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2050 holgerb 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Software LICENSING TERMS
30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53
 
1 ingob 54
#include "main.h"
1760 holgerb 55
#define MULTIPLYER 4
1 ingob 56
 
57
volatile unsigned int CountMilliseconds = 0;
58
volatile static unsigned int tim_main;
59
volatile unsigned char UpdateMotor = 0;
60
volatile unsigned int cntKompass = 0;
61
volatile unsigned int beeptime = 0;
1760 holgerb 62
volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1;
2177 - 63
uint16_t RemainingPulse = 255; // MartinR zur Sicherheit bei Interrupts
1760 holgerb 64
volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon
65
volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon
2177 - 66
volatile int16_t ServoPanOffset = (255 / 2) * MULTIPLYER * 16; // MartinR: für Pan-Funktion
723 hbuss 67
 
173 holgerb 68
unsigned int BeepMuster = 0xffff;
1 ingob 69
 
1156 hbuss 70
volatile int16_t        ServoNickValue = 0;
71
volatile int16_t        ServoRollValue = 0;
2177 - 72
volatile int16_t        ServoPanValue = 0; // MartinR : für PAN-Funktion
1156 hbuss 73
 
74
 
1 ingob 75
enum {
76
  STOP             = 0,
77
  CK               = 1,
78
  CK8              = 2,
79
  CK64             = 3,
80
  CK256            = 4,
81
  CK1024           = 5,
82
  T0_FALLING_EDGE  = 6,
83
  T0_RISING_EDGE   = 7
84
};
85
 
86
 
1561 killagreg 87
ISR(TIMER0_OVF_vect)    // 9,7kHz
1 ingob 88
{
1643 holgerb 89
   static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0;
90
   unsigned char pieper_ein = 0;
723 hbuss 91
   if(SendSPI) SendSPI--;
1469 killagreg 92
   if(SpektrumTimer) SpektrumTimer--;
1 ingob 93
   if(!cnt--)
94
    {
1105 killagreg 95
     cnt = 9;
1643 holgerb 96
     CountMilliseconds++;
1 ingob 97
     cnt_1ms++;
98
     cnt_1ms %= 2;
1643 holgerb 99
 
1 ingob 100
     if(!cnt_1ms) UpdateMotor = 1;
1713 holgerb 101
         if(!(PINC & 0x10)) compass_active = 1;
1643 holgerb 102
 
1664 holgerb 103
     if(beeptime)
1 ingob 104
        {
1664 holgerb 105
        if(beeptime > 10) beeptime -= 10; else beeptime = 0;
1105 killagreg 106
        if(beeptime & BeepMuster)
173 holgerb 107
         {
108
          pieper_ein = 1;
109
         }
110
         else pieper_ein = 0;
1 ingob 111
        }
1105 killagreg 112
     else
1651 killagreg 113
      {
173 holgerb 114
       pieper_ein = 0;
115
       BeepMuster = 0xffff;
1105 killagreg 116
      }
173 holgerb 117
     if(pieper_ein)
118
        {
119
          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
120
          else                      PORTC |= (1<<7); // Speaker an PORTC.7
121
        }
1105 killagreg 122
     else
173 holgerb 123
        {
124
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
125
         else                      PORTC &= ~(1<<7);
1105 killagreg 126
        }
1643 holgerb 127
        }
1916 holgerb 128
 if(compass_active && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)
1 ingob 129
 {
130
  if(PINC & 0x10)
131
   {
1643 holgerb 132
        if(++cntKompass > 1000) compass_active = 0;
1 ingob 133
   }
134
  else
135
   {
1105 killagreg 136
    if((cntKompass) && (cntKompass < 362))
137
    {
693 hbuss 138
     cntKompass += cntKompass / 41;
139
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1941 holgerb 140
//     KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1105 killagreg 141
    }
1 ingob 142
    cntKompass = 0;
1105 killagreg 143
   }
1 ingob 144
 }
145
}
146
 
147
 
148
// -----------------------------------------------------------------------
2090 holgerb 149
unsigned int SetDelay(unsigned int t)
1 ingob 150
{
151
//  TIMSK0 &= ~_BV(TOIE0);
1105 killagreg 152
  return(CountMilliseconds + t + 1);
1 ingob 153
//  TIMSK0 |= _BV(TOIE0);
154
}
155
 
156
// -----------------------------------------------------------------------
157
char CheckDelay(unsigned int t)
158
{
159
//  TIMSK0 &= ~_BV(TOIE0);
160
  return(((t - CountMilliseconds) & 0x8000) >> 9);
161
//  TIMSK0 |= _BV(TOIE0);
162
}
163
 
