Subversion Repositories FlightCtrl

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

// + www.MikroKopter.com

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

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

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

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

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

// + Software LICENSING TERMS

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

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

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

#include "main.h"

#define MULTIPLYER 4

volatile unsigned int CountMilliseconds = 0;

volatile unsigned int tim_main;

volatile unsigned char UpdateMotor = 0;

volatile unsigned int cntKompass = 0;

volatile unsigned int beeptime = 0;

volatile unsigned char BytegapSPI = 0, ServoActive = 0, CalculateServoSignals = 1;

unsigned char JustMK3MagConnected = 0;

uint16_t RemainingPulse = 0;

volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon

volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon

unsigned int BeepMuster = 0xffff;

signed int NickServoValue = 128 * MULTIPLYER * 16;

volatile int16_t        ServoNickValue = 0;

volatile int16_t        ServoRollValue = 0;

enum {

  STOP             = 0,

  CK               = 1,

  CK8              = 2,

  CK64             = 3,

  CK256            = 4,

  CK1024           = 5,

  T0_FALLING_EDGE  = 6,

  T0_RISING_EDGE   = 7

};

ISR(TIMER0_OVF_vect)    // 9,7kHz

{

   static unsigned char cnt_1ms = 1,cnt = 0;

   unsigned char pieper_ein = 0;

   if(BytegapSPI) BytegapSPI--;

   if(SpektrumTimer) SpektrumTimer--;

   if(!cnt--)

    {

     cnt = 9;

     CountMilliseconds++;

     cnt_1ms++;

     cnt_1ms %= 2;

     if(!cnt_1ms) if(UpdateMotor < 4) UpdateMotor++;

         if(!(PINC & 0x10)) JustMK3MagConnected = 1;

     if(beeptime)

        {

        if(beeptime > 10) beeptime -= 10; else beeptime = 0;

        if(beeptime & BeepMuster)

         {

          pieper_ein = 1;

         }

         else pieper_ein = 0;

        }

     else

      {

       pieper_ein = 0;

       BeepMuster = 0xffff;

      }

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

     if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7

     else           PORTC &= ~(1<<7);

#else

     if(pieper_ein)

        {

//          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2

//          else                      

                  PORTC |= (1<<7); // Speaker an PORTC.7

        }

     else

        {

//         if(PlatinenVersion == 10) PORTD &= ~(1<<2);

//         else                      

                 PORTC &= ~(1<<7);

        }

#endif

        }

 if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)

 {

  if(PINC & 0x10)

   {

        if(++cntKompass > 1000) JustMK3MagConnected = 0;

   }

  else

   {

    if((cntKompass) && (cntKompass < 362))

    {

     cntKompass += cntKompass / 41;

     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;

    }

    cntKompass = 0;

   }

 }

}

// -----------------------------------------------------------------------

unsigned int SetDelay(unsigned int t)

{

//  TIMSK0 &= ~_BV(TOIE0);

  return(CountMilliseconds + t + 1);

//  TIMSK0 |= _BV(TOIE0);

}

// -----------------------------------------------------------------------

char CheckDelay(unsigned int t)

{

//  TIMSK0 &= ~_BV(TOIE0);

  return(((t - CountMilliseconds) & 0x8000) >> 9);

//  TIMSK0 |= _BV(TOIE0);

}

// -----------------------------------------------------------------------

void Delay_ms(unsigned int w)

{

 unsigned int akt;

 akt = SetDelay(w);

 while (!CheckDelay(akt));

}

void Delay_ms_Mess(unsigned int w)

{

 unsigned int akt;

 akt = SetDelay(w);

 while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}

}

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

/*              Initialize Timer 2                   */

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

// The timer 2 is used to generate the PWM at PD7 (J7)

// to control a camera servo for nick compensation.

void TIMER2_Init(void)

{

        uint8_t sreg = SREG;

        // disable all interrupts before reconfiguration

        cli();

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

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

    HEF4017Reset_ON;

        // Timer/Counter 2 Control Register A

        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)

    // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)

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

        TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));

    TCCR2A |= (1<<WGM21)|(1<<WGM20);

