Subversion Repositories FlightCtrl

#include "main.h"

#include "spectrum.h"

#include "heli.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;

unsigned int BeepMuster = 0xffff;

volatile int16_t        ServoNickValue = 0;

volatile int16_t        ServoRollValue = 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

        //-----------------------------------------------------

        // 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

                                RemainingPulse += 2 * servoValues[ServoIndex - 1]; // add channel value, factor of 2 because timer 1 increments 3.2µs

                                // 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;

                        HEF4017R_OFF; // disable HEF4017 reset

                        ServoIndex++; // change to next servo channel

                        if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap

                }

                // set pulse output active

                PulseOutput = 1;

        }

        // 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

}