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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include "eeprom.h"

#include "uart0.h"

#include "rc.h"

#include "attitude.h"

#define COARSERESOLUTION 1

#ifdef COARSERESOLUTION

#define NEUTRAL_PULSELENGTH 938

#define SERVOLIMIT 500

#define SCALE_FACTOR 4

#define CS2 ((1<<CS21)|(1<<CS20))

#else

#define NEUTRAL_PULSELENGTH 3750

#define SERVOLIMIT 2000

#define SCALE_FACTOR 16

#define CS2 (<<CS21)

#endif

#define MAX_SERVOS 8

#define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128)

#define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT)

#define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT)

//volatile uint8_t servoActive = 0;

volatile uint8_t recalculateServoTimes = 0;

volatile uint16_t servoValues[MAX_SERVOS];

volatile uint16_t previousManualValues[2];

#define HEF4017R_ON     PORTC |=  (1<<PORTC6)

#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)

/*****************************************************

 *              Initialize Timer 2                  

 *****************************************************/

void timer2_init(void) {

        uint8_t sreg = SREG;

        // disable all interrupts before reconfiguration

        cli();

        // set PD7 as output of the PWM for pitch servo

        DDRD |= (1 << DDD7);

        PORTD &= ~(1 << PORTD7); // set PD7 to low

        DDRC |= (1 << DDC6); // set PC6 as output (Reset for HEF4017)

        HEF4017R_ON; // enable reset

        // Timer/Counter 2 Control Register A

        // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0)

        // PD7: Output OCR2 match, (Bits: COM2A1 = 1, COM2A0 = 0)

        // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)

        TCCR2A &= ~((1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20) | (1 << WGM22));

        TCCR2A |= (1 << COM2A1) | (1 << WGM21);

        // Timer/Counter 2 Control Register B

        // Set clock divider for timer 2 to 20MHz / 8 = 2.5 MHz

        // The timer increments from 0x00 to 0xFF with an update rate of 2.5 kHz or 0.4 us

        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 9.765 kHz or 0.1024ms

        TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS20) | (1 << CS21) | (1 << CS22));

        TCCR2B |= CS2;

        // Initialize the Timer/Counter 2 Register

        TCNT2 = 0;

        // Initialize the Output Compare Register A used for signal generation on port PD7.

        OCR2A = 255;

        // Timer/Counter 2 Interrupt Mask Register

        // Enable timer output compare match A Interrupt only

        TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2));

        TIMSK2 |= (1 << OCIE2A);

        for (uint8_t axis=0; axis<2; axis++)

          previousManualValues[axis] = dynamicParams.servoManualControl[axis] * SCALE_FACTOR;

        SREG = sreg;

}

/*

void servo_On(void) {

        servoActive = 1;

}

void servo_Off(void) {

        servoActive = 0;

        HEF4017R_ON; // enable reset

}

*/

/*****************************************************

 * Control Servo Position              

 *****************************************************/

/*typedef struct {

  uint8_t manualControl;

  uint8_t compensationFactor;

  uint8_t minValue;

  uint8_t maxValue;

  uint8_t flags;

} servo_t;*/

int16_t calculateStabilizedServoAxis(uint8_t axis) {

  int32_t value = angle[axis] / 64L; // between -500000 to 500000 extreme limits. Just about

  // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000.

  // That is a divisor of about 1<<14. Same conclusion as H&I.

  value *= staticParams.servoConfigurations[axis].stabilizationFactor;

  value /= 256L;

  if (staticParams.servoConfigurations[axis].flags & SERVO_STABILIZATION_REVERSE)

        return -value;

  return value;

}

// With constant-speed limitation.

uint16_t calculateManualServoAxis(uint8_t axis, uint16_t manualValue) {

  int16_t diff = manualValue - previousManualValues[axis];

  uint8_t maxSpeed = staticParams.servoManualMaxSpeed;

  if (diff > maxSpeed) diff = maxSpeed;

  else if (diff < -maxSpeed) diff = -maxSpeed;

  manualValue = previousManualValues[axis] + diff;

  previousManualValues[axis] = manualValue;

  return manualValue;

}

// add stabilization and manual, apply soft position limits.

// All in a [0..255*SCALE_FACTOR] space (despite signed types used internally)

int16_t featuredServoValue(uint8_t axis) {

  int16_t value = calculateManualServoAxis(axis, dynamicParams.servoManualControl[axis] * SCALE_FACTOR);

  value += calculateStabilizedServoAxis(axis);

  int16_t limit = staticParams.servoConfigurations[axis].minValue * SCALE_FACTOR;

  if (value < limit) value = limit;

  limit = staticParams.servoConfigurations[axis].maxValue * SCALE_FACTOR;

  if (value > limit) value = limit;

  return value;

}

uint16_t servoValue(uint8_t axis) {

  int16_t value;

  if (axis<2) value = featuredServoValue(axis);

  else value = 128 * SCALE_FACTOR; // dummy. Replace by something useful for servos 3..8.

  // Shift out of the [0..255*SCALE_FACTOR] space 

  value -= (128 * SCALE_FACTOR);

  if (value < -SERVOLIMIT) value = -SERVOLIMIT;

  else if (value > SERVOLIMIT) value = SERVOLIMIT;

  // Shift into the [NEUTRAL_PULSELENGTH-SERVOLIMIT..NEUTRAL_PULSELENGTH+SERVOLIMIT] space.

  return value + NEUTRAL_PULSELENGTH;

}

void calculateServoValues(void) {

  if (!recalculateServoTimes) return;

  for (uint8_t axis=0; axis<MAX_SERVOS; axis++) {

        servoValues[axis] = servoValue(axis);

  }  

  recalculateServoTimes = 0;

}

ISR(TIMER2_COMPA_vect) {

  static uint16_t remainingPulseTime;

  static uint8_t servoIndex = 0;

  static uint16_t sumOfPulseTimes = 0;

  if (!remainingPulseTime) {

    // Pulse is over, and the next pulse has already just started. Calculate length of next pulse.

    if (servoIndex < staticParams.servoCount) {

      // There are more signals to output.

      sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]);

      servoIndex++;

    } else {

      // There are no more signals. Reset the counter and make this pulse cover the missing frame time.

      remainingPulseTime = FRAMELEN - sumOfPulseTimes;

      sumOfPulseTimes = servoIndex = 0;

      recalculateServoTimes = 1;

      HEF4017R_ON;

    }

  }

  // Schedule the next OCR2A event. The counter is already reset at this time.

  if (remainingPulseTime > 256+128) {

    // Set output to reset to zero at next OCR match. It does not really matter when the output is set low again, 

    // as long as it happens once per pulse. This will, because all pulses are > 255+128 long.

    OCR2A = 255;

    TCCR2A &= ~(1<<COM2A0);

    remainingPulseTime-=256;

  } else if (remainingPulseTime > 256) {

    // Remaining pulse lengths in the range [256..256+128] might cause trouble if handled the standard 

    // way, which is in chunks of 256. The remainder would be very small, possibly causing an interrupt on interrupt

    // condition. Instead we now make a chunk of 128. The remaining chunk will then be in [128..255] which is OK.

    remainingPulseTime-=128;

    OCR2A=127;

  } else {

    // Set output to high at next OCR match. This is when the 4017 counter will advance by one. Also set reset low

    TCCR2A |= (1<<COM2A0);

    OCR2A = remainingPulseTime-1;

    remainingPulseTime=0;

    HEF4017R_OFF; // implement servo-disable here, by only removing the reset signal if ServoEnabled!=0.

  }

}