WebSVN - FlightCtrl - Blame - /branches/V0.76g

Rev	Author	Line No.	Line
1	ingob	1	#include "main.h"
1320	hbuss	2	#include "spectrum.h"
1	ingob	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;
1171	hbuss	9	volatile unsigned char SendSPI = 0, ServoActive = 0;
723	hbuss	10
173	holgerb	11	unsigned int BeepMuster = 0xffff;
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
1322	hbuss	29	SIGNAL (SIG_OVERFLOW0) // 9,7kHz
1	ingob	30	{
		31	static unsigned char cnt_1ms = 1,cnt = 0;
173	holgerb	32	unsigned char pieper_ein = 0;
723	hbuss	33	if(SendSPI) SendSPI--;
1320	hbuss	34	if(SpektrumTimer) SpektrumTimer--;
		35
1	ingob	36	if(!cnt--)
		37	{
1105	killagreg	38	cnt = 9;
1	ingob	39	cnt_1ms++;
		40	cnt_1ms %= 2;
		41	if(!cnt_1ms) UpdateMotor = 1;
		42	CountMilliseconds++;
1105	killagreg	43	}
1	ingob	44
1232	hbuss	45	if(beeptime >= 1)
1	ingob	46	{
1105	killagreg	47	beeptime--;
		48	if(beeptime & BeepMuster)
173	holgerb	49	{
		50	pieper_ein = 1;
		51	}
		52	else pieper_ein = 0;
1	ingob	53	}
1105	killagreg	54	else
173	holgerb	55	{
		56	pieper_ein = 0;
		57	BeepMuster = 0xffff;
1105	killagreg	58	}
173	holgerb	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	}
1320	hbuss	84	// if(cntKompass < 10) cntKompass =r 10;
1	ingob	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	}
1320	hbuss	90
1	ingob	91	}
		92
		93
		94	// -----------------------------------------------------------------------
		95
		96	unsigned int SetDelay (unsigned int t)
		97	{
		98	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	99	return(CountMilliseconds + t + 1);
1	ingob	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
395	hbuss	119	void Delay_ms_Mess(unsigned int w)
		120	{
		121	unsigned int akt;
		122	akt = SetDelay(w);
1166	hbuss	123	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	124	}
		125
1156	hbuss	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)
910	hbuss	132	{
1156	hbuss	133	uint8_t sreg = SREG;
		134
		135	// disable all interrupts before reconfiguration
		136	cli();
1232	hbuss	137
1156	hbuss	138	PORTD &= ~(1<<PORTD7); // set PD7 to low
		139
		140	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	141	HEF4017R_ON;
1156	hbuss	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;
910	hbuss	173	}
		174
1156	hbuss	175	//----------------------------
		176	void Timer_Init(void)
1	ingob	177	{
1156	hbuss	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;
1105	killagreg	185
1156	hbuss	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
1171	hbuss	205	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	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
1224	hbuss	217	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	218
1503	kneet	219	// replace below line with if(PlatinenVersion < 20) to revert to original (WKN-change)
		220	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
1156	hbuss	221	{
		222	//---------------------------
		223	// Nick servo state machine
		224	//---------------------------
		225	if(!PulseOutput) // pulse output complete
		226	{
		227	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		228	{
		229	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		230	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		231
		232	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		233	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	234	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	235	{ // inverting movement of servo
		236	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		237	}
		238	else
		239	{ // non inverting movement of servo
		240	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		241	}
		242	// limit servo value to its parameter range definition
		243	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		244	{
		245	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		246	}
		247	else
		248	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		249	{
		250	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		251	}
		252
		253	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		254
		255	ServoNickValue /= MULTIPLYER;
		256
		257	// range servo pulse width
		258	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		259	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		260	// accumulate time for correct update rate
		261	ServoFrameTime = RemainingPulse;
		262	}
		263	else // we had a high pulse
		264	{
		265	TCCR2A \|= (1<<COM2A0); // make a low pulse
		266	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		267	}
		268	// set pulse output active
		269	PulseOutput = 1;
		270	}
		271	} // EOF Nick servo state machine
