| 11,6 → 11,13 |
|---|
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| |
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| |
| #define HEF4017R_ON PORTC |= (1<<PORTC6) |
| #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| |
| |
| enum { |
| STOP = 0, |
| CK = 1, |
| 86,30 → 93,7 |
|---|
| } |
| } |
| |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
| TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
| |
| |
| TIMSK2 |= _BV(OCIE2A); |
| |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| |
| } |
| |
| // ----------------------------------------------------------------------- |
| |
| unsigned int SetDelay (unsigned int t) |
| 142,112 → 126,260 |
|---|
| while (!CheckDelay(akt)) ANALOG_ON; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OVERFLOW2) |
| /*****************************************************/ |
| /* 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) |
| { |
| if (ServoState > 0) PORTD |= 0x80; |
| else PORTD &= ~0x80; |
| TCCR2A =3; |
| TIMSK2 &= ~_BV(TOIE2); |
| uint8_t sreg = SREG; |
| |
| // disable all interrupts before reconfiguration |
| cli(); |
| |
| // set PD7 as output of the PWM for nick servo |
| DDRD |= (1<<DDD7); |
| PORTD &= ~(1<<PORTD7); // set PD7 to low |
| |
| DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| PORTC &= ~(1<<PORTC6); // set PC6 to low |
| |
| // 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); |
| |
| SREG = sreg; |
| } |
| |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| static unsigned char postPulse = 0x80; |
| static int filterServo = 100; |
| // static unsigned char restPulse = 50; |
| #define MULTIPLIER 4 |
| if(PlatinenVersion < 20) |
| { |
| if(ServoState == 4) |
| { |
| ServoValue = 0x0030; // Offset Part1 |
| filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
| ServoValue += filterServo; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += (int)( ( (long)EE_Parameter.ServoNickComp * (IntegralNick / 128L) ) / (512L/MULTIPLIER) ); |
| else ServoValue -= (int)( ( (long)EE_Parameter.ServoNickComp * (IntegralNick / 128L) ) / (512L/MULTIPLIER) ); |
| if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
| else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| |
| DebugOut.Analog[20] = ServoValue; |
| if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
| OCR2A = 255-(ServoValue % 256); |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TIMSK0 |= _BV(TOIE0); |
| } |
| |
| |
| /*****************************************************/ |
| /* Control Servo Position */ |
| /*****************************************************/ |
| |
| 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 (14063 |
| #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 RemainingPulse = 0; |
| static uint16_t ServoFrameTime = 0; |
| static uint8_t ServoIndex = 0; |
| |
| #define MULTIPLYER 4 |
| static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| |
| |
| 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 |
| |
| ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
| ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoNickCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| // 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; |
| } |
| |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| |
| ServoNickValue /= MULTIPLYER; |
| DebugOut.Analog[20] = ServoNickValue; |
| |
| // 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; |
| } |
| // 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 |
| HEF4017R_ON; // enable HEF4017 reset |
| } |
| else // servo channels |
| { |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| switch(ServoIndex) // map servo channels |
| { |
| case 1: // Nick Compensation Servo |
| ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
| ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoNickCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| // 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; |
| } |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoNickValue /= MULTIPLYER; |
| DebugOut.Analog[20] = ServoNickValue; |
| 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; |
| HEF4017R_OFF; // disable HEF4017 reset |
| ServoIndex++; // change to next servo channel |
| if(ServoIndex > EE_Parameter.ServoNickRefresh) 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 ((ServoState > 0) && (ServoState < 4)) |
| { |
| if(ServoValue > 255) |
| { PORTD |= 0x80; |
| TCCR2A =3; |
| ServoValue -= 255; |
| } |
| else |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| OCR2A = postPulse; // Offset Part2 |
| ServoState = 1; |
| } |
| } |
| else if (ServoState == 0) |
| { |
| ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
| PORTD&=~0x80; |
| TCCR2A = 3; |
| } |
| } |
| else |
| { |
| if(ServoState == 4) |
| { |
| PORTD &= ~0x80; |
| PORTC |= _BV(PC6); |
| ServoValue = 0x00030; // Offset Part1 |
| filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
| ServoValue += filterServo; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += (int)( ( (long)EE_Parameter.ServoNickComp * (IntegralNick / 128L) ) / (512L/MULTIPLIER) ); |
| else ServoValue -= (int)( ( (long)EE_Parameter.ServoNickComp * (IntegralNick / 128L) ) / (512L/MULTIPLIER) ); |
| if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
| else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
| PORTD |= 0x80; // dummy clock to skip output Q0 |
| if ((ServoValue % 256) < 1) ServoValue -=2; |
| if ((ServoValue % 256) > 253) ServoValue +=2; |
| DebugOut.Analog[20] = ServoValue; |
| |
| OCR2A = 254-(ServoValue % 255); |
| PORTD &= ~0x80; |
| |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; // set on match |
| //ServoValue -= OCR2A; |
| PORTC &= ~_BV(PC6); |
| } |
| else if ((ServoState > 0) && (ServoState < 4)) |
| { |
| if(ServoValue > 255) |
| { |
| PORTD &= ~0x80; |
| TCCR2A =3; |
| ServoValue -= 255; |
| OCR2A = postPulse; // Offset Part2 |
| //OCR2A = (ServoValue % 256); |
| } |
| else |
| { |
| OCR2A = postPulse; // Offset Part2 |
| //OCR2A = (ServoValue % 256); |
| //TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| ServoState = 1; |
| } |
| } |
| else if (ServoState == 0) |
| { |
| PORTD &= ~0x80; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
| TCCR2A =3; |
| } |
| } |
| ServoState--; |
| 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 |
| } |
| |