WebSVN - FlightCtrl - Blame - Rev 1582 - /branches/WKN/V0.78b-HEF/timer0.c

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
1481	holgerb	71	if(!NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
1	ingob	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
1582	kneet	215	//if(PlatinenVersion < 20)
		216	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
1156	hbuss	217	{
		218	//---------------------------
		219	// Nick servo state machine
		220	//---------------------------
		221	if(!PulseOutput) // pulse output complete
		222	{
		223	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		224	{
		225	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		226	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		227
		228	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		229	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	230	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	231	{ // inverting movement of servo
		232	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		233	}
		234	else
		235	{ // non inverting movement of servo
		236	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		237	}
		238	// limit servo value to its parameter range definition
		239	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		240	{
		241	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		242	}
		243	else
		244	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		245	{
		246	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		247	}
		248
		249	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		250
		251	ServoNickValue /= MULTIPLYER;
		252
		253	// range servo pulse width
		254	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		255	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		256	// accumulate time for correct update rate
		257	ServoFrameTime = RemainingPulse;
		258	}
		259	else // we had a high pulse
		260	{
		261	TCCR2A \|= (1<<COM2A0); // make a low pulse
		262	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		263	}
		264	// set pulse output active
		265	PulseOutput = 1;
		266	}
		267	} // EOF Nick servo state machine
		268	else
		269	{
		270	//-----------------------------------------------------
		271	// PPM state machine, onboard demultiplexed by HEF4017
		272	//-----------------------------------------------------
		273	if(!PulseOutput) // pulse output complete
		274	{
		275	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		276	{
		277	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		278
		279	if(ServoIndex == 0) // if we are at the sync gap
		280	{
		281	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		282	ServoFrameTime = 0; // reset servo frame time
		283	HEF4017R_ON; // enable HEF4017 reset
		284	}
		285	else // servo channels
		286	{
		287	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		288	switch(ServoIndex) // map servo channels
		289	{
		290	case 1: // Nick Compensation Servo
		291	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		292	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	293	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	294	{ // inverting movement of servo
		295	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		296	}
		297	else
		298	{ // non inverting movement of servo
		299	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		300	}
		301	// limit servo value to its parameter range definition
		302	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		303	{
		304	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		305	}
		306	else
		307	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		308	{
		309	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		310	}
		311	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		312	ServoNickValue /= MULTIPLYER;
		313	break;
1224	hbuss	314	case 2: // Roll Compensation Servo
1232	hbuss	315	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
1224	hbuss	316	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	317	if(EE_Parameter.ServoCompInvert & 0x02)
1224	hbuss	318	{ // inverting movement of servo
1232	hbuss	319	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	320	}
		321	else
		322	{ // non inverting movement of servo
1232	hbuss	323	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	324	}
1232	hbuss	325	// limit servo value to its parameter range definition
1224	hbuss	326	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		327	{
		328	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		329	}
		330	else
		331	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		332	{
		333	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		334	}
		335	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		336	ServoRollValue /= MULTIPLYER;
		337	//DebugOut.Analog[20] = ServoRollValue;
1232	hbuss	338	break;
1403	hbuss	339	case 3: RemainingPulse += 2 * Parameter_Servo3;
		340	break;
		341	case 4: RemainingPulse += 2 * Parameter_Servo4;
		342	break;
		343	case 5: RemainingPulse += 2 * Parameter_Servo5;
		344	break;
1156	hbuss	345	default: // other servo channels
		346	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		347	break;
		348	}
		349	// range servo pulse width
		350	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		351	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		352	// substract stop pulse width
		353	RemainingPulse -= PPM_STOPPULSE;
		354	// accumulate time for correct sync gap
		355	ServoFrameTime += RemainingPulse;
		356	}
		357	}
		358	else // we had a high pulse
		359	{
		360	TCCR2A \|= (1<<COM2A0); // make a low pulse
		361	// set pulsewidth to stop pulse width
		362	RemainingPulse = PPM_STOPPULSE;
		363	// accumulate time for correct sync gap
		364	ServoFrameTime += RemainingPulse;
1171	hbuss	365	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1232	hbuss	366	else HEF4017R_ON;
1156	hbuss	367	ServoIndex++; // change to next servo channel
		368	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		369	}
		370	// set pulse output active
		371	PulseOutput = 1;
		372	}
		373	} // EOF PPM state machine
		374
		375	// General pulse output generator
		376	if(RemainingPulse > (255 + IRS_RUNTIME))
		377	{
		378	OCR2A = 255;
		379	RemainingPulse -= 255;
910	hbuss	380	}
1156	hbuss	381	else
		382	{
		383	if(RemainingPulse > 255) // this is the 2nd last part
		384	{
		385	if((RemainingPulse - 255) < IRS_RUNTIME)
		386	{
		387	OCR2A = 255 - IRS_RUNTIME;
		388	RemainingPulse -= 255 - IRS_RUNTIME;
		389
		390	}
		391	else // last part > ISR_RUNTIME
		392	{
		393	OCR2A = 255;
		394	RemainingPulse -= 255;
		395	}
		396	}
		397	else // this is the last part
		398	{
		399	OCR2A = RemainingPulse;
		400	RemainingPulse = 0;
		401	PulseOutput = 0; // trigger to stop pulse
		402	}
		403	} // EOF general pulse output generator
1111	hbuss	404	}

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(root)/branches/WKN/V0.78b-HEF/timer0.c - Rev 1582