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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1233 | thjac | 1 | #include "main.h" |
| 2 | #include "parameter.h" |
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| 3 | |||
| 4 | volatile unsigned int CountMilliseconds = 0; |
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| 5 | volatile static unsigned int tim_main; |
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| 6 | volatile unsigned char UpdateMotor = 0; |
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| 7 | volatile unsigned int cntKompass = 0; |
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| 8 | volatile unsigned int beeptime = 0; |
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| 9 | volatile unsigned char SendSPI = 0, ServoActive = 0; |
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| 10 | |||
| 11 | unsigned int BeepMuster = 0xffff; |
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| 12 | int ServoValue = 0; |
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| 13 | |||
| 14 | volatile int16_t ServoNickValue = 0; |
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| 15 | volatile int16_t ServoRollValue = 0; |
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| 16 | |||
| 17 | |||
| 18 | enum { |
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| 19 | STOP = 0, |
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| 20 | CK = 1, |
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| 21 | CK8 = 2, |
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| 22 | CK64 = 3, |
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| 23 | CK256 = 4, |
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| 24 | CK1024 = 5, |
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| 25 | T0_FALLING_EDGE = 6, |
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| 26 | T0_RISING_EDGE = 7 |
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| 27 | }; |
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| 28 | |||
| 29 | |||
| 30 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 31 | { |
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| 32 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 33 | unsigned char pieper_ein = 0; |
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| 34 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 35 | if(SendSPI) SendSPI--; |
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| 36 | if(!cnt--) |
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| 37 | { |
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| 38 | cnt = 9; |
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| 39 | cnt_1ms++; |
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| 40 | cnt_1ms %= 2; |
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| 41 | if(!cnt_1ms) UpdateMotor = 1; |
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| 42 | CountMilliseconds++; |
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| 43 | } |
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| 44 | |||
| 45 | if(beeptime > 1) |
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| 46 | { |
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| 47 | beeptime--; |
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| 48 | if(beeptime & BeepMuster) |
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| 49 | { |
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| 50 | pieper_ein = 1; |
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| 51 | } |
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| 52 | else pieper_ein = 0; |
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| 53 | } |
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| 54 | else |
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| 55 | { |
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| 56 | pieper_ein = 0; |
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| 57 | BeepMuster = 0xffff; |
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| 58 | } |
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| 59 | |||
| 60 | |||
| 61 | if(pieper_ein) |
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| 62 | { |
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| 63 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 64 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 65 | } |
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| 66 | else |
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| 67 | { |
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| 68 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 69 | else PORTC &= ~(1<<7); |
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| 70 | } |
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| 71 | |||
| 72 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 73 | { |
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| 74 | if(PINC & 0x10) |
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| 75 | { |
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| 76 | cntKompass++; |
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| 77 | } |
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| 78 | else |
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| 79 | { |
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| 80 | if((cntKompass) && (cntKompass < 362)) |
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| 81 | { |
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| 82 | cntKompass += cntKompass / 41; |
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| 83 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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| 84 | } |
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| 85 | // if(cntKompass < 10) cntKompass = 10; |
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| 86 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 87 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 88 | cntKompass = 0; |
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| 89 | } |
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| 90 | } |
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| 91 | } |
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| 92 | |||
| 93 | |||
| 94 | // ----------------------------------------------------------------------- |
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| 95 | |||
| 96 | unsigned int SetDelay (unsigned int t) |
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| 97 | { |
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| 98 | // TIMSK0 &= ~_BV(TOIE0); |
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| 99 | return(CountMilliseconds + t + 1); |
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| 100 | // TIMSK0 |= _BV(TOIE0); |
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| 101 | } |
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| 102 | |||
| 103 | // ----------------------------------------------------------------------- |
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| 104 | char CheckDelay(unsigned int t) |
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| 105 | { |
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| 106 | // TIMSK0 &= ~_BV(TOIE0); |
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| 107 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 108 | // TIMSK0 |= _BV(TOIE0); |
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| 109 | } |
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| 110 | |||
| 111 | // ----------------------------------------------------------------------- |
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| 112 | void Delay_ms(unsigned int w) |
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| 113 | { |
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| 114 | unsigned int akt; |
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| 115 | akt = SetDelay(w); |
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| 116 | while (!CheckDelay(akt)); |
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| 117 | } |
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| 118 | |||
| 119 | void Delay_ms_Mess(unsigned int w) |
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| 120 | { |
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| 121 | unsigned int akt; |
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| 122 | akt = SetDelay(w); |
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| 123 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
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| 124 | } |
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| 125 | |||
| 126 | /*****************************************************/ |
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| 127 | /* Initialize Timer 2 */ |
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| 128 | /*****************************************************/ |
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| 129 | // The timer 2 is used to generate the PWM at PD7 (J7) |
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| 130 | // to control a camera servo for nick compensation. |
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| 131 | void TIMER2_Init(void) |
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| 132 | { |
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| 133 | uint8_t sreg = SREG; |
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| 134 | |||
| 135 | // disable all interrupts before reconfiguration |
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| 136 | cli(); |
