 1;
		42	CountMilliseconds++;
1105	killagreg	43	}
1	ingob	44
1232	hbuss	45	if(beeptime >= 1)
1	ingob	46	{
1105	killagreg	47	beeptime--;
		48	if(beeptime & BeepMuster)
173	holgerb	49	{
		50	pieper_ein = 1;
		51	}
		52	else pieper_ein = 0;
1	ingob	53	}
1105	killagreg	54	else
173	holgerb	55	{
		56	pieper_ein = 0;
		57	BeepMuster = 0xffff;
1105	killagreg	58	}
173	holgerb	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;
1469	killagreg	83	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
1105	killagreg	84	}
1	ingob	85	cntKompass = 0;
1105	killagreg	86	}
1	ingob	87	}
		88	}
		89
		90
		91	// -----------------------------------------------------------------------
		92	unsigned int SetDelay (unsigned int t)
		93	{
		94	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	95	return(CountMilliseconds + t + 1);
1	ingob	96	// TIMSK0 \|= _BV(TOIE0);
		97	}
		98
		99	// -----------------------------------------------------------------------
		100	char CheckDelay(unsigned int t)
		101	{
		102	// TIMSK0 &= ~_BV(TOIE0);
		103	return(((t - CountMilliseconds) & 0x8000) >> 9);
		104	// TIMSK0 \|= _BV(TOIE0);
		105	}
		106
		107	// -----------------------------------------------------------------------
		108	void Delay_ms(unsigned int w)
		109	{
		110	unsigned int akt;
		111	akt = SetDelay(w);
		112	while (!CheckDelay(akt));
		113	}
		114
395	hbuss	115	void Delay_ms_Mess(unsigned int w)
		116	{
		117	unsigned int akt;
		118	akt = SetDelay(w);
1166	hbuss	119	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	120	}
		121
1156	hbuss	122	/*****************************************************/
		123	/* Initialize Timer 2 */
		124	/*****************************************************/
		125	// The timer 2 is used to generate the PWM at PD7 (J7)
		126	// to control a camera servo for nick compensation.
		127	void TIMER2_Init(void)
910	hbuss	128	{
1156	hbuss	129	uint8_t sreg = SREG;
		130
		131	// disable all interrupts before reconfiguration
		132	cli();
1469	killagreg	133
1156	hbuss	134	PORTD &= ~(1<<PORTD7); // set PD7 to low
		135
		136	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	137	HEF4017R_ON;
1156	hbuss	138	// Timer/Counter 2 Control Register A
		139
		140	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		141	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		142	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		143	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		144	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		145
		146	// Timer/Counter 2 Control Register B
		147
		148	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		149	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		150	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		151
		152	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		153	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		154	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		155
		156	// Initialize the Timer/Counter 2 Register
		157	TCNT2 = 0;
		158
		159	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		160	OCR2A = 255;
		161	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		162
		163	// Timer/Counter 2 Interrupt Mask Register
		164	// Enable timer output compare match A Interrupt only
		165	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		166	TIMSK2 \|= (1<<OCIE2A);
		167
		168	SREG = sreg;
910	hbuss	169	}
		170
1156	hbuss	171	//----------------------------
		172	void Timer_Init(void)
1	ingob	173	{
1156	hbuss	174	tim_main = SetDelay(10);
		175	TCCR0B = CK8;
		176	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		177	OCR0A = 0;
		178	OCR0B = 120;
		179	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		180	//OCR1 = 0x00;
1105	killagreg	181
1156	hbuss	182	TIMSK0 \|= _BV(TOIE0);
		183	}
		184
		185
		186	/*****************************************************/
		187	/* Control Servo Position */
		188	/*****************************************************/
		189
		190	ISR(TIMER2_COMPA_vect)
		191	{
		192	// frame len 22.5 ms = 14063 * 1.6 us
		193	// stop pulse: 0.3 ms = 188 * 1.6 us
		194	// min servo pulse: 0.6 ms = 375 * 1.6 us
		195	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		196	// resolution: 1500 - 375 = 1125 steps
		197
		198	#define IRS_RUNTIME 127
		199	#define PPM_STOPPULSE 188
		200	// #define PPM_FRAMELEN (14063
1171	hbuss	201	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	202	#define MINSERVOPULSE 375
		203	#define MAXSERVOPULSE 1500
		204	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		205
		206	static uint8_t PulseOutput = 0;
		207	static uint16_t RemainingPulse = 0;
		208	static uint16_t ServoFrameTime = 0;
		209	static uint8_t ServoIndex = 0;
		210
		211	#define MULTIPLYER 4
		212	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	213	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	214
		215	if(PlatinenVersion < 20)
		216	{
		217	//---------------------------
		218	// Nick servo state machine
		219	//---------------------------
		220	if(!PulseOutput) // pulse output complete
		221	{
		222	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		223	{
		224	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		225	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		226
		227	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		228	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	229	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	230	{ // inverting movement of servo
		231	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		232	}
		233	else
		234	{ // non inverting movement of servo
		235	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		236	}
		237	// limit servo value to its parameter range definition
