Rev 1775 | Rev 1980 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1775 | Rev 1821 | ||
|---|---|---|---|
| Line 53... | Line 53... | ||
| 53 | #include "eeprom.h" |
53 | #include "eeprom.h" |
| 54 | #include "uart0.h" |
54 | #include "uart0.h" |
| 55 | #include "rc.h" |
55 | #include "rc.h" |
| 56 | #include "attitude.h" |
56 | #include "attitude.h" |
| Line 57... | Line 57... | ||
| 57 | 57 | ||
| 58 | volatile int16_t ServoPitchValue = 0; |
58 | volatile int16_t ServoPitchValue = 0; |
| 59 | volatile int16_t ServoRollValue = 0; |
59 | volatile int16_t ServoRollValue = 0; |
| Line 60... | Line 60... | ||
| 60 | volatile uint8_t ServoActive = 0; |
60 | volatile uint8_t ServoActive = 0; |
| 61 | 61 | ||
| Line 62... | Line 62... | ||
| 62 | #define HEF4017R_ON PORTC |= (1<<PORTC6) |
62 | #define HEF4017R_ON PORTC |= (1<<PORTC6) |
| 63 | #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
63 | #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| 64 | 64 | ||
| 65 | /***************************************************** |
65 | /***************************************************** |
| 66 | * Initialize Timer 2 |
66 | * Initialize Timer 2 |
| 67 | *****************************************************/ |
67 | *****************************************************/ |
| 68 | // The timer 2 is used to generate the PWM at PD7 (J7) |
68 | // The timer 2 is used to generate the PWM at PD7 (J7) |
| Line 69... | Line 69... | ||
| 69 | // to control a camera servo for pitch compensation. |
69 | // to control a camera servo for pitch compensation. |
| 70 | void timer2_init(void) { |
70 | void timer2_init(void) { |
| Line 71... | Line 71... | ||
| 71 | uint8_t sreg = SREG; |
71 | uint8_t sreg = SREG; |
| 72 | 72 | ||
| 73 | // disable all interrupts before reconfiguration |
73 | // disable all interrupts before reconfiguration |
| Line 74... | Line 74... | ||
| 74 | cli(); |
74 | cli(); |
| 75 | 75 | ||
| 76 | // set PD7 as output of the PWM for pitch servo |
76 | // set PD7 as output of the PWM for pitch servo |
| Line 77... | Line 77... | ||
| 77 | DDRD |= (1<<DDD7); |
77 | DDRD |= (1 << DDD7); |
| Line 78... | Line 78... | ||
| 78 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
78 | PORTD &= ~(1 << PORTD7); // set PD7 to low |
| 79 | 79 | ||
| 80 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
80 | DDRC |= (1 << DDC6); // set PC6 as output (Reset for HEF4017) |
| 81 | //PORTC &= ~(1<<PORTC6); // set PC6 to low |
81 | //PORTC &= ~(1<<PORTC6); // set PC6 to low |
| 82 | HEF4017R_ON; // enable reset |
82 | HEF4017R_ON; // enable reset |
| Line 83... | Line 83... | ||
| 83 | 83 | ||
| Line 84... | Line 84... | ||
| 84 | // Timer/Counter 2 Control Register A |
84 | // Timer/Counter 2 Control Register A |
| 85 | 85 | ||
| 86 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
86 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| Line 87... | Line 87... | ||
| 87 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
87 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| 88 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
88 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| 89 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
89 | TCCR2A &= ~((1 << COM2A1) | (1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0)); |
| Line 90... | Line 90... | ||
| 90 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
90 | TCCR2A |= (1 << WGM21) | (1 << WGM20); |
| 91 | 91 | ||
| Line 92... | Line 92... | ||
| 92 | // Timer/Counter 2 Control Register B |
92 | // Timer/Counter 2 Control Register B |
| 93 | 93 | ||
| 94 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
94 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| Line 95... | Line 95... | ||
| 95 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
95 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| 96 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
96 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| 97 | 97 | ||
| 98 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
98 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| Line 99... | Line 99... | ||
| 99 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
99 | TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS22)); |
| 100 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
100 | TCCR2B |= (1 << CS21) | (1 << CS20) | (1 << WGM22); |
| Line 101... | Line 101... | ||
| 101 | 101 | ||
| 102 | // Initialize the Timer/Counter 2 Register |
102 | // Initialize the Timer/Counter 2 Register |
| 103 | TCNT2 = 0; |
103 | TCNT2 = 0; |
| Line 104... | Line 104... | ||
| 104 | 104 | ||
| 105 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
105 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| 106 | OCR2A = 255; |
106 | OCR2A = 255; |
| 107 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
107 | TCCR2A |= (1 << COM2A1); // set or clear at compare match depends on value of COM2A0 |
| Line 108... | Line 108... | ||
| 108 | 108 | ||
| 109 | // Timer/Counter 2 Interrupt Mask Register |
