WebSVN - FlightCtrl - Blame - Rev 1424 - /branches/V0.84a_ACC-HH_HR

Rev	Author	Line No.	Line
1	ingob	1	#include "main.h"
		2
1424	ingob	3
1	ingob	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	}
		90	}
		91
		92
		93	// -----------------------------------------------------------------------
		94	unsigned int SetDelay (unsigned int t)
		95	{
		96	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	97	return(CountMilliseconds + t + 1);
1	ingob	98	// TIMSK0 \|= _BV(TOIE0);
		99	}
		100
		101	// -----------------------------------------------------------------------
		102	char CheckDelay(unsigned int t)
		103	{
		104	// TIMSK0 &= ~_BV(TOIE0);
		105	return(((t - CountMilliseconds) & 0x8000) >> 9);
		106	// TIMSK0 \|= _BV(TOIE0);
		107	}
		108
		109	// -----------------------------------------------------------------------
		110	void Delay_ms(unsigned int w)
		111	{
		112	unsigned int akt;
		113	akt = SetDelay(w);
		114	while (!CheckDelay(akt));
		115	}
		116
395	hbuss	117	void Delay_ms_Mess(unsigned int w)
		118	{
		119	unsigned int akt;
		120	akt = SetDelay(w);
1166	hbuss	121	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	122	}
		123
1156	hbuss	124	/*****************************************************/
		125	/* Initialize Timer 2 */
		126	/*****************************************************/
		127	// The timer 2 is used to generate the PWM at PD7 (J7)
		128	// to control a camera servo for nick compensation.
		129	void TIMER2_Init(void)
910	hbuss	130	{
1156	hbuss	131	uint8_t sreg = SREG;
		132
		133	// disable all interrupts before reconfiguration
		134	cli();
1232	hbuss	135
1156	hbuss	136	PORTD &= ~(1<<PORTD7); // set PD7 to low
		137
		138	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	139	HEF4017R_ON;
1156	hbuss	140	// Timer/Counter 2 Control Register A
		141
		142	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		143	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		144	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		145	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		146	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		147
		148	// Timer/Counter 2 Control Register B
		149
		150	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		151	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		152	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		153
		154	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		155	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		156	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		157
		158	// Initialize the Timer/Counter 2 Register
		159	TCNT2 = 0;
		160
		161	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		162	OCR2A = 255;
		163	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		164
		165	// Timer/Counter 2 Interrupt Mask Register
		166	// Enable timer output compare match A Interrupt only
		167	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		168	TIMSK2 \|= (1<<OCIE2A);
		169
		170	SREG = sreg;
910	hbuss	171	}
		172
1156	hbuss	173	//----------------------------
		174	void Timer_Init(void)
1	ingob	175	{
1156	hbuss	176	tim_main = SetDelay(10);
		177	TCCR0B = CK8;
		178	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		179	OCR0A = 0;
		180	OCR0B = 120;
		181	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		182	//OCR1 = 0x00;
1105	killagreg	183
1156	hbuss	184	TIMSK0 \|= _BV(TOIE0);
		185	}
		186
		187
		188	/*****************************************************/
		189	/* Control Servo Position */
		190	/*****************************************************/
		191
		192	ISR(TIMER2_COMPA_vect)
		193	{
		194	// frame len 22.5 ms = 14063 * 1.6 us
		195	// stop pulse: 0.3 ms = 188 * 1.6 us
		196	// min servo pulse: 0.6 ms = 375 * 1.6 us
		197	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		198	// resolution: 1500 - 375 = 1125 steps
		199
		200	#define IRS_RUNTIME 127
		201	#define PPM_STOPPULSE 188
		202	// #define PPM_FRAMELEN (14063
1171	hbuss	203	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	204	#define MINSERVOPULSE 375
		205	#define MAXSERVOPULSE 1500
		206	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		207
		208	static uint8_t PulseOutput = 0;
		209	static uint16_t RemainingPulse = 0;
		210	static uint16_t ServoFrameTime = 0;
		211	static uint8_t ServoIndex = 0;
		212
		213	#define MULTIPLYER 4
		214	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	215	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	216
		217	if(PlatinenVersion < 20)
		218	{
		219	//---------------------------
		220	// Nick servo state machine
		221	//---------------------------
		222	if(!PulseOutput) // pulse output complete
		223	{
		224	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		225	{
		226	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		227	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		228
		229	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		230	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	231	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	232	{ // inverting movement of servo
		233	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		234	}
		235	else
		236	{ // non inverting movement of servo
		237	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		238	}
		239	// limit servo value to its parameter range definition
		240	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		241	{
		242	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		243	}
		244	else
		245	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		246	{
