| 34,66 → 34,66 |
|---|
| #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| |
| /***************************************************** |
| * Initialize Timer 2 |
| * Initialize Timer 2 |
| *****************************************************/ |
| void timer2_init(void) { |
| uint8_t sreg = SREG; |
| uint8_t sreg = SREG; |
| |
| // disable all interrupts before reconfiguration |
| cli(); |
| // 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 |
| // 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 |
| 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 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 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2)); |
| TIMSK2 |= (1 << OCIE2A); |
| // Timer/Counter 2 Control Register B |
| |
| for (uint8_t axis=0; axis<2; axis++) |
| previousManualValues[axis] = dynamicParams.servoManualControl[axis] * SCALE_FACTOR; |
| |
| SREG = sreg; |
| // 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; |
| servoActive = 1; |
| } |
| void servo_Off(void) { |
| servoActive = 0; |
| HEF4017R_ON; // enable reset |
| servoActive = 0; |
| HEF4017R_ON; // enable reset |
| } |
| */ |
| |
| /***************************************************** |
| * Control Servo Position |
| * Control Servo Position |
| *****************************************************/ |
| |
| /*typedef struct { |
| 111,7 → 111,7 |
|---|
| value *= staticParams.servoConfigurations[axis].stabilizationFactor; |
| value /= 256L; |
| if (staticParams.servoConfigurations[axis].flags & SERVO_STABILIZATION_REVERSE) |
| return -value; |
| return -value; |
| return value; |
| } |
| |
| 142,7 → 142,7 |
|---|
| 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 |
| // Shift out of the [0..255*SCALE_FACTOR] space |
| value -= (128 * SCALE_FACTOR); |
| if (value < -SERVOLIMIT) value = -SERVOLIMIT; |
| else if (value > SERVOLIMIT) value = SERVOLIMIT; |
| 153,8 → 153,8 |
|---|
| void calculateServoValues(void) { |
| if (!recalculateServoTimes) return; |
| for (uint8_t axis=0; axis<MAX_SERVOS; axis++) { |
| servoValues[axis] = servoValue(axis); |
| } |
| servoValues[axis] = servoValue(axis); |
| } |
| recalculateServoTimes = 0; |
| } |
| |
| 162,7 → 162,7 |
|---|
| 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) { |
| 180,13 → 180,13 |
|---|
| |
| // 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, |
| // 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 |
| // 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; |