    // Timer/Counter 2 Control Register B

        // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz

        // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us

        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms

    // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)

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

    TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);

        // Initialize the Timer/Counter 2 Register

    TCNT2 = 0;

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

        OCR2A = 255;

        TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0

        // Timer/Counter 2 Interrupt Mask Register

        // Enable timer output compare match A Interrupt only

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

//      TIMSK2 |= (1<<OCIE2A); -> will be done in the main()

    SREG = sreg;

}

//----------------------------

void Timer_Init(void)

{

    tim_main = SetDelay(10);

    TCCR0B = CK8;

//    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM

    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM

    OCR0B =  255;

    OCR0A = 180;

    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload

    //OCR1  = 0x00;

    TIMSK0 |= _BV(TOIE0);

}

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

/*              Control Servo Position               */

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

void CalcNickServoValue(void)

{

 signed int max, min;

 if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value

  {

        max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15);

        min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20);

        NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6;

        LIMIT_MIN_MAX(NickServoValue,min, max);

  }

  else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16);  // direct poti control

}

void CalculateServo(unsigned char init)

{

 signed char cosinus, sinus;

 signed long nick, roll;

        cosinus = sintab[EE_Parameter.CamOrientation + 6];

        sinus = sintab[EE_Parameter.CamOrientation];

  if(CalculateServoSignals == 1)

   {

            if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0;

            else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L;

        nick -= POI_KameraNick * 7;

                nick = ((long)Parameter_ServoNickComp * nick) / 512L;

                // offset (Range from 0 to 255 * 3 = 765)

                if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue;

                else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed;

                if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo

                {      

                        nick = ServoNickOffset / 16 + nick;

                }

                else

                {       // inverting movement of servo

                        nick = ServoNickOffset / 16 - nick;

                }

                if(EE_Parameter.ServoFilterNick && !init) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1);

                else                     ServoNickValue = nick;

                // limit servo value to its parameter range definition

                if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER))

                {

                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;

                }

                else

                if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER))

                {

                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;

                }

//              if(PlatinenVersion < 20) CalculateServoSignals = 0; else 

                CalculateServoSignals++;

        }

        else

        {

            if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) roll = 0;

        else roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L;

        roll = ((long)Parameter_ServoRollComp * roll) / 512L;

                ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed;

                if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV)

                {       // inverting movement of servo

                        roll = ServoRollOffset / 16 + roll;

                }

                else

                {       // inverting movement of servo

                        roll = ServoRollOffset / 16 - roll;

                }

                if(EE_Parameter.ServoFilterRoll && !init) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1);

                else                     ServoRollValue = roll;

                // limit servo value to its parameter range definition

                if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER))

                {

                        ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;

                }

                else

                if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER))

                {

                        ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;

                }

                CalculateServoSignals = 0;

        }

}

ISR(TIMER2_COMPA_vect)

{

        // frame len 22.5 ms = 14063 * 1.6 us

        // stop pulse: 0.3 ms = 188 * 1.6 us

        // min servo pulse: 0.6 ms =  375 * 1.6 us

        // max servo pulse: 2.4 ms = 1500 * 1.6 us

        // resolution: 1500 - 375 = 1125 steps

        #define IRS_RUNTIME 127

        #define PPM_STOPPULSE 188

    #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)

        #define MINSERVOPULSE 375

        #define MAXSERVOPULSE 1500

        #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

        static uint8_t  PulseOutput = 0;

        static uint16_t ServoFrameTime = 0;

        static uint8_t  ServoIndex = 0;

/*

        if(PlatinenVersion < 20)

        {

                //---------------------------

                // Nick servo state machine

                //---------------------------

                if(!PulseOutput) // pulse output complete

                {

                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse

                        {

                                TCCR2A &= ~(1<<COM2A0);// make a high pulse

                                RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms

                                RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position

                                // range servo pulse width

                                if(RemainingPulse > MAXSERVOPULSE )                     RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit

                                else if(RemainingPulse < MINSERVOPULSE )        RemainingPulse = MINSERVOPULSE; // lower servo pulse limit

