| 0,0 → 1,462 |
|---|
| #include "main.h" |
| #include "spectrum.h" |
| |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned char SendSPI = 0, ServoActive = 0; |
| |
| unsigned int BeepMuster = 0xffff; |
| |
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| |
| // Arthur P: Added two variables for control of the shutter servo cycle. |
| // 091114 Inserted same changes into v.0.76g code. |
| // 091114 Inactivated the following two lines as the shutter interval funtion is not |
| // used at the moment. |
| // volatile static unsigned int CameraShutterCycleCounter = 0; |
| // volatile static unsigned int CameraShutterCycle = 0; |
| |
| |
| |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| |
| |
| SIGNAL (SIG_OVERFLOW0) // 9,7kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| if(SendSPI) SendSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| |
| if(beeptime >= 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else |
| { |
| pieper_ein = 0; |
| } |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| |
| 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); |
| } |
| } |
| |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) |
| { |
| KompassValue = cntKompass - 10; |
| } |
| else |
| { |
| KompassValue = 0; |
| } |
| } |
| |
| // if(cntKompass < 10) cntKompass =r 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 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) |
| HEF4017R_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); |
| |
| SREG = sreg; |
| } |
| |
| //---------------------------- |
| 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; |
| |
| 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 |
| static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| |
| // Arthur P: Added initialization of the CameraShutterCycle value here as this routine is only |
| // called once. This retains all code changes in timer0.c. If parameter 6 > 0 then the user |
| // has set a value for the cycle. CameraShuytterCycle == 5x Para6 to get approx 0.1sec increments. |
| // 090807: Arthur P.: Removed the shutter cycle parts as they may be impacting timing loops. |
| // CameraShutterCycle = 5 * Parameter_UserParam6; |
| // CameraShutterCycle = Parameter_UserParam6; |
| |
| // Arthur P: Modified the code to scheck the value of parameter 8. If 128 or higher then a HEF4017 is |
| // expected and will be used. Else J7 and J9 are seen as separate normal outputs. |
| // if((PlatinenVersion < 20) |
| // 091114. Inserted same changes into v.0.76g code. |
| |
| if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 )) |
| { |
| //--------------------------- |
| // 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.ServoCompInvert & 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; |
| |
| // 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.ServoCompInvert & 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; |
| break; |
| case 2: // Roll Compensation Servo |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & 0x02) |
| { // inverting movement of servo |
| ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| } |
| // 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; |
| } |
| RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoRollValue /= MULTIPLYER; |
| //DebugOut.Analog[20] = ServoRollValue; |
| break; |
| case 3: // Arthur P: Shutter Servo including interval control over parameter 5 and 6. |
| // 091114 Inserted same modification into v.0.76g code, removing previously REM-ed out modified parts. |
| |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] < -32) |
| { |
| // Set servo to null position, turning camera off. |
| RemainingPulse = MINSERVOPULSE; |
| } |
| else |
| { |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; |
| } |
| break; |
| |
| // 090807 Arthur P: Removed the output of the remaining channels as this just eats time and probably |
| // does not have much of a function. Better to add specific outputs as needed. |
| // 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 && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset |
| else HEF4017R_ON; |
| 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(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 |
| } |