Subversion Repositories NaviCtrl

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/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

/*#######################################################################################*/

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

// + 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 "91x_lib.h"

#include "timer2.h"

#include "uart1.h"

#include "spi_slave.h"

#include "config.h"

#include "led.h"

#define CR1_OLVL1_MASK    0x0100

#define CR1_OLVL2_MASK    0x0200

volatile ServoParams_t ServoParams;

#define TIM2_FREQ 625000 // 625kHz,  the same clock like at the FC

// 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 PPM_STOPPULSE 188

//#define PPM_FRAMELEN 14063

#define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel

#define MINSERVOPULSE 375

#define MAXSERVOPULSE 1500

#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

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

void TIM2_IRQHandler(void)

{

        #define MULTIPLYER 4

        static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position

        static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position

        static u16 LowPulseTime1 = 14063;

        static u16 LowPulseTime2 = 14063;

        s16 ServoNickValue = 0;

        s16 ServoRollValue = 0;

        u16 pulselen;

        IENABLE;

        if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)

        {

                TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit

                if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse

                {

                        pulselen = MINSERVOPULSE + SERVORANGE/2;

                        ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset

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

                        if(ServoParams.CompInvert & 0x01)

                        {       // inverting movement of servo FromFlightCtrl.AngleNick

                                ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );

                        }

                        else

                        {       // non inverting movement of servo FromFlightCtrl.AngleNick

                                ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );

                        }

                        // limit servo value to its parameter range definition

                        if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) )

                        {

                                ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER;

                        }

                        else

                        if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) )

                        {

                                ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER;

                        }

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

                        DebugOut.Analog[7] = ServoNickValue / MULTIPLYER;

                        LowPulseTime1 = PPM_FRAMELEN - pulselen;

                        TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse

                }

                else // start of low pulse

                {

                        pulselen = LowPulseTime1;                      

                        TIM2->CR1 |= CR1_OLVL1_MASK;  // make next a high pulse

                }

                TIM2->OC1R += pulselen;

        }

        if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET)

        {

                TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit

                if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse

                {

                        pulselen = MINSERVOPULSE + SERVORANGE/2;

                        ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset

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

                        if(ServoParams.CompInvert & 0x02)

                        {       // inverting movement of servo FromFlightCtrl.AngleRoll

                                ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );

                        }

                        else

                        {       // non inverting movement of servo FromFlightCtrl.AngleRoll

                                ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );

                        }

                        // limit servo value to its parameter range definition

                        if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) )

                        {

                                ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER;

                        }

                        else

                        if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) )

                        {

                                ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER;

                        }

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

                        DebugOut.Analog[8] = ServoRollValue / MULTIPLYER;

                        LowPulseTime2 = PPM_FRAMELEN - pulselen;

                        TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse

                }

                else

                {

                        pulselen = LowPulseTime2;

                        TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse

                }

                TIM2->OC2R += pulselen;

        }

        IDISABLE;

        VIC0->VAR = 0xFF; // write any value to VIC0 Vector address register

}

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

// Servo Timer

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

void TIMER2_Init(void)

{

        GPIO_InitTypeDef GPIO_InitStructure;

        TIM_InitTypeDef   TIM_InitStructure;

        UART1_PutString("\r\n Timer2 init...");

        SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock

        // configure the servo pins

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_4;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;

    GPIO_InitStructure.GPIO_IPInputConnected =  GPIO_IPInputConnected_Enable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt2; //TIM2_OCMP1

    GPIO_Init(GPIO6, &GPIO_InitStructure);

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_5;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Enable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt2; //TIM2_OCMP2

    GPIO_Init(GPIO6, &GPIO_InitStructure);

        SCU_APBPeriphClockConfig(__TIM23, ENABLE);

        TIM_DeInit(TIM2);

        TIM_StructInit(&TIM_InitStructure);

        TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; // Output Compare Channels 1 & 2 Mode

        TIM_InitStructure.TIM_OC1_Modes = TIM_WAVE;     // OCMP1 pin is dedicated to the OC1 capability of the TIM

        TIM_InitStructure.TIM_OC2_Modes = TIM_WAVE;     // OCMP2 pin is dedicated to the OC2 capability of the TIM

        TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; // APB clock source is used

        TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; // output low at OCMP1 pin on compare match

        TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; // output low at OCMP2 pin on compare match

        TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ;

        TIM_Init(TIM2, &TIM_InitStructure);

        TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE);  // enable interrupts for the OC 1 & 2

        VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2);

//##    VIC_ITCmd(TIM2_ITLine, ENABLE);

        TIM2->OC1R = 10;

        TIM2->OC2R = 20;

        // set servo params to defaults

        ServoParams.Refresh = 5;

        ServoParams.CompInvert = 0;

        ServoParams.NickControl = 127;

        ServoParams.NickComp = 40;

        ServoParams.NickMin = 50;

        ServoParams.NickMax = 205;

        ServoParams.RollControl = 127;

        ServoParams.RollComp = 40;

        ServoParams.RollMin = 50;

        ServoParams.RollMax = 205;

        TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer

        TIM_CounterCmd(TIM2, TIM_START); // start the timer

        UART1_PutString("ok");

}

void TIMER2_Deinit(void)

{

        GPIO_InitTypeDef GPIO_InitStructure;   

        UART1_PutString("\r\n Timer2 deinit...");

        VIC_ITCmd(TIM2_ITLine, DISABLE);

        TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer

        TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer

        TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, DISABLE);  // disable interrupts for the OC 1 & 2

        TIM_DeInit(TIM2);

        SCU_APBPeriphClockConfig(__TIM23, DISABLE);

        // configure the servo pins as input

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_4;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_OpenCollector;

    GPIO_InitStructure.GPIO_IPInputConnected =  GPIO_IPInputConnected_Disable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;

    GPIO_Init(GPIO6, &GPIO_InitStructure);

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_5;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_OpenCollector;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;

    GPIO_Init(GPIO6, &GPIO_InitStructure);

}