WebSVN - FlightCtrl - Blame - Rev 1229 - /branches/V0.74d-Arthur P/timer0.c

Rev	Author	Line No.	Line
1	ingob	1	#include "main.h"
		2
		3	volatile unsigned int CountMilliseconds = 0;
		4	volatile static unsigned int tim_main;
		5	volatile unsigned char UpdateMotor = 0;
		6	volatile unsigned int cntKompass = 0;
		7	volatile unsigned int beeptime = 0;
1171	hbuss	8	volatile unsigned char SendSPI = 0, ServoActive = 0;
723	hbuss	9
173	holgerb	10	unsigned int BeepMuster = 0xffff;
1105	killagreg	11	int ServoValue = 0;
1	ingob	12
1156	hbuss	13	volatile int16_t ServoNickValue = 0;
		14	volatile int16_t ServoRollValue = 0;
		15
		16
1	ingob	17	enum {
		18	STOP = 0,
		19	CK = 1,
		20	CK8 = 2,
		21	CK64 = 3,
		22	CK256 = 4,
		23	CK1024 = 5,
		24	T0_FALLING_EDGE = 6,
		25	T0_RISING_EDGE = 7
		26	};
		27
		28
		29	SIGNAL (SIG_OVERFLOW0) // 8kHz
		30	{
		31	static unsigned char cnt_1ms = 1,cnt = 0;
173	holgerb	32	unsigned char pieper_ein = 0;
1	ingob	33	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
723	hbuss	34	if(SendSPI) SendSPI--;
1	ingob	35	if(!cnt--)
		36	{
1105	killagreg	37	cnt = 9;
1	ingob	38	cnt_1ms++;
		39	cnt_1ms %= 2;
		40	if(!cnt_1ms) UpdateMotor = 1;
		41	CountMilliseconds++;
1105	killagreg	42	}
1	ingob	43
		44	if(beeptime > 1)
		45	{
1105	killagreg	46	beeptime--;
		47	if(beeptime & BeepMuster)
173	holgerb	48	{
		49	pieper_ein = 1;
		50	}
		51	else pieper_ein = 0;
1	ingob	52	}
1105	killagreg	53	else
173	holgerb	54	{
		55	pieper_ein = 0;
		56	BeepMuster = 0xffff;
1105	killagreg	57	}
173	holgerb	58
		59
		60	if(pieper_ein)
		61	{
		62	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
		63	else PORTC \|= (1<<7); // Speaker an PORTC.7
		64	}
1105	killagreg	65	else
173	holgerb	66	{
		67	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		68	else PORTC &= ~(1<<7);
1105	killagreg	69	}
		70
1	ingob	71	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		72	{
		73	if(PINC & 0x10)
		74	{
1105	killagreg	75	cntKompass++;
1	ingob	76	}
		77	else
		78	{
1105	killagreg	79	if((cntKompass) && (cntKompass < 362))
		80	{
693	hbuss	81	cntKompass += cntKompass / 41;
		82	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1105	killagreg	83	}
1	ingob	84	// if(cntKompass < 10) cntKompass = 10;
		85	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
		86	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		87	cntKompass = 0;
1105	killagreg	88	}
1	ingob	89	}
		90	}
		91
		92
		93	// -----------------------------------------------------------------------
		94
		95	unsigned int SetDelay (unsigned int t)
		96	{
		97	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	98	return(CountMilliseconds + t + 1);
1	ingob	99	// TIMSK0 \|= _BV(TOIE0);
		100	}
		101
		102	// -----------------------------------------------------------------------
		103	char CheckDelay(unsigned int t)
		104	{
		105	// TIMSK0 &= ~_BV(TOIE0);
		106	return(((t - CountMilliseconds) & 0x8000) >> 9);
		107	// TIMSK0 \|= _BV(TOIE0);
		108	}
		109
		110	// -----------------------------------------------------------------------
		111	void Delay_ms(unsigned int w)
		112	{
		113	unsigned int akt;
		114	akt = SetDelay(w);
		115	while (!CheckDelay(akt));
		116	}
		117
395	hbuss	118	void Delay_ms_Mess(unsigned int w)
		119	{
		120	unsigned int akt;
		121	akt = SetDelay(w);
1166	hbuss	122	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	123	}
		124
1156	hbuss	125	/*****************************************************/
		126	/* Initialize Timer 2 */
		127	/*****************************************************/
		128	// The timer 2 is used to generate the PWM at PD7 (J7)
		129	// to control a camera servo for nick compensation.
