WebSVN - FlightCtrl - Blame - Rev 1651 - /branches/V0.91L_ACC-HH

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
1561	killagreg	29	ISR(TIMER0_OVF_vect) // 9,7kHz
1	ingob	30	{
1643	holgerb	31	static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0;
		32	unsigned char pieper_ein = 0;
723	hbuss	33	if(SendSPI) SendSPI--;
1469	killagreg	34	if(SpektrumTimer) SpektrumTimer--;
1	ingob	35	if(!cnt--)
		36	{
1105	killagreg	37	cnt = 9;
1643	holgerb	38	CountMilliseconds++;
1	ingob	39	cnt_1ms++;
		40	cnt_1ms %= 2;
1643	holgerb	41
1	ingob	42	if(!cnt_1ms) UpdateMotor = 1;
1643	holgerb	43	if(!PINC & 0x10) compass_active = 1;
		44
		45	if(beeptime >= 10)
1	ingob	46	{
1643	holgerb	47	beeptime -= 10;
1105	killagreg	48	if(beeptime & BeepMuster)
173	holgerb	49	{
		50	pieper_ein = 1;
		51	}
		52	else pieper_ein = 0;
1	ingob	53	}
1105	killagreg	54	else
1651	killagreg	55	{
173	holgerb	56	pieper_ein = 0;
		57	BeepMuster = 0xffff;
1105	killagreg	58	}
173	holgerb	59	if(pieper_ein)
		60	{
		61	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
		62	else PORTC \|= (1<<7); // Speaker an PORTC.7
		63	}
1105	killagreg	64	else
173	holgerb	65	{
		66	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		67	else PORTC &= ~(1<<7);
1105	killagreg	68	}
1643	holgerb	69	}
		70	if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
1	ingob	71	{
		72	if(PINC & 0x10)
		73	{
1643	holgerb	74	if(++cntKompass > 1000) compass_active = 0;
1	ingob	75	}
		76	else
		77	{
1105	killagreg	78	if((cntKompass) && (cntKompass < 362))
		79	{
693	hbuss	80	cntKompass += cntKompass / 41;
		81	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1469	killagreg	82	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
1105	killagreg	83	}
1	ingob	84	cntKompass = 0;
1105	killagreg	85	}
1	ingob	86	}
		87	}
		88
		89
		90	// -----------------------------------------------------------------------
		91	unsigned int SetDelay (unsigned int t)
		92	{
		93	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	94	return(CountMilliseconds + t + 1);
1	ingob	95	// TIMSK0 \|= _BV(TOIE0);
		96	}
		97
		98	// -----------------------------------------------------------------------
		99	char CheckDelay(unsigned int t)
		100	{
		101	// TIMSK0 &= ~_BV(TOIE0);
		102	return(((t - CountMilliseconds) & 0x8000) >> 9);
		103	// TIMSK0 \|= _BV(TOIE0);
		104	}
		105
		106	// -----------------------------------------------------------------------
		107	void Delay_ms(unsigned int w)
		108	{
		109	unsigned int akt;
		110	akt = SetDelay(w);
		111	while (!CheckDelay(akt));
		112	}
		113
395	hbuss	114	void Delay_ms_Mess(unsigned int w)
		115	{
		116	unsigned int akt;
		117	akt = SetDelay(w);
1166	hbuss	118	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	119	}
		120
1156	hbuss	121	/*****************************************************/
		122	/* Initialize Timer 2 */
		123	/*****************************************************/
		124	// The timer 2 is used to generate the PWM at PD7 (J7)
		125	// to control a camera servo for nick compensation.
		126	void TIMER2_Init(void)
910	hbuss	127	{
1156	hbuss	128	uint8_t sreg = SREG;
		129
		130	// disable all interrupts before reconfiguration
		131	cli();
1469	killagreg	132
1156	hbuss	133	PORTD &= ~(1<<PORTD7); // set PD7 to low
		134
		135	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	136	HEF4017R_ON;
1156	hbuss	137	// Timer/Counter 2 Control Register A
		138
		139	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		140	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		141	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		142	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		143	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		144
		145	// Timer/Counter 2 Control Register B
		146
		147	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		148	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		149	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		150
		151	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		152	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		153	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		154
		155	// Initialize the Timer/Counter 2 Register
		156	TCNT2 = 0;
		157
		158	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		159	OCR2A = 255;
		160	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		161
		162	// Timer/Counter 2 Interrupt Mask Register
		163	// Enable timer output compare match A Interrupt only
		164	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		165	TIMSK2 \|= (1<<OCIE2A);
		166
		167	SREG = sreg;
910	hbuss	168	}
		169
1156	hbuss	170	//----------------------------
		171	void Timer_Init(void)
1	ingob	172	{
1156	hbuss	173	tim_main = SetDelay(10);
		174	TCCR0B = CK8;
		175	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		176	OCR0A = 0;
1638	holgerb	177	OCR0B = 180;
1156	hbuss	178	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		179	//OCR1 = 0x00;
		180	TIMSK0 \|= _BV(TOIE0);
		181	}
		182
		183
		184	/*****************************************************/
		185	/* Control Servo Position */
		186	/*****************************************************/
		187
		188	ISR(TIMER2_COMPA_vect)
		189	{
		190	// frame len 22.5 ms = 14063 * 1.6 us
		191	// stop pulse: 0.3 ms = 188 * 1.6 us
		192	// min servo pulse: 0.6 ms = 375 * 1.6 us
		193	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		194	// resolution: 1500 - 375 = 1125 steps
		195
		196	#define IRS_RUNTIME 127
		197	#define PPM_STOPPULSE 188
		198	// #define PPM_FRAMELEN (14063
1171	hbuss	199	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	200	#define MINSERVOPULSE 375
		201	#define MAXSERVOPULSE 1500
		202	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		203
		204	static uint8_t PulseOutput = 0;
		205	static uint16_t RemainingPulse = 0;
		206	static uint16_t ServoFrameTime = 0;
		207	static uint8_t ServoIndex = 0;
		208
		209	#define MULTIPLYER 4
		210	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	211	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	212
		213	if(PlatinenVersion < 20)
		214	{
		215	//---------------------------
		216	// Nick servo state machine
		217	//---------------------------
		218	if(!PulseOutput) // pulse output complete
		219	{
		220	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		221	{