164
// -----------------------------------------------------------------------
165
void Delay_ms(unsigned int w)
166
{
167
 unsigned int akt;
168
 akt = SetDelay(w);
169
 while (!CheckDelay(akt));
170
}
171
 
395 hbuss 172
void Delay_ms_Mess(unsigned int w)
173
{
174
 unsigned int akt;
175
 akt = SetDelay(w);
1166 hbuss 176
 while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395 hbuss 177
}
178
 
1156 hbuss 179
/*****************************************************/
180
/*              Initialize Timer 2                   */
181
/*****************************************************/
182
// The timer 2 is used to generate the PWM at PD7 (J7)
183
// to control a camera servo for nick compensation.
184
void TIMER2_Init(void)
910 hbuss 185
{
1156 hbuss 186
        uint8_t sreg = SREG;
187
 
188
        // disable all interrupts before reconfiguration
189
        cli();
1469 killagreg 190
 
1156 hbuss 191
        PORTD &= ~(1<<PORTD7);  // set PD7 to low
192
 
193
        DDRC  |= (1<<DDC6);     // set PC6 as output (Reset for HEF4017)
2146 holgerb 194
    HEF4017Reset_ON;
1156 hbuss 195
        // Timer/Counter 2 Control Register A
196
 
197
        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
198
    // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
199
    // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
200
        TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));
201
    TCCR2A |= (1<<WGM21)|(1<<WGM20);
202
 
203
    // Timer/Counter 2 Control Register B
204
 
205
        // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
206
        // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
207
        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
208
 
209
    // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
210
        TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));
211
    TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);
212
 
213
        // Initialize the Timer/Counter 2 Register
214
    TCNT2 = 0;
215
 
216
        // Initialize the Output Compare Register A used for PWM generation on port PD7.
217
        OCR2A = 255;
218
        TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
219
 
220
        // Timer/Counter 2 Interrupt Mask Register
221
        // Enable timer output compare match A Interrupt only
222
        TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));
223
        TIMSK2 |= (1<<OCIE2A);
224
 
225
    SREG = sreg;
910 hbuss 226
}
227
 
1156 hbuss 228
//----------------------------
229
void Timer_Init(void)
1 ingob 230
{
1156 hbuss 231
    tim_main = SetDelay(10);
232
    TCCR0B = CK8;
233
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
234
    OCR0A =  0;
1638 holgerb 235
    OCR0B = 180;
1156 hbuss 236
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
237
    //OCR1  = 0x00;
238
    TIMSK0 |= _BV(TOIE0);
239
}
240
 
241
 
242
/*****************************************************/
243
/*              Control Servo Position               */
244
/*****************************************************/
245
 
1760 holgerb 246
 
247
void CalculateServo(void)
248
{
2177 - 249
 //signed char cosinus, sinus; // MartinR : so war es
250
 extern signed char cosinus, sinus; // MartinR : extern für PAN-Funktion
1771 holgerb 251
 signed long nick, roll;
1760 holgerb 252
 
2177 - 253
        nick = 0; // MartinR : StartWert bei abgeschalteten Nick/ Roll ausgleich
254
        roll = 0; // MartinR : StartWert bei abgeschalteten Nick/ Roll ausgleich
255
        int tmp; // MartinR : für PAN-Funktion // Wert : 0-24 -> 0-360 -> 15° steps
256
        /* // MartinR: bisher
257
        tmp = EE_Parameter.CamOrientation + ((Parameter_Servo4 - 125) * (Parameter_UserParam8 - 125)) / 400 ; //MartinR : für PAN-Funktion
258
        if (tmp < 0) tmp = 24- (abs(tmp)) % 24 ; // MartinR :Modulo 24
259
        else tmp = tmp % 24 ; // MartinR :Modulo 24
260
        */
261
        tmp = EE_Parameter.CamOrientation + ((Parameter_Servo4 - 125) * (Parameter_UserParam8 - 125)) / 200 ; //MartinR : für PAN-Funktion
262
        if (tmp < 0) tmp = 48- (abs(tmp)) % 48 ; // MartinR :Modulo 48
263
        else tmp = tmp % 48 ; // MartinR :Modulo 48
264
 
265
        // cosinus = sintab[EE_Parameter.CamOrientation + 6];  // MartinR : so war es
266
        // sinus = sintab[EE_Parameter.CamOrientation];  // MartinR : so war es
267
        //cosinus = sintab[tmp + 6];  // MartinR : für PAN-Funktion
268
        cosinus += (2*sintab[tmp + 12]- cosinus + 1) / 2;  // MartinR : für PAN-Funktion
269
        sinus += (2*sintab[tmp] - sinus + 1) / 2;  // MartinR : für PAN-Funktion
1760 holgerb 270
 
