WebSVN - FlightCtrl - Blame - Rev 1400 - /branches/V0.76g-acid/timer0.c

Rev	Author	Line No.	Line
1400	acid	1	#include "main.h"
		2	#include "spectrum.h"
		3
		4	volatile unsigned int CountMilliseconds = 0;
		5	volatile static unsigned int tim_main;
		6	volatile unsigned char UpdateMotor = 0;
		7	volatile unsigned int cntKompass = 0;
		8	volatile unsigned int beeptime = 0;
		9	volatile unsigned char SendSPI = 0, ServoActive = 0;
		10
		11	unsigned int BeepMuster = 0xffff;
		12
		13	volatile int16_t ServoNickValue = 0;
		14	volatile int16_t ServoRollValue = 0;
		15
		16
		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) // 9,7kHz
		30	{
		31	static unsigned char cnt_1ms = 1,cnt = 0;
		32	unsigned char pieper_ein = 0;
		33	if(SendSPI) SendSPI--;
		34	if(SpektrumTimer) SpektrumTimer--;
		35
		36	if(!cnt--)
		37	{
		38	cnt = 9;
		39	cnt_1ms++;
		40	cnt_1ms %= 2;
		41	if(!cnt_1ms) UpdateMotor = 1;
		42	CountMilliseconds++;
		43	}
		44
		45	if(beeptime >= 1)
		46	{
		47	beeptime--;
		48	if(beeptime & BeepMuster)
		49	{
		50	pieper_ein = 1;
		51	}
		52	else pieper_ein = 0;
		53	}
		54	else
		55	{
		56	pieper_ein = 0;
		57	BeepMuster = 0xffff;
		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	}
		65	else
		66	{
		67	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		68	else PORTC &= ~(1<<7);
		69	}
		70
		71	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		72	{
		73	if(PINC & 0x10)
		74	{
		75	cntKompass++;
		76	}
		77	else
		78	{
		79	if((cntKompass) && (cntKompass < 362))
		80	{
		81	cntKompass += cntKompass / 41;
		82	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
		83	}
		84	// if(cntKompass < 10) cntKompass =r 10;
		85	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
		86	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		87	cntKompass = 0;
		88	}
		89	}
		90
		91	}
		92
		93
		94	// -----------------------------------------------------------------------
		95
		96	unsigned int SetDelay (unsigned int t)
		97	{
		98	// TIMSK0 &= ~_BV(TOIE0);
		99	return(CountMilliseconds + t + 1);
		100	// TIMSK0 \|= _BV(TOIE0);
		101	}
		102
		103	// -----------------------------------------------------------------------
		104	char CheckDelay(unsigned int t)
		105	{
		106	// TIMSK0 &= ~_BV(TOIE0);
		107	return(((t - CountMilliseconds) & 0x8000) >> 9);
		108	// TIMSK0 \|= _BV(TOIE0);
		109	}
		110
		111	// -----------------------------------------------------------------------
		112	void Delay_ms(unsigned int w)
		113	{
		114	unsigned int akt;
		115	akt = SetDelay(w);
		116	while (!CheckDelay(akt));
		117	}
		118
		119	void Delay_ms_Mess(unsigned int w)
		120	{
		121	unsigned int akt;
		122	akt = SetDelay(w);
		123	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
		124	}
		125
		126	/*****************************************************/
		127	/* Initialize Timer 2 */
		128	/*****************************************************/
		129	// The timer 2 is used to generate the PWM at PD7 (J7)
		130	// to control a camera servo for nick compensation.
		131	void TIMER2_Init(void)
		132	{
		133	uint8_t sreg = SREG;
		134
		135	// disable all interrupts before reconfiguration
		136	cli();
		137
		138	PORTD &= ~(1<<PORTD7); // set PD7 to low
		139
		140	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
		141	HEF4017R_ON;
		142	// Timer/Counter 2 Control Register A
		143
		144	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		145	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		146	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		147	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		148	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		149
		150	// Timer/Counter 2 Control Register B
		151
		152	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		153	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		154	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		155
		156	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		157	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		158	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		159
		160	// Initialize the Timer/Counter 2 Register
		161	TCNT2 = 0;
		162
		163	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		164	OCR2A = 255;
		165	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		166
		167	// Timer/Counter 2 Interrupt Mask Register
		168	// Enable timer output compare match A Interrupt only
		169	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		170	TIMSK2 \|= (1<<OCIE2A);
		171
		172	SREG = sreg;
		173	}
		174
		175	//----------------------------
		176	void Timer_Init(void)
		177	{
		178	tim_main = SetDelay(10);
		179	TCCR0B = CK8;
		180	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		181	OCR0A = 0;
		182	OCR0B = 120;
		183	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		184	//OCR1 = 0x00;
		185
		186	TIMSK0 \|= _BV(TOIE0);
		187	}
		188
		189
		190	/*****************************************************/
		191	/* Control Servo Position */
		192	/*****************************************************/
		193
		194	ISR(TIMER2_COMPA_vect)
		195	{
		196	// frame len 22.5 ms = 14063 * 1.6 us
		197	// stop pulse: 0.3 ms = 188 * 1.6 us
		198	// min servo pulse: 0.6 ms = 375 * 1.6 us
		199	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		200	// resolution: 1500 - 375 = 1125 steps
		201
		202	#define IRS_RUNTIME 127
		203	#define PPM_STOPPULSE 188
		204	// #define PPM_FRAMELEN (14063
		205	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
		206	#define MINSERVOPULSE 375
		207	#define MAXSERVOPULSE 1500
		208	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		209
		210	static uint8_t PulseOutput = 0;
		211	static uint16_t RemainingPulse = 0;
		212	static uint16_t ServoFrameTime = 0;
		213	static uint8_t ServoIndex = 0;
		214
		215	#define MULTIPLYER 4
		216	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
		217	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
		218
		219	if(PlatinenVersion < 20)
		220	{
		221	//---------------------------