109 | // Timer/Counter 2 Interrupt Mask Register |
| 110 | // Enable timer output compare match A Interrupt only |
110 | // Enable timer output compare match A Interrupt only |
| 111 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
111 | TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2)); |
| - | 112 | TIMSK2 |= (1 << OCIE2A); |
|
| 112 | TIMSK2 |= (1<<OCIE2A); |
113 | |
| 113 | 114 | SREG = sreg; |
|
| 114 | SREG = sreg; |
115 | } |
| 115 | } |
116 | |
| 116 | 117 | void Servo_On(void) { |
|
| 117 | void Servo_On(void) { |
118 | ServoActive = 1; |
| 118 | ServoActive = 1; |
119 | } |
| 119 | } |
120 | |
| 120 | 121 | void Servo_Off(void) { |
|
| 121 | void Servo_Off(void) { |
122 | ServoActive = 0; |
| 122 | ServoActive = 0; |
123 | HEF4017R_ON; // enable reset |
| Line 123... | Line 124... | ||
| 123 | HEF4017R_ON; // enable reset |
124 | } |
| 124 | } |
125 | |
| 125 | 126 | /***************************************************** |
|
| 126 | /***************************************************** |
127 | * Control Servo Position |
| 127 | * Control Servo Position |
128 | *****************************************************/ |
| 128 | *****************************************************/ |
129 | ISR(TIMER2_COMPA_vect) |
| 129 | ISR(TIMER2_COMPA_vect) { |
130 | { |
| 130 | // frame len 22.5 ms = 14063 * 1.6 us |
131 | // frame len 22.5 ms = 14063 * 1.6 us |
| 131 | // stop pulse: 0.3 ms = 188 * 1.6 us |
132 | // stop pulse: 0.3 ms = 188 * 1.6 us |
| 132 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
133 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
| 133 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
134 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| 134 | // resolution: 1500 - 375 = 1125 steps |
135 | // resolution: 1500 - 375 = 1125 steps |
| 135 | 136 | ||
| 136 | #define PPM_STOPPULSE 188 |
137 | #define PPM_STOPPULSE 188 |
| 137 | #define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
138 | #define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
| 138 | #define MINSERVOPULSE 375 |
139 | #define MINSERVOPULSE 375 |
| 139 | #define MAXSERVOPULSE 1500 |
140 | #define MAXSERVOPULSE 1500 |
| 140 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
141 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| 141 | 142 | ||
| 142 | #if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS) |
143 | #if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS) |
| 143 | static uint8_t isGeneratingPulse = 0; |
144 | static uint8_t isGeneratingPulse = 0; |
| 144 | static uint16_t remainingPulseLength = 0; |
145 | static uint16_t remainingPulseLength = 0; |
| 145 | static uint16_t ServoFrameTime = 0; |
146 | static uint16_t ServoFrameTime = 0; |
| 146 | static uint8_t ServoIndex = 0; |
147 | static uint8_t ServoIndex = 0; |
| 147 | 148 | ||
| 148 | #define MULTIPLIER 4 |
149 | #define MULTIPLIER 4 |
| 149 | static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
150 | static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
| 150 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
151 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
| 151 | #endif |
152 | #endif |
| 152 | #ifdef USE_NON_4017_SERVO_OUTPUTS |
153 | #ifdef USE_NON_4017_SERVO_OUTPUTS |
| 153 | //--------------------------- |
154 | //--------------------------- |
| 154 | // Pitch servo state machine |
155 | // Pitch servo state machine |
| 155 | //--------------------------- |
156 | //--------------------------- |
| 156 | if (!isGeneratingPulse) { // pulse output complete on _next_ interrupt |
157 | if (!isGeneratingPulse) { // pulse output complete on _next_ interrupt |
| 157 | if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse |
158 | if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse |
| 158 | TCCR2A &= ~(1<<COM2A0); // make a low pulse on _next_ interrupt, and now |
159 | TCCR2A &= ~(1<<COM2A0); // make a low pulse on _next_ interrupt, and now |
| 159 | remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms |
160 | remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms |
| 160 | ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset |
161 | ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset |
| 161 | if(staticParams.ServoPitchCompInvert & 0x01) { |
162 | if(staticParams.ServoPitchCompInvert & 0x01) { |
| 162 | // inverting movement of servo |
163 | // inverting movement of servo |
| 163 | // todo: function. |
164 | // todo: function. |
| 164 | ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
165 | ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
| 165 | } else { |
166 | } else { |
| 166 | // todo: function. |
167 | // todo: function. |
| 167 | // non inverting movement of servo |
168 | // non inverting movement of servo |
| 168 | ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
169 | ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
| 169 | } |
170 | } |
| 170 | // limit servo value to its parameter range definition |
171 | // limit servo value to its parameter range definition |