271
  if(CalculateServoSignals == 1)
272
   {
2177 - 273
        if (Parameter_UserParam7 < 50)  // MartinR: um per UserParameter den Nickausgleich abzuschalten
274
                {
275
                //nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; // MartinR: so war es
276
                nick = (cosinus * IntegralNick) / 512L - (sinus * IntegralRoll) / 512L; // MartinR: bessere Auflösung
1848 holgerb 277
        nick -= POI_KameraNick * 7;
2177 - 278
                }
1763 killagreg 279
                nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L;
2010 holgerb 280
                // offset (Range from 0 to 255 * 3 = 765)
1763 killagreg 281
                ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed;
2010 holgerb 282
                if(EE_Parameter.ServoCompInvert & 0x01) // inverting movement of servo
283
                {      
284
                        nick = ServoNickOffset / 16 + nick;
1763 killagreg 285
                }
286
                else
2010 holgerb 287
                {       // inverting movement of servo
288
                        nick = ServoNickOffset / 16 - nick;
1763 killagreg 289
                }
2012 holgerb 290
                if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1);
2010 holgerb 291
                else                     ServoNickValue = nick;
1763 killagreg 292
                // limit servo value to its parameter range definition
2040 holgerb 293
                if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER))
1763 killagreg 294
                {
295
                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
296
                }
297
                else
2040 holgerb 298
                if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER))
1763 killagreg 299
                {
300
                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
301
                }
302
                if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++;
1760 holgerb 303
        }
304
        else
305
        {
2177 - 306
                if (Parameter_UserParam7 < 100)  // MartinR: um per UserParameter den Nickausgleich abzuschalten
307
                {
308
        //roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; // MartinR: so war es
309
                roll = (cosinus * IntegralRoll) / 512L + (sinus * IntegralNick) / 512L; // MartinR: bessere Auflösung
310
                }
1763 killagreg 311
        roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L;
312
                ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed;
313
                if(EE_Parameter.ServoCompInvert & 0x02)
314
                {       // inverting movement of servo
2010 holgerb 315
                        roll = ServoRollOffset / 16 + roll;
1763 killagreg 316
                }
317
                else
2010 holgerb 318
                {       // inverting movement of servo
319
                        roll = ServoRollOffset / 16 - roll;
1763 killagreg 320
                }
2012 holgerb 321
                if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1);
2010 holgerb 322
                else                     ServoRollValue = roll;
1763 killagreg 323
                // limit servo value to its parameter range definition
2040 holgerb 324
                if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER))
1763 killagreg 325
                {
326
                        ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
327
                }
328
                else
2040 holgerb 329
                if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER))
1763 killagreg 330
                {
331
                        ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
332
                }
2177 - 333
 
334
                // MartinR: Filterung der Pan- Funktion
335
                ServoPanOffset += ((int16_t)Parameter_Servo4 * (MULTIPLYER*16) - ServoPanOffset) / EE_Parameter.ServoManualControlSpeed;
336
                ServoPanValue = (int16_t)ServoPanOffset/16; // offset (Range from 0 to 255 * 3 = 765)
337
 
1763 killagreg 338
                CalculateServoSignals = 0;
1760 holgerb 339
        }
340
}
341
 
1156 hbuss 342
ISR(TIMER2_COMPA_vect)
343
{
344
        // frame len 22.5 ms = 14063 * 1.6 us
345
        // stop pulse: 0.3 ms = 188 * 1.6 us
346
        // min servo pulse: 0.6 ms =  375 * 1.6 us
347
        // max servo pulse: 2.4 ms = 1500 * 1.6 us
348
        // resolution: 1500 - 375 = 1125 steps
349
 
350
        #define IRS_RUNTIME 127
351
        #define PPM_STOPPULSE 188
1171 hbuss 352
    #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156 hbuss 353
        #define MINSERVOPULSE 375
354
        #define MAXSERVOPULSE 1500
355
        #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
356
 
357
        static uint8_t  PulseOutput = 0;
358
        static uint16_t ServoFrameTime = 0;
359
        static uint8_t  ServoIndex = 0;
360
 