		222	// Nick servo state machine
		223	//---------------------------
		224	if(!PulseOutput) // pulse output complete
		225	{
		226	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		227	{
		228	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		229	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		230
		231	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		232	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		233	if(EE_Parameter.ServoCompInvert & 0x01)
		234	{ // inverting movement of servo
		235	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		236	}
		237	else
		238	{ // non inverting movement of servo
		239	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		240	}
		241	// limit servo value to its parameter range definition
		242	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		243	{
		244	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		245	}
		246	else
		247	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		248	{
		249	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		250	}
		251
		252	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		253
		254	ServoNickValue /= MULTIPLYER;
		255
		256	// range servo pulse width
		257	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		258	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		259	// accumulate time for correct update rate
		260	ServoFrameTime = RemainingPulse;
		261	}
		262	else // we had a high pulse
		263	{
		264	TCCR2A \|= (1<<COM2A0); // make a low pulse
		265	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		266	}
		267	// set pulse output active
		268	PulseOutput = 1;
		269	}
		270	} // EOF Nick servo state machine
		271	else
		272	{
		273	//-----------------------------------------------------
		274	// PPM state machine, onboard demultiplexed by HEF4017
		275	//-----------------------------------------------------
		276	if(!PulseOutput) // pulse output complete
		277	{
		278	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		279	{
		280	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		281
		282	if(ServoIndex == 0) // if we are at the sync gap
		283	{
		284	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		285	ServoFrameTime = 0; // reset servo frame time
		286	HEF4017R_ON; // enable HEF4017 reset
		287	}
		288	else // servo channels
		289	{
		290	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		291	switch(ServoIndex) // map servo channels
		292	{
		293	case 1: // Nick Compensation Servo
		294	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		295	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		296	if(EE_Parameter.ServoCompInvert & 0x01)
		297	{ // inverting movement of servo
		298	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		299	}
		300	else
		301	{ // non inverting movement of servo
		302	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		303	}
		304	// limit servo value to its parameter range definition
		305	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		306	{
		307	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		308	}
		309	else
		310	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		311	{
		312	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		313	}
		314	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		315	ServoNickValue /= MULTIPLYER;
		316	break;
		317	case 2: // Roll Compensation Servo
		318	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
		319	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		320	if(EE_Parameter.ServoCompInvert & 0x02)
		321	{ // inverting movement of servo
		322	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		323	}
		324	else
		325	{ // non inverting movement of servo
		326	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		327	}
		328	// limit servo value to its parameter range definition
		329	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		330	{
		331	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		332	}
		333	else
		334	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		335	{
		336	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		337	}
		338	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		339	ServoRollValue /= MULTIPLYER;
		340	//DebugOut.Analog[20] = ServoRollValue;
		341	break;
		342
		343	default: // other servo channels
		344	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		345	break;
		346	}
		347	// range servo pulse width
		348	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		349	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		350	// substract stop pulse width
		351	RemainingPulse -= PPM_STOPPULSE;
		352	// accumulate time for correct sync gap
		353	ServoFrameTime += RemainingPulse;
		354	}
		355	}
		356	else // we had a high pulse
		357	{
		358	TCCR2A \|= (1<<COM2A0); // make a low pulse
		359	// set pulsewidth to stop pulse width
		360	RemainingPulse = PPM_STOPPULSE;
		361	// accumulate time for correct sync gap
		362	ServoFrameTime += RemainingPulse;
		363	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
		364	else HEF4017R_ON;
		365	ServoIndex++; // change to next servo channel
		366	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		367	}
		368	// set pulse output active
		369	PulseOutput = 1;
		370	}
		371	} // EOF PPM state machine
		372
		373	// General pulse output generator
		374	if(RemainingPulse > (255 + IRS_RUNTIME))
		375	{
		376	OCR2A = 255;
		377	RemainingPulse -= 255;
		378	}
		379	else
		380	{
		381	if(RemainingPulse > 255) // this is the 2nd last part
		382	{
		383	if((RemainingPulse - 255) < IRS_RUNTIME)
		384	{
		385	OCR2A = 255 - IRS_RUNTIME;
		386	RemainingPulse -= 255 - IRS_RUNTIME;
		387
		388	}
		389	else // last part > ISR_RUNTIME
		390	{
		391	OCR2A = 255;
		392	RemainingPulse -= 255;
		393	}
		394	}
		395	else // this is the last part
		396	{
		397	OCR2A = RemainingPulse;
		398	RemainingPulse = 0;
		399	PulseOutput = 0; // trigger to stop pulse
		400	}
		401	} // EOF general pulse output generator
		402	}

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