		238	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		239	{
		240	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		241	}
		242	else
		243	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		244	{
		245	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		246	}
		247
		248	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		249
		250	ServoNickValue /= MULTIPLYER;
		251
		252	// range servo pulse width
		253	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		254	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		255	// accumulate time for correct update rate
		256	ServoFrameTime = RemainingPulse;
		257	}
		258	else // we had a high pulse
		259	{
		260	TCCR2A \|= (1<<COM2A0); // make a low pulse
		261	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		262	}
		263	// set pulse output active
		264	PulseOutput = 1;
		265	}
		266	} // EOF Nick servo state machine
		267	else
		268	{
		269	//-----------------------------------------------------
		270	// PPM state machine, onboard demultiplexed by HEF4017
		271	//-----------------------------------------------------
		272	if(!PulseOutput) // pulse output complete
		273	{
		274	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		275	{
		276	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		277
		278	if(ServoIndex == 0) // if we are at the sync gap
		279	{
		280	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		281	ServoFrameTime = 0; // reset servo frame time
		282	HEF4017R_ON; // enable HEF4017 reset
		283	}
		284	else // servo channels
		285	{
		286	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		287	switch(ServoIndex) // map servo channels
		288	{
		289	case 1: // Nick Compensation Servo
		290	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		291	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	292	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	293	{ // inverting movement of servo
		294	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		295	}
		296	else
		297	{ // non inverting movement of servo
		298	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		299	}
		300	// limit servo value to its parameter range definition
		301	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		302	{
		303	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		304	}
		305	else
		306	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		307	{
		308	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		309	}
		310	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		311	ServoNickValue /= MULTIPLYER;
		312	break;
1224	hbuss	313	case 2: // Roll Compensation Servo
1232	hbuss	314	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
1224	hbuss	315	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	316	if(EE_Parameter.ServoCompInvert & 0x02)
1224	hbuss	317	{ // inverting movement of servo
1232	hbuss	318	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	319	}
		320	else
		321	{ // non inverting movement of servo
1232	hbuss	322	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	323	}
1232	hbuss	324	// limit servo value to its parameter range definition
1224	hbuss	325	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		326	{
		327	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		328	}
		329	else
		330	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		331	{
		332	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		333	}
		334	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		335	ServoRollValue /= MULTIPLYER;
		336	//DebugOut.Analog[20] = ServoRollValue;
1232	hbuss	337	break;
1403	hbuss	338	case 3: RemainingPulse += 2 * Parameter_Servo3;
		339	break;
		340	case 4: RemainingPulse += 2 * Parameter_Servo4;
		341	break;
		342	case 5: RemainingPulse += 2 * Parameter_Servo5;
		343	break;
1156	hbuss	344	default: // other servo channels
		345	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		346	break;
		347	}
		348	// range servo pulse width
		349	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		350	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		351	// substract stop pulse width
		352	RemainingPulse -= PPM_STOPPULSE;
		353	// accumulate time for correct sync gap
		354	ServoFrameTime += RemainingPulse;
		355	}
		356	}
		357	else // we had a high pulse
		358	{
		359	TCCR2A \|= (1<<COM2A0); // make a low pulse
		360	// set pulsewidth to stop pulse width
		361	RemainingPulse = PPM_STOPPULSE;
		362	// accumulate time for correct sync gap
		363	ServoFrameTime += RemainingPulse;
1171	hbuss	364	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1232	hbuss	365	else HEF4017R_ON;
1156	hbuss	366	ServoIndex++; // change to next servo channel
		367	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		368	}
		369	// set pulse output active
		370	PulseOutput = 1;
		371	}
		372	} // EOF PPM state machine
		373
		374	// General pulse output generator
		375	if(RemainingPulse > (255 + IRS_RUNTIME))
		376	{
		377	OCR2A = 255;
		378	RemainingPulse -= 255;
910	hbuss	379	}
1156	hbuss	380	else
		381	{
		382	if(RemainingPulse > 255) // this is the 2nd last part
		383	{
		384	if((RemainingPulse - 255) < IRS_RUNTIME)
		385	{
		386	OCR2A = 255 - IRS_RUNTIME;
		387	RemainingPulse -= 255 - IRS_RUNTIME;
		388
		389	}
		390	else // last part > ISR_RUNTIME
		391	{
		392	OCR2A = 255;
		393	RemainingPulse -= 255;
		394	}
		395	}
		396	else // this is the last part
		397	{
		398	OCR2A = RemainingPulse;
		399	RemainingPulse = 0;
		400	PulseOutput = 0; // trigger to stop pulse
		401	}
		402	} // EOF general pulse output generator
1111	hbuss	403	}

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(root)/branches/V0.82a_ACC-HH_MartinR/timer0.c @ 1797 - Rev 1469