		130	void TIMER2_Init(void)
910	hbuss	131	{
1156	hbuss	132	uint8_t sreg = SREG;
		133
		134	// disable all interrupts before reconfiguration
		135	cli();
		136
		137	// set PD7 as output of the PWM for nick servo
		138	DDRD \|= (1<<DDD7);
		139	PORTD &= ~(1<<PORTD7); // set PD7 to low
		140
		141	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	142	HEF4017R_ON;
1156	hbuss	143	// Timer/Counter 2 Control Register A
		144
		145	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		146	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		147	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		148	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		149	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		150
		151	// Timer/Counter 2 Control Register B
		152
		153	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		154	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		155	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		156
		157	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		158	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		159	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		160
		161	// Initialize the Timer/Counter 2 Register
		162	TCNT2 = 0;
		163
		164	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		165	OCR2A = 255;
		166	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		167
		168	// Timer/Counter 2 Interrupt Mask Register
		169	// Enable timer output compare match A Interrupt only
		170	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		171	TIMSK2 \|= (1<<OCIE2A);
		172
		173	SREG = sreg;
910	hbuss	174	}
		175
1156	hbuss	176	//----------------------------
		177	void Timer_Init(void)
1	ingob	178	{
1156	hbuss	179	tim_main = SetDelay(10);
		180	TCCR0B = CK8;
		181	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		182	OCR0A = 0;
		183	OCR0B = 120;
		184	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		185	//OCR1 = 0x00;
1105	killagreg	186
1156	hbuss	187	TIMSK0 \|= _BV(TOIE0);
		188	}
		189
		190
		191	/*****************************************************/
		192	/* Control Servo Position */
		193	/*****************************************************/
		194
		195	ISR(TIMER2_COMPA_vect)
		196	{
		197
		198	// frame len 22.5 ms = 14063 * 1.6 us
		199	// stop pulse: 0.3 ms = 188 * 1.6 us
		200	// min servo pulse: 0.6 ms = 375 * 1.6 us
		201	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		202	// resolution: 1500 - 375 = 1125 steps
		203
		204	#define IRS_RUNTIME 127
		205	#define PPM_STOPPULSE 188
		206	// #define PPM_FRAMELEN (14063
1171	hbuss	207	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	208	#define MINSERVOPULSE 375
		209	#define MAXSERVOPULSE 1500
		210	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		211
		212	static uint8_t PulseOutput = 0;
		213	static uint16_t RemainingPulse = 0;
		214	static uint16_t ServoFrameTime = 0;
		215	static uint8_t ServoIndex = 0;
		216
		217	#define MULTIPLYER 4
		218	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	219	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	220
1229	Arthur	221	// if((PlatinenVersion < 20)
		222	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
1156	hbuss	223	{
		224	//---------------------------
		225	// Nick servo state machine
		226	//---------------------------
		227	if(!PulseOutput) // pulse output complete
		228	{
		229	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		230	{
		231	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		232	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		233
		234	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		235	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		236	if(EE_Parameter.ServoNickCompInvert & 0x01)
		237	{ // inverting movement of servo
		238	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		239	}
		240	else
		241	{ // non inverting movement of servo
		242	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		243	}
		244	// limit servo value to its parameter range definition
		245	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		246	{
		247	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		248	}
		249	else
		250	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		251	{
		252	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		253	}
		254
		255	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		256
		257	ServoNickValue /= MULTIPLYER;
		258	DebugOut.Analog[20] = ServoNickValue;
		259
		260	// range servo pulse width
		261	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		262	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		263	// accumulate time for correct update rate
		264	ServoFrameTime = RemainingPulse;
		265	}
		266	else // we had a high pulse
		267	{
		268	TCCR2A \|= (1<<COM2A0); // make a low pulse
		269	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		270	}
		271	// set pulse output active
		272	PulseOutput = 1;
		273	}
		274	} // EOF Nick servo state machine
		275	else
		276	{
		277	//-----------------------------------------------------
		278	// PPM state machine, onboard demultiplexed by HEF4017
		279	//-----------------------------------------------------
		280	if(!PulseOutput) // pulse output complete
		281	{