		222	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		223	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		224
		225	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		226	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	227	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	228	{ // inverting movement of servo
		229	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		230	}
		231	else
		232	{ // non inverting movement of servo
		233	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		234	}
		235	// limit servo value to its parameter range definition
		236	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		237	{
		238	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		239	}
		240	else
		241	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		242	{
		243	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		244	}
		245
		246	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		247
		248	ServoNickValue /= MULTIPLYER;
		249
		250	// range servo pulse width
		251	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		252	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		253	// accumulate time for correct update rate
		254	ServoFrameTime = RemainingPulse;
		255	}
		256	else // we had a high pulse
		257	{
		258	TCCR2A \|= (1<<COM2A0); // make a low pulse
		259	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		260	}
		261	// set pulse output active
		262	PulseOutput = 1;
		263	}
		264	} // EOF Nick servo state machine
		265	else
		266	{
		267	//-----------------------------------------------------
		268	// PPM state machine, onboard demultiplexed by HEF4017
		269	//-----------------------------------------------------
		270	if(!PulseOutput) // pulse output complete
		271	{
		272	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		273	{
		274	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		275
		276	if(ServoIndex == 0) // if we are at the sync gap
		277	{
		278	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		279	ServoFrameTime = 0; // reset servo frame time
		280	HEF4017R_ON; // enable HEF4017 reset
		281	}
		282	else // servo channels
		283	{
		284	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		285	switch(ServoIndex) // map servo channels
		286	{
		287	case 1: // Nick Compensation Servo
		288	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		289	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	290	if(EE_Parameter.ServoCompInvert & 0x01)
1156	hbuss	291	{ // inverting movement of servo
		292	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		293	}
		294	else
		295	{ // non inverting movement of servo
		296	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		297	}
		298	// limit servo value to its parameter range definition
		299	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		300	{
		301	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		302	}
		303	else
		304	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		305	{
		306	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		307	}
		308	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		309	ServoNickValue /= MULTIPLYER;
		310	break;
1224	hbuss	311	case 2: // Roll Compensation Servo
1232	hbuss	312	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
1224	hbuss	313	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
1232	hbuss	314	if(EE_Parameter.ServoCompInvert & 0x02)
1224	hbuss	315	{ // inverting movement of servo
1232	hbuss	316	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	317	}
		318	else
		319	{ // non inverting movement of servo
1232	hbuss	320	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	321	}
1232	hbuss	322	// limit servo value to its parameter range definition
1224	hbuss	323	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		324	{
		325	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		326	}
		327	else
		328	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		329	{
		330	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		331	}
		332	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		333	ServoRollValue /= MULTIPLYER;
		334	//DebugOut.Analog[20] = ServoRollValue;
1232	hbuss	335	break;
1565	killagreg	336	case 3:
		337	RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403	hbuss	338	break;
1543	killagreg	339	case 4:
1565	killagreg	340	RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403	hbuss	341	break;
1543	killagreg	342	case 5:
1565	killagreg	343	RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403	hbuss	344	break;
1156	hbuss	345	default: // other servo channels
		346	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		347	break;
		348	}
		349	// range servo pulse width
		350	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		351	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		352	// substract stop pulse width
		353	RemainingPulse -= PPM_STOPPULSE;
		354	// accumulate time for correct sync gap
		355	ServoFrameTime += RemainingPulse;
		356	}
		357	}
		358	else // we had a high pulse
		359	{
		360	TCCR2A \|= (1<<COM2A0); // make a low pulse
		361	// set pulsewidth to stop pulse width
		362	RemainingPulse = PPM_STOPPULSE;
		363	// accumulate time for correct sync gap
		364	ServoFrameTime += RemainingPulse;
1171	hbuss	365	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1232	hbuss	366	else HEF4017R_ON;
1156	hbuss	367	ServoIndex++; // change to next servo channel
		368	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		369	}
		370	// set pulse output active
		371	PulseOutput = 1;
		372	}
		373	} // EOF PPM state machine
		374
		375	// General pulse output generator
		376	if(RemainingPulse > (255 + IRS_RUNTIME))
		377	{
		378	OCR2A = 255;
		379	RemainingPulse -= 255;
910	hbuss	380	}
1156	hbuss	381	else
		382	{
		383	if(RemainingPulse > 255) // this is the 2nd last part
		384	{
		385	if((RemainingPulse - 255) < IRS_RUNTIME)
		386	{
		387	OCR2A = 255 - IRS_RUNTIME;
		388	RemainingPulse -= 255 - IRS_RUNTIME;
		389
		390	}
		391	else // last part > ISR_RUNTIME
		392	{
		393	OCR2A = 255;
		394	RemainingPulse -= 255;
		395	}
		396	}
		397	else // this is the last part
		398	{
		399	OCR2A = RemainingPulse;
		400	RemainingPulse = 0;
		401	PulseOutput = 0; // trigger to stop pulse
		402	}
		403	} // EOF general pulse output generator
1111	hbuss	404	}

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(root)/branches/V0.91L_ACC-HH_MartinR/timer0.c - Rev 1651