| 171 | if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) { |
172 | if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) { |
| 172 | ServoPitchValue = (int16_t)staticParams.ServoPitchMin; |
173 | ServoPitchValue = (int16_t)staticParams.ServoPitchMin; |
| Line 173... | Line 174... | ||
| 173 | } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) { |
174 | } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) { |
| 174 | ServoPitchValue = (int16_t)staticParams.ServoPitchMax; |
175 | ServoPitchValue = (int16_t)staticParams.ServoPitchMax; |
| 175 | } |
176 | } |
| 176 | 177 | ||
| 177 | remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
178 | remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
| 178 | 179 | ||
| 179 | // range servo pulse width |
180 | // range servo pulse width |
| 180 | if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
181 | if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
| 181 | else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
182 | else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
| 182 | 183 | ||
| 183 | // accumulate time for correct update rate |
184 | // accumulate time for correct update rate |
| 184 | ServoFrameTime = remainingPulseLength; |
185 | ServoFrameTime = remainingPulseLength; |
| 185 | } else { // we had a high pulse |
186 | } else { // we had a high pulse |
| 186 | TCCR2A |= (1<<COM2A0); // make a low pulse |
187 | TCCR2A |= (1<<COM2A0); // make a low pulse |
| 187 | remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; |
188 | remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; |
| 188 | } |
189 | } |
| 189 | // set pulse output active |
190 | // set pulse output active |
| 190 | isGeneratingPulse = 1; |
191 | isGeneratingPulse = 1; |
| 191 | } // EOF Pitch servo state machine |
192 | } // EOF Pitch servo state machine |
| 192 | 193 | ||
| 193 | #elseif defined(USE_4017_SERVOS) |
194 | #elseif defined(USE_4017_SERVOS) |
| 194 | //----------------------------------------------------- |
195 | //----------------------------------------------------- |
| 195 | // PPM state machine, onboard demultiplexed by HEF4017 |
196 | // PPM state machine, onboard demultiplexed by HEF4017 |
| 196 | //----------------------------------------------------- |
197 | //----------------------------------------------------- |
| 197 | if(!isGeneratingPulse) { // pulse output complete |
198 | if(!isGeneratingPulse) { // pulse output complete |
| 198 | if(TCCR2A & (1<<COM2A0)) { // we had a low pulse |
199 | if(TCCR2A & (1<<COM2A0)) { // we had a low pulse |
| 199 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
200 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| 200 | 201 | ||
| 201 | if(ServoIndex == 0) { // if we are at the sync gap |
202 | if(ServoIndex == 0) { // if we are at the sync gap |
| - | 203 | remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
|
| - | 204 | ServoFrameTime = 0; // reset servo frame time |
|
| - | 205 | HEF4017R_ON; // enable HEF4017 reset |
|
| - | 206 | } else { // servo channels |
|
| - | 207 | remainingPulseLength = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
|
| - | 208 | switch(ServoIndex) { // map servo channels |
|
| - | 209 | case 1: // Pitch Compensation Servo |
|
| - | 210 | ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset |
|
| - | 211 | ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765) |
|
| - | 212 | if(staticParams.ServoPitchCompInvert & 0x01) { |
|
| - | 213 | // inverting movement of servo |
|
| - | 214 | ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
|
| - | 215 | } else { // non inverting movement of servo |
|
| - | 216 | ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
|
| - | 217 | } |
|
| - | 218 | // limit servo value to its parameter range definition |
|
| - | 219 | if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
|
| - | 220 | ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
|
| - | 221 | } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
|
| - | 222 | ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
|
| - | 223 | } |
|
| - | 224 | remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
|
| - | 225 | ServoPitchValue /= MULTIPLIER; |
|
| - | 226 | break; |
|
| - | 227 | ||
| - | 228 | case 2: // Roll Compensation Servo |
|
| - | 229 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset |
|
| - | 230 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
|
| - | 231 | //if(staticParams.ServoRollCompInvert & 0x01) |
|
| - | 232 | { // inverting movement of servo |
|
| - | 233 | ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) ); |
|
| - | 234 | } |
|
| - | 235 | /* else |
|
| - | 236 | { // non inverting movement of servo |
|
| - | 237 | ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) ); |
|
| - | 238 | } |
|
| - | 239 | */// limit servo value to its parameter range definition |
|
| - | 240 | if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
|
| - | 241 | ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
|
| - | 242 | } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
