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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

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// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include "eeprom.h"

#include "uart0.h"

#include "rc.h"

#include "attitude.h"

volatile int16_t ServoPitchValue = 0;

volatile int16_t ServoRollValue = 0;

volatile uint8_t ServoActive = 0;

#define HEF4017R_ON     PORTC |=  (1<<PORTC6)

#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)

/*****************************************************

 *              Initialize Timer 2                  

 *****************************************************/

// The timer 2 is used to generate the PWM at PD7 (J7)

// to control a camera servo for pitch compensation.

void timer2_init(void) {

        uint8_t sreg = SREG;

        // disable all interrupts before reconfiguration

        cli();

        // set PD7 as output of the PWM for pitch servo

        DDRD |= (1 << DDD7);

        PORTD &= ~(1 << PORTD7); // set PD7 to low

        DDRC |= (1 << DDC6); // set PC6 as output (Reset for HEF4017)

        //PORTC &= ~(1<<PORTC6);        // set PC6 to low

        HEF4017R_ON; // enable reset

        // Timer/Counter 2 Control Register A

        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)

        // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)

        // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)

        TCCR2A &= ~((1 << COM2A1) | (1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0));

        TCCR2A |= (1 << WGM21) | (1 << WGM20);

        // Timer/Counter 2 Control Register B

        // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz

        // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us

        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms

        // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)

        TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS22));

        TCCR2B |= (1 << CS21) | (1 << CS20) | (1 << WGM22);

        // Initialize the Timer/Counter 2 Register

        TCNT2 = 0;

        // Initialize the Output Compare Register A used for PWM generation on port PD7.

        OCR2A = 255;

        TCCR2A |= (1 << COM2A1); // set or clear at compare match depends on value of COM2A0

        // Timer/Counter 2 Interrupt Mask Register

        // Enable timer output compare match A Interrupt only

        TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2));

        TIMSK2 |= (1 << OCIE2A);

        SREG = sreg;

}

void Servo_On(void) {

        ServoActive = 1;

}

void Servo_Off(void) {

        ServoActive = 0;

        HEF4017R_ON; // enable reset

}

/*****************************************************

 * Control Servo Position              

 *****************************************************/

ISR(TIMER2_COMPA_vect)

{

        // frame len 22.5 ms = 14063 * 1.6 us

        // stop pulse: 0.3 ms = 188 * 1.6 us

        // min servo pulse: 0.6 ms =  375 * 1.6 us

        // max servo pulse: 2.4 ms = 1500 * 1.6 us

        // resolution: 1500 - 375 = 1125 steps

#define PPM_STOPPULSE 188

#define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel

#define MINSERVOPULSE 375

#define MAXSERVOPULSE 1500

#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)

        static uint8_t isGeneratingPulse = 0;

        static uint16_t remainingPulseLength = 0;

        static uint16_t ServoFrameTime = 0;

        static uint8_t ServoIndex = 0;

#define MULTIPLIER 4

        static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position

        static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position

#endif

#ifdef USE_NON_4017_SERVO_OUTPUTS 

        //---------------------------

        // Pitch servo state machine

        //---------------------------

        if (!isGeneratingPulse) { // pulse output complete on _next_ interrupt

                if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse

                        TCCR2A &= ~(1<<COM2A0); // make a low pulse on _next_ interrupt, and now

                        remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms

                        ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset

                        if(staticParams.ServoPitchCompInvert & 0x01) {

                                // inverting movement of servo

                                // todo: function.

                                ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));

                        } else {

                                // todo: function.

                                // non inverting movement of servo

                                ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));

                        }

                        // limit servo value to its parameter range definition

                        if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) {

                                ServoPitchValue = (int16_t)staticParams.ServoPitchMin;

                        } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) {

                                ServoPitchValue = (int16_t)staticParams.ServoPitchMax;

                        }

                        remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position

                        // range servo pulse width

                        if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit

                        else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit

                        // accumulate time for correct update rate

                        ServoFrameTime = remainingPulseLength;

                } else { // we had a high pulse

                        TCCR2A |= (1<<COM2A0); // make a low pulse

                        remainingPulseLength = PPM_FRAMELEN - ServoFrameTime;

                }

                // set pulse output active

                isGeneratingPulse = 1;

        } // EOF Pitch servo state machine

#elseif defined(USE_4017_SERVOS)

        //-----------------------------------------------------

        // PPM state machine, onboard demultiplexed by HEF4017

        //-----------------------------------------------------

        if(!isGeneratingPulse) { // pulse output complete

                if(TCCR2A & (1<<COM2A0)) { // we had a low pulse

                        TCCR2A &= ~(1<<COM2A0);// make a high pulse

                        if(ServoIndex == 0) { // if we are at the sync gap

                                remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time

                                ServoFrameTime = 0; // reset servo frame time

                                HEF4017R_ON; // enable HEF4017 reset

                        } else { // servo channels

                                remainingPulseLength = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms

                                switch(ServoIndex) { // map servo channels

                                        case 1: // Pitch Compensation Servo

                                        ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset

                                        ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765)

                                        if(staticParams.ServoPitchCompInvert & 0x01) {

                                                // inverting movement of servo

                                                ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );

                                        } else { // non inverting movement of servo

                                                ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );

                                        }

                                        // limit servo value to its parameter range definition

                                        if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {

                                                ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;

                                        } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {

                                                ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;

                                        }

                                        remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position

                                        ServoPitchValue /= MULTIPLIER;

                                        break;

                                        case 2: // Roll Compensation Servo

                                        ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset

                                        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)

                                        //if(staticParams.ServoRollCompInvert & 0x01)

                                        { // inverting movement of servo

                                                ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) );

                                        }

                                        /*                                                      else

                                         {      // non inverting movement of servo

                                         ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) );

                                         }

                                         */// limit servo value to its parameter range definition

                                        if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {

                                                ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;

                                        } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {

                                                ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;

                                        }

                                        remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position

                                        ServoRollValue /= MULTIPLIER;

                                        break;

                                        default: // other servo channels

                                        remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs

                                        break;

                                }

                                // range servo pulse width

                                if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit

                                else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit

                                // substract stop pulse width

                                remainingPulseLength -= PPM_STOPPULSE;

                                // accumulate time for correct sync gap

                                ServoFrameTime += remainingPulseLength;

                        }

                } else { // we had a high pulse

                        TCCR2A |= (1<<COM2A0); // make a low pulse

                        // set pulsewidth to stop pulse width

                        remainingPulseLength = PPM_STOPPULSE;

                        // accumulate time for correct sync gap

                        ServoFrameTime += remainingPulseLength;

                        if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset

                        ServoIndex++; // change to next servo channel

                        if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap

                }

                // set pulse output active

                isGeneratingPulse = 1;

        }

#endif

        /*

         * Cases:

         * 1) 255 + 128 <= remainingPulseLength --> delta = 255

         * 2) 255 <= remainingPulseLength < 255 + 128 --> delta = 255 - 128

         *    this is to avoid a too short delta on the last cycle, which would cause

         *    an interupt-on-interrupt condition and the loss of the last interrupt.

         * 3) remainingPulseLength < 255 --> delta = remainingPulseLength

         */

#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)

        uint8_t delta;

        if (remainingPulseLength >= (255 + 128)) {

                delta = 255;

        } else if (remainingPulseLength >= 255) {

                delta = 255- 128;

        } else {

                delta = remainingPulseLength;

                isGeneratingPulse = 0; // trigger to stop pulse

        }

        OCR2A = delta;

        remainingPulseLength -= delta;

#endif

}