		282	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		283	{
		284	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		285
		286	if(ServoIndex == 0) // if we are at the sync gap
		287	{
		288	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		289	ServoFrameTime = 0; // reset servo frame time
		290	HEF4017R_ON; // enable HEF4017 reset
		291	}
		292	else // servo channels
		293	{
		294	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		295	switch(ServoIndex) // map servo channels
		296	{
		297	case 1: // Nick Compensation Servo
		298	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		299	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		300	if(EE_Parameter.ServoNickCompInvert & 0x01)
		301	{ // inverting movement of servo
		302	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		303	}
		304	else
		305	{ // non inverting movement of servo
		306	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		307	}
		308	// limit servo value to its parameter range definition
		309	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		310	{
		311	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		312	}
		313	else
		314	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		315	{
		316	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		317	}
		318	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		319	ServoNickValue /= MULTIPLYER;
		320	DebugOut.Analog[20] = ServoNickValue;
		321	break;
1224	hbuss	322	case 2: // Roll Compensation Servo
		323	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset
		324	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		325	//if(EE_Parameter.ServoRollCompInvert & 0x01)
1229	Arthur	326	if(Parameter_UserParam8 & 0x40)
		327	{ // inverting movement of servo if 64 has been added to User Parameter8
		328	ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	329	}
1229	Arthur	330	/**/ else
1224	hbuss	331	{ // non inverting movement of servo
		332	ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		333	}
1229	Arthur	334	/**/ // limit servo value to its parameter range definition
1224	hbuss	335	if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		336	{
		337	ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		338	}
		339	else
		340	if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		341	{
		342	ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		343	}
		344	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		345	ServoRollValue /= MULTIPLYER;
		346	//DebugOut.Analog[20] = ServoRollValue;
1156	hbuss	347
1224	hbuss	348	/* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
		349	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		350	if(EE_Parameter.ServoRollCompInvert & 0x01)
		351	{ // inverting movement of servo
		352	ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		353	}
		354	else
		355	{ // non inverting movement of servo
		356	ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		357	}
		358	// limit servo value to its parameter range definition
		359	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		360	{
		361	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		362	}
		363	else
		364	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		365	{
		366	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		367	}
		368	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		369	ServoRollValue /= MULTIPLYER;
		370	//DebugOut.Analog[20] = ServoRollValue;
		371	*/ break;
		372
1156	hbuss	373	default: // other servo channels
		374	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		375	break;
		376	}
		377	// range servo pulse width
		378	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		379	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		380	// substract stop pulse width
		381	RemainingPulse -= PPM_STOPPULSE;
		382	// accumulate time for correct sync gap
		383	ServoFrameTime += RemainingPulse;
		384	}
		385	}
		386	else // we had a high pulse
		387	{
		388	TCCR2A \|= (1<<COM2A0); // make a low pulse
		389	// set pulsewidth to stop pulse width
		390	RemainingPulse = PPM_STOPPULSE;
		391	// accumulate time for correct sync gap
		392	ServoFrameTime += RemainingPulse;
1171	hbuss	393	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1156	hbuss	394	ServoIndex++; // change to next servo channel
		395	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		396	}
		397	// set pulse output active
		398	PulseOutput = 1;
		399	}
		400	} // EOF PPM state machine
		401
		402	// General pulse output generator
		403	if(RemainingPulse > (255 + IRS_RUNTIME))
		404	{
		405	OCR2A = 255;
		406	RemainingPulse -= 255;
910	hbuss	407	}
1156	hbuss	408	else
		409	{
		410	if(RemainingPulse > 255) // this is the 2nd last part
		411	{
		412	if((RemainingPulse - 255) < IRS_RUNTIME)
		413	{
		414	OCR2A = 255 - IRS_RUNTIME;
		415	RemainingPulse -= 255 - IRS_RUNTIME;
		416
		417	}
		418	else // last part > ISR_RUNTIME
		419	{
		420	OCR2A = 255;
		421	RemainingPulse -= 255;
		422	}
		423	}
		424	else // this is the last part
		425	{
		426	OCR2A = RemainingPulse;
		427	RemainingPulse = 0;
		428	PulseOutput = 0; // trigger to stop pulse
		429	}
		430	} // EOF general pulse output generator
1111	hbuss	431	}

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