		247	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		248	}
		249
		250	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		251
		252	ServoNickValue /= MULTIPLYER;
		253
		254	// range servo pulse width
		255	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		256	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		257	// accumulate time for correct update rate
		258	ServoFrameTime = RemainingPulse;
		259	}
		260	else // we had a high pulse
		261	{
		262	TCCR2A \|= (1<<COM2A0); // make a low pulse
		263	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		264	}
		265	// set pulse output active
		266	PulseOutput = 1;
		267	}
		268	} // EOF Nick servo state machine
		269	else
		270	{
		271	//-----------------------------------------------------
		272	// PPM state machine, onboard demultiplexed by HEF4017
		273	//-----------------------------------------------------
		274	if(!PulseOutput) // pulse output complete
		275	{
		276	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		277	{
		278	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		279
		280	if(ServoIndex == 0) // if we are at the sync gap
		281	{
		282	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		283	ServoFrameTime = 0; // reset servo frame time
		284	HEF4017R_ON; // enable HEF4017 reset
		285	}
		286	else // servo channels
		287	{
		288	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		289	switch(ServoIndex) // map servo channels
		290	{
		291	case 1: // Nick Compensation Servo
		292	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		293	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	294	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	295	{ // inverting movement of servo
		296	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		297	}
		298	else
		299	{ // non inverting movement of servo
		300	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		301	}
		302	// limit servo value to its parameter range definition
		303	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		304	{
		305	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		306	}
		307	else
		308	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		309	{
		310	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		311	}
		312	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		313	ServoNickValue /= MULTIPLYER;
		314	break;
1224	hbuss	315	case 2: // Roll Compensation Servo
1232	hbuss	316	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
1224	hbuss	317	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	318	if(EE_Parameter.ServoCompInvert & 0x02)
1224	hbuss	319	{ // inverting movement of servo
1232	hbuss	320	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	321	}
		322	else
		323	{ // non inverting movement of servo
1232	hbuss	324	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	325	}
1232	hbuss	326	// limit servo value to its parameter range definition
1224	hbuss	327	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		328	{
		329	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		330	}
		331	else
		332	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		333	{
		334	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		335	}
		336	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		337	ServoRollValue /= MULTIPLYER;
		338	//DebugOut.Analog[20] = ServoRollValue;
1232	hbuss	339	break;
1403	hbuss	340	case 3: RemainingPulse += 2 * Parameter_Servo3;
		341	break;
		342	case 4: RemainingPulse += 2 * Parameter_Servo4;
		343	break;
		344	case 5: RemainingPulse += 2 * Parameter_Servo5;
		345	break;
1156	hbuss	346	default: // other servo channels
		347	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		348	break;
		349	}
		350	// range servo pulse width
		351	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		352	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		353	// substract stop pulse width
		354	RemainingPulse -= PPM_STOPPULSE;
		355	// accumulate time for correct sync gap
		356	ServoFrameTime += RemainingPulse;
		357	}
		358	}
		359	else // we had a high pulse
		360	{
		361	TCCR2A \|= (1<<COM2A0); // make a low pulse
		362	// set pulsewidth to stop pulse width
		363	RemainingPulse = PPM_STOPPULSE;
		364	// accumulate time for correct sync gap
		365	ServoFrameTime += RemainingPulse;
1171	hbuss	366	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1232	hbuss	367	else HEF4017R_ON;
1156	hbuss	368	ServoIndex++; // change to next servo channel
		369	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		370	}
		371	// set pulse output active
		372	PulseOutput = 1;
		373	}
		374	} // EOF PPM state machine
		375
		376	// General pulse output generator
		377	if(RemainingPulse > (255 + IRS_RUNTIME))
		378	{
		379	OCR2A = 255;
		380	RemainingPulse -= 255;
910	hbuss	381	}
1156	hbuss	382	else
		383	{
		384	if(RemainingPulse > 255) // this is the 2nd last part
		385	{
		386	if((RemainingPulse - 255) < IRS_RUNTIME)
		387	{
		388	OCR2A = 255 - IRS_RUNTIME;
		389	RemainingPulse -= 255 - IRS_RUNTIME;
		390
		391	}
		392	else // last part > ISR_RUNTIME
		393	{
		394	OCR2A = 255;
		395	RemainingPulse -= 255;
		396	}
		397	}
		398	else // this is the last part
		399	{
		400	OCR2A = RemainingPulse;
		401	RemainingPulse = 0;
		402	PulseOutput = 0; // trigger to stop pulse
		403	}
		404	} // EOF general pulse output generator
1111	hbuss	405	}

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(root)/branches/V0.84a_ACC-HH_HR_MartinR/timer0.c - Rev 1424