|
| - | 243 | ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
|
| - | 244 | } |
|
| - | 245 | remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position |
|
| - | 246 | ServoRollValue /= MULTIPLIER; |
|
| - | 247 | break; |
|
| - | 248 | ||
| - | 249 | default: // other servo channels |
|
| - | 250 | remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
|
| - | 251 | break; |
|
| - | 252 | } |
|
| 202 | remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
253 | // range servo pulse width |
| 203 | ServoFrameTime = 0; // reset servo frame time |
- | |
| 204 | HEF4017R_ON; // enable HEF4017 reset |
- | |
| 205 | } else { // servo channels |
- | |
| 206 | remainingPulseLength = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
- | |
| 207 | switch(ServoIndex) { // map servo channels |
- | |
| 208 | case 1: // Pitch Compensation Servo |
- | |
| 209 | ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset |
- | |
| 210 | ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765) |
- | |
| 211 | if(staticParams.ServoPitchCompInvert & 0x01) { |
- | |
| 212 | // inverting movement of servo |
- | |
| 213 | ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
- | |
| 214 | } else { // non inverting movement of servo |
- | |
| 215 | ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
- | |
| 216 | } |
- | |
| 217 | // limit servo value to its parameter range definition |
- | |
| 218 | if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
- | |
| 219 | ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
- | |
| 220 | } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
- | |
| 221 | ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
- | |
| 222 | } |
- | |
| 223 | remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
- | |
| 224 | ServoPitchValue /= MULTIPLIER; |
- | |
| 225 | break; |
- | |
| 226 | - | ||
| 227 | case 2: // Roll Compensation Servo |
- | |
| 228 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset |
- | |
| 229 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
- | |
| 230 | //if(staticParams.ServoRollCompInvert & 0x01) |
- | |
| 231 | { // inverting movement of servo |
- | |
| 232 | ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) ); |
- | |
| 233 | } |
- | |
| 234 | /* else |
- | |
| 235 | { // non inverting movement of servo |
- | |
| 236 | ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) ); |
- | |
| 237 | } |
- | |
| 238 | */ // limit servo value to its parameter range definition |
- | |
| 239 | if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
- | |
| 240 | ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
- | |
| 241 | } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
- | |
| 242 | ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
- | |
| 243 | } |
- | |
| 244 | remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position |
- | |
| 245 | ServoRollValue /= MULTIPLIER; |
- | |
| 246 | break; |
- | |
| 247 | - | ||
| 248 | default: // other servo channels |
- | |
| 249 | remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
- | |
| 250 | break; |
- | |
| 251 | } |
- | |
| 252 | // range servo pulse width |
- | |
| 253 | if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
254 | if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
| Line 254... | Line 255... | ||
| 254 | else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
255 | else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
| 255 | // substract stop pulse width |
256 | // substract stop pulse width |
| 256 | remainingPulseLength -= PPM_STOPPULSE; |
257 | remainingPulseLength -= PPM_STOPPULSE; |
| 257 | // accumulate time for correct sync gap |
258 | // accumulate time for correct sync gap |
| 258 | ServoFrameTime += remainingPulseLength; |
259 | ServoFrameTime += remainingPulseLength; |
| 259 | } |
260 | } |
| 260 | } else { // we had a high pulse |
261 | } else { // we had a high pulse |
| 261 | TCCR2A |= (1<<COM2A0); // make a low pulse |
262 | TCCR2A |= (1<<COM2A0); // make a low pulse |
| 262 | // set pulsewidth to stop pulse width |
263 | // set pulsewidth to stop pulse width |
| 263 | remainingPulseLength = PPM_STOPPULSE; |
264 | remainingPulseLength = PPM_STOPPULSE; |
| 264 | // accumulate time for correct sync gap |
265 | // accumulate time for correct sync gap |
| 265 | ServoFrameTime += remainingPulseLength; |
266 | ServoFrameTime += remainingPulseLength; |
| 266 | if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset |
267 | if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset |
| 267 | ServoIndex++; // change to next servo channel |
268 | ServoIndex++; // change to next servo channel |
| 268 | if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap |
269 | if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap |
| 269 | } |
270 | } |
| 270 | // set pulse output active |
271 | // set pulse output active |
| 271 | isGeneratingPulse = 1; |
272 | isGeneratingPulse = 1; |
| 272 | } |
273 | } |
| 273 | #endif |
274 | #endif |
| 274 | 275 | ||
| 275 | /* |
276 | /* |