361
 
362
        if(PlatinenVersion < 20)
363
        {
364
                //---------------------------
365
                // Nick servo state machine
366
                //---------------------------
367
                if(!PulseOutput) // pulse output complete
368
                {
369
                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse
370
                        {
371
                                TCCR2A &= ~(1<<COM2A0);// make a high pulse
372
                                RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
373
                                RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
374
                                // range servo pulse width
375
                                if(RemainingPulse > MAXSERVOPULSE )                     RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
376
                                else if(RemainingPulse < MINSERVOPULSE )        RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
377
                                // accumulate time for correct update rate
378
                                ServoFrameTime = RemainingPulse;
379
                        }
380
                        else // we had a high pulse
381
                        {
382
                                TCCR2A |= (1<<COM2A0); // make a low pulse
383
                                RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
1763 killagreg 384
                                CalculateServoSignals = 1;
1156 hbuss 385
                        }
386
                        // set pulse output active
387
                        PulseOutput = 1;
388
                }
389
        } // EOF Nick servo state machine
390
        else
391
        {
392
                //-----------------------------------------------------
393
                // PPM state machine, onboard demultiplexed by HEF4017
394
                //-----------------------------------------------------
395
                if(!PulseOutput) // pulse output complete
396
                {
397
                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse
398
                        {
399
                                TCCR2A &= ~(1<<COM2A0);// make a high pulse
400
                                if(ServoIndex == 0) // if we are at the sync gap
401
                                {
402
                                        RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
403
                                        ServoFrameTime = 0; // reset servo frame time
2146 holgerb 404
                                        HEF4017Reset_ON; // enable HEF4017 reset
1156 hbuss 405
                                }
2166 holgerb 406
                                else // servo channels 
407
                                if(ServoIndex > EE_Parameter.ServoNickRefresh)  
408
                                 {
409
                                  RemainingPulse = 10; // end it here
410
                                 }
411
                                else
1156 hbuss 412
                                {
413
                                        RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
414
                                        switch(ServoIndex) // map servo channels
415
                                        {
2166 holgerb 416
                                         case 1: // Nick Compensation Servo
1156 hbuss 417
                                                        RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
418
                                                        break;
1224 hbuss 419
                                         case 2: // Roll Compensation Servo
420
                                                        RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
1232 hbuss 421
                                                        break;
1565 killagreg 422
                                         case 3:
423
                                                        RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403 hbuss 424
                                                        break;
1543 killagreg 425
                                         case 4:
2177 - 426
                                                        //RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; // MartinR: so war es
427
                                                        RemainingPulse += ServoPanValue - (256 / 2) * MULTIPLYER; // MartinR: zur Filterung der Pan-Funktion
1403 hbuss 428
                                                        break;
1543 killagreg 429
                                         case 5:
1565 killagreg 430
                                                        RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403 hbuss 431
                                                        break;
1156 hbuss 432
                                                default: // other servo channels
433
                                                        RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
434
                                                        break;
435
                                        }
436
                                        // range servo pulse width
2166 holgerb 437
                                        if(RemainingPulse > MAXSERVOPULSE)                      RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
438
                                        else if(RemainingPulse < MINSERVOPULSE)     RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
1156 hbuss 439
                                        // substract stop pulse width
440
                                        RemainingPulse -= PPM_STOPPULSE;
441
                                        // accumulate time for correct sync gap
442
                                        ServoFrameTime += RemainingPulse;
443
                                }
444
                        }
445
                        else // we had a high pulse
446
                        {
447
                                TCCR2A |= (1<<COM2A0); // make a low pulse
448
                                // set pulsewidth to stop pulse width
449
                                RemainingPulse = PPM_STOPPULSE;
450
                                // accumulate time for correct sync gap
451
                                ServoFrameTime += RemainingPulse;
2146 holgerb 452
                                if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset
453
                                else HEF4017Reset_ON;
2166 holgerb 454
                                ServoIndex++;
455
                                if(ServoIndex > EE_Parameter.ServoNickRefresh+1)
1763 killagreg 456
                                  {
457
                                    CalculateServoSignals = 1;
1760 holgerb 458
                                        ServoIndex = 0; // reset to the sync gap
459
                                  }
1156 hbuss 460
                        }
461
                        // set pulse output active
462
                        PulseOutput = 1;
463
                }
464
        } // EOF PPM state machine
465
 
466
        // General pulse output generator
467
        if(RemainingPulse > (255 + IRS_RUNTIME))
468
        {
469
                OCR2A = 255;
470
                RemainingPulse -= 255;
910 hbuss 471
        }
1156 hbuss 472
        else
473
        {
474
                if(RemainingPulse > 255) // this is the 2nd last part
475
                {
476
                        if((RemainingPulse - 255) < IRS_RUNTIME)
477
                        {
478
                                OCR2A = 255 - IRS_RUNTIME;
479
                                RemainingPulse -= 255 - IRS_RUNTIME;
480
 
481
                        }
482
                        else // last part > ISR_RUNTIME
483
                        {
484
                                OCR2A = 255;
485
                                RemainingPulse -= 255;
486
                        }
487
                }
488
                else // this is the last part
489
                {
490
                        OCR2A = RemainingPulse;
491
                        RemainingPulse = 0;
492
                        PulseOutput = 0; // trigger to stop pulse
493
                }
494
        } // EOF general pulse output generator
1111 hbuss 495
}