		272	else
		273	{
		274	//-----------------------------------------------------
		275	// PPM state machine, onboard demultiplexed by HEF4017
		276	//-----------------------------------------------------
		277	if(!PulseOutput) // pulse output complete
		278	{
		279	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		280	{
		281	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		282
		283	if(ServoIndex == 0) // if we are at the sync gap
		284	{
		285	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		286	ServoFrameTime = 0; // reset servo frame time
		287	HEF4017R_ON; // enable HEF4017 reset
		288	}
		289	else // servo channels
		290	{
		291	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		292	switch(ServoIndex) // map servo channels
		293	{
		294	case 1: // Nick Compensation Servo
		295	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		296	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	297	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	298	{ // inverting movement of servo
		299	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		300	}
		301	else
		302	{ // non inverting movement of servo
		303	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		304	}
		305	// limit servo value to its parameter range definition
		306	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		307	{
		308	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		309	}
		310	else
		311	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		312	{
		313	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		314	}
		315	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		316	ServoNickValue /= MULTIPLYER;
		317	break;
1224	hbuss	318	case 2: // Roll Compensation Servo
1232	hbuss	319	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
1224	hbuss	320	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	321	if(EE_Parameter.ServoCompInvert & 0x02)
1224	hbuss	322	{ // inverting movement of servo
1232	hbuss	323	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	324	}
		325	else
		326	{ // non inverting movement of servo
1232	hbuss	327	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	328	}
1232	hbuss	329	// limit servo value to its parameter range definition
1224	hbuss	330	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		331	{
		332	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		333	}
		334	else
		335	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		336	{
		337	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		338	}
		339	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		340	ServoRollValue /= MULTIPLYER;
		341	//DebugOut.Analog[20] = ServoRollValue;
1232	hbuss	342	break;
1224	hbuss	343
1156	hbuss	344	default: // other servo channels
		345	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		346	break;
		347	}
		348	// range servo pulse width
		349	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		350	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		351	// substract stop pulse width
		352	RemainingPulse -= PPM_STOPPULSE;
		353	// accumulate time for correct sync gap
		354	ServoFrameTime += RemainingPulse;
		355	}
		356	}
		357	else // we had a high pulse
		358	{
		359	TCCR2A \|= (1<<COM2A0); // make a low pulse
		360	// set pulsewidth to stop pulse width
		361	RemainingPulse = PPM_STOPPULSE;
		362	// accumulate time for correct sync gap
		363	ServoFrameTime += RemainingPulse;
1171	hbuss	364	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1232	hbuss	365	else HEF4017R_ON;
1156	hbuss	366	ServoIndex++; // change to next servo channel
		367	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		368	}
		369	// set pulse output active
		370	PulseOutput = 1;
		371	}
		372	} // EOF PPM state machine
		373
		374	// General pulse output generator
		375	if(RemainingPulse > (255 + IRS_RUNTIME))
		376	{
		377	OCR2A = 255;
		378	RemainingPulse -= 255;
910	hbuss	379	}
1156	hbuss	380	else
		381	{
		382	if(RemainingPulse > 255) // this is the 2nd last part
		383	{
		384	if((RemainingPulse - 255) < IRS_RUNTIME)
		385	{
		386	OCR2A = 255 - IRS_RUNTIME;
		387	RemainingPulse -= 255 - IRS_RUNTIME;
		388
		389	}
		390	else // last part > ISR_RUNTIME
		391	{
		392	OCR2A = 255;
		393	RemainingPulse -= 255;
		394	}
		395	}
		396	else // this is the last part
		397	{
		398	OCR2A = RemainingPulse;
		399	RemainingPulse = 0;
		400	PulseOutput = 0; // trigger to stop pulse
		401	}
		402	} // EOF general pulse output generator
1111	hbuss	403	}

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(root)/branches/V0.76g_WKN-hef/timer0.c @ 1503 - Rev