| 13,7 → 13,15 |
|---|
| 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, |
| 28,66 → 36,90 |
|---|
| |
| SIGNAL (SIG_OVERFLOW0) // 9,7kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| if(SendSPI) SendSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| if(SendSPI) SendSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| |
| if(!cnt--) |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| |
| if(beeptime >= 1) |
| { |
| beeptime--; |
| if(beeptime >= 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| { |
| pieper_ein = 1; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| 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 |
| if(pieper_ein) |
| { |
| if(PlatinenVersion == 10) |
| { |
| PORTD |= (1<<2); // Speaker an PORTD.2 |
| } |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| else |
| { |
| PORTC |= (1<<7); // Speaker an PORTC.7 |
| } |
| |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| } |
| else |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| if(PlatinenVersion == 10) |
| { |
| PORTD &= ~(1<<2); |
| } |
| else |
| { |
| PORTC &= ~(1<<7); |
| } |
| } |
| // if(cntKompass < 10) cntKompass =r 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| |
| 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; |
| } |
| } |
| |
| } |
| |
| |
| 216,7 → 248,18 |
|---|
| static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| |
| // replace below line with if(PlatinenVersion < 20) to revert to original (WKN-change) |
| // 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 )) |
| { |
| //--------------------------- |
| 315,7 → 358,7 |
|---|
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoNickValue /= MULTIPLYER; |
| break; |
| case 2: // Roll Compensation Servo |
| 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) |
| 340,11 → 383,27 |
|---|
| 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; |
| |
| default: // other servo channels |
| RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| 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 |