                                // accumulate time for correct update rate

                                ServoFrameTime = RemainingPulse;

                        }

                        else // we had a high pulse

                        {

                                TCCR2A |= (1<<COM2A0); // make a low pulse

                                RemainingPulse = PPM_FRAMELEN - ServoFrameTime;

                                CalculateServoSignals = 1;

                        }

                        // set pulse output active

                        PulseOutput = 1;

                }

        } // EOF Nick servo state machine

        else

*/

        {

                //-----------------------------------------------------

                // PPM state machine, onboard demultiplexed by HEF4017

                //-----------------------------------------------------

                if(!PulseOutput) // pulse output complete

                {

                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse

                        {

                                TCCR2A &= ~(1<<COM2A0);// make a high pulse

                                if(ServoIndex == 0) // if we are at the sync gap

                                {

                                        RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time

                                        ServoFrameTime = 0; // reset servo frame time

                                        HEF4017Reset_ON; // enable HEF4017 reset

                                }

                                else // servo channels 

                                if(ServoIndex > EE_Parameter.ServoNickRefresh)  

                                 {

                                  RemainingPulse = 10; // end it here

                                 }

                                else

                                {

                                        RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms

                                        if(ServoFailsafeActive && ServoIndex < 6 && EE_Parameter.ServoFS_Pos[ServoIndex-1]) RemainingPulse += ((int16_t)EE_Parameter.ServoFS_Pos[ServoIndex-1] * MULTIPLYER) - (256 / 2) * MULTIPLYER;

                                        else

                                        switch(ServoIndex) // map servo channels

                                        {

                                         case 1: // Nick Compensation Servo

                                                        RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER;

                                                        break;

                                         case 2: // Roll Compensation Servo

                                                        RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER;

                                                        break;

                                         case 3:

                                                        RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;

                                                        break;

                                         case 4:

                                                        RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER;

                                                        break;

                                         case 5:

                                                        RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER;

                                                        break;

                                        default: // other servo channels

                                                        RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs

                                                        break;

                                        }

                                        // range servo pulse width

                                        if(RemainingPulse > MAXSERVOPULSE)                      RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit

                                        else if(RemainingPulse < MINSERVOPULSE)     RemainingPulse = MINSERVOPULSE; // lower servo pulse limit

                                        // substract stop pulse width

                                        RemainingPulse -= PPM_STOPPULSE;

                                        // accumulate time for correct sync gap

                                        ServoFrameTime += RemainingPulse;

                                }

                        }

                        else // we had a high pulse

                        {

                                TCCR2A |= (1<<COM2A0); // make a low pulse

                                // set pulsewidth to stop pulse width

                                RemainingPulse = PPM_STOPPULSE;

                                // accumulate time for correct sync gap

                                ServoFrameTime += RemainingPulse;

                                if((ServoActive) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset

                                else HEF4017Reset_ON;

                                ServoIndex++;

                                if(ServoIndex > EE_Parameter.ServoNickRefresh+1)

                                  {

                                    CalculateServoSignals = 1;

                                        ServoIndex = 0; // reset to the sync gap

                                  }

                        }

                        // set pulse output active

                        PulseOutput = 1;

                }

        } // EOF PPM state machine

        // General pulse output generator

        if(RemainingPulse > (255 + IRS_RUNTIME))

        {

                OCR2A = 255;

                RemainingPulse -= 255;

        }

        else

        {

                if(RemainingPulse > 255) // this is the 2nd last part

                {

                        if((RemainingPulse - 255) < IRS_RUNTIME)

                        {

                                OCR2A = 255 - IRS_RUNTIME;

                                RemainingPulse -= 255 - IRS_RUNTIME;

                        }

                        else // last part > ISR_RUNTIME

                        {

                                OCR2A = 255;

                                RemainingPulse -= 255;

                        }

                }

                else // this is the last part

                {

                        OCR2A = RemainingPulse;

                        RemainingPulse = 0;

                        PulseOutput = 0; // trigger to stop pulse

                }

        } // EOF general pulse output generator

}