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// Arthur P. Modified to use several parameters for servo control:
// User_Parameter4:
// User_Parameter5:
// User_Parameter6:
// User_Parameter7:
// User_Parameter8: Use external HEF4017 if bit 8 is set (>127). The remaining 7 bits are used
// for the shutter cycle counter: the value is multiplied by 5 programmatically,
// resulting in steps of approx. 0.1sec. Minimum value to start using the
// interval timer is 10 (approx. 1 sec, or countervalue of 50). Note that this
// was originally done through user para 6.
#include "main.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.
// 20100804 Reactivated to be able to choose slower shutter rate than normal for
// Panasonic FX150 in continuous mode.
volatile static unsigned int CameraShutterCycleCounter = 0;
volatile static unsigned int CameraShutterCycle = 0;
volatile static unsigned int CameraShutterCycleOnCount = 20; // Leave the shutter on for at least
// 20 cycles or approx. 0.2 seconds.
enum {
STOP = 0,
CK = 1,
CK8 = 2,
CK64 = 3,
CK256 = 4,
CK1024 = 5,
T0_FALLING_EDGE = 6,
T0_RISING_EDGE = 7
};
ISR(TIMER0_OVF_vect) // 9,7kHz
{
static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0;
unsigned char pieper_ein = 0;
if(SendSPI) SendSPI--;
if(SpektrumTimer) SpektrumTimer--;
if(!cnt--)
{
cnt = 9;
CountMilliseconds++;
cnt_1ms++;
cnt_1ms %= 2;
if(!cnt_1ms) UpdateMotor = 1;
if(!PINC & 0x10) compass_active = 1;
if(beeptime)
{
if(beeptime > 10) beeptime -= 10; else beeptime = 0;
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(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
if(PINC & 0x10)
{
if(++cntKompass > 1000) compass_active = 0;
}
else
{
if((cntKompass) && (cntKompass < 362))
{
cntKompass += cntKompass / 41;
if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
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;
// 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 parameter8 lower 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.
// 20100804 Arthur P.: Reactivate shutter cycle counters. Modified to use the lower 7 bits of
// user parameter 7 (bit 8 is used for enabling the external HEF4017).
// CameraShutterCycle = Parameter_UserParam6;
CameraShutterCycle = 5 * (Parameter_UserParam8 & 127);
// 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 = 180;
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: 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.
// 20100802 Inserted same changes into v.0.80d 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 8 lower 7 bits.
// 091114 Inserted same modification into v.0.76g code, removing previously REM-ed out modified parts.
// 20100802 Inserted same modification into v.0.76g code, removing previously REM-ed out modified parts.
// Modified to use lower 7 bits of user parameter 8.
// RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
// break;
if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] < -32)
{
// Set servo to null position, turning camera off.
RemainingPulse = MINSERVOPULSE;
}
else
{
// 090807: Arthur P.: Removed the shutter cycle parts as they may be impacting timing loops.
// 20100804 Reactived shutter interval timer capability.
if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 32)
// Top position on a 3 position switch which runs from -127 to +127
{
// Changed so that on full up position full servo range out is given, while
// on half position, have range is given. This will work better with electronic
// switches.
RemainingPulse = MINSERVOPULSE + SERVORANGE;
}
else
{
// Cycle shutter servo between on and off depending upon CameraShutterCycleCounter
// If CameraShutterCylce < 50 then default to continuous / manual shoot.
if(CameraShutterCycle < 50 )
{
RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
}
else
{
if(CameraShutterCycleCounter == CameraShutterCycle)
{
// Shutter on
CameraShutterCycleCounter = 0;
RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
}
else
{
// Leave on for at least 20 cycles or 0.20 seconds to allow
// the camera to properly trigger, turn off if past 0.2 sec.
CameraShutterCycleCounter++;
if(CameraShutterCycleCounter == CameraShutterCycleOnCount)
{
// Shutter off
RemainingPulse = MINSERVOPULSE;
}
}
}
}
}
break;
case 4:
RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
break;
case 5:
RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
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;
if((ServoActive && SenderOkay > 180) || ServoActive == 2) 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
}