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| 137 | |||
| 138 | // set PD7 as output of the PWM for nick servo |
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| 139 | DDRD |= (1<<DDD7); |
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| 140 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
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| 141 | |||
| 142 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
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| 143 | HEF4017R_ON; |
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| 144 | // Timer/Counter 2 Control Register A |
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| 145 | |||
| 146 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
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| 147 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
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| 148 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
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| 149 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
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| 150 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
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| 151 | |||
| 152 | // Timer/Counter 2 Control Register B |
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| 153 | |||
| 154 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
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| 155 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
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| 156 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
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| 157 | |||
| 158 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
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| 159 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
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| 160 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
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| 161 | |||
| 162 | // Initialize the Timer/Counter 2 Register |
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| 163 | TCNT2 = 0; |
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| 164 | |||
| 165 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
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| 166 | OCR2A = 255; |
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| 167 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
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| 168 | |||
| 169 | // Timer/Counter 2 Interrupt Mask Register |
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| 170 | // Enable timer output compare match A Interrupt only |
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| 171 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
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| 172 | TIMSK2 |= (1<<OCIE2A); |
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| 173 | |||
| 174 | SREG = sreg; |
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| 175 | } |
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| 176 | |||
| 177 | //---------------------------- |
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| 178 | void Timer_Init(void) |
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| 179 | { |
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| 180 | tim_main = SetDelay(10); |
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| 181 | TCCR0B = CK8; |
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| 182 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 183 | OCR0A = 0; |
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| 184 | OCR0B = 120; |
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| 185 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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| 186 | //OCR1 = 0x00; |
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| 187 | |||
| 188 | TIMSK0 |= _BV(TOIE0); |
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| 189 | } |
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| 190 | |||
| 191 | |||
| 192 | /*****************************************************/ |
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| 193 | /* Control Servo Position */ |
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| 194 | /*****************************************************/ |
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| 195 | |||
| 196 | ISR(TIMER2_COMPA_vect) |
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| 197 | { |
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| 198 | |||
| 199 | // frame len 22.5 ms = 14063 * 1.6 us |
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| 200 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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| 201 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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| 202 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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| 203 | // resolution: 1500 - 375 = 1125 steps |
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| 204 | |||
| 205 | #define IRS_RUNTIME 127 |
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| 206 | #define PPM_STOPPULSE 188 |
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| 207 | // #define PPM_FRAMELEN (14063 |
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| 208 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
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| 209 | #define MINSERVOPULSE 375 |
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| 210 | #define MAXSERVOPULSE 1500 |
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| 211 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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| 212 | |||
| 213 | static uint8_t PulseOutput = 0; |
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| 214 | static uint16_t RemainingPulse = 0; |
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| 215 | static uint16_t ServoFrameTime = 0; |
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| 216 | static uint8_t ServoIndex = 0; |
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| 217 | |||
| 218 | #define MULTIPLYER 4 |
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| 219 | static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
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| 220 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
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| 221 | |||
| 222 | if(PlatinenVersion < 20) |
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| 223 | { |
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| 224 | //--------------------------- |
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| 225 | // Nick servo state machine |
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| 226 | //--------------------------- |
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| 227 | if(!PulseOutput) // pulse output complete |
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| 228 | { |
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| 229 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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| 230 | { |
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| 231 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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| 232 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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| 233 | |||
| 234 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
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| 235 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
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| 236 | if(EE_Parameter.ServoNickCompInvert & 0x01) |
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| 237 | { // inverting movement of servo |
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| 238 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
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| 239 | } |
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| 240 | else |
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| 241 | { // non inverting movement of servo |
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| 242 | ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
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| 243 | } |
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| 244 | // limit servo value to its parameter range definition |
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| 245 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
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| 246 | { |
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| 247 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
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| 248 | } |
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| 249 | else |
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| 250 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
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| 251 | { |
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| 252 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
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| 253 | } |
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| 254 | |||
| 255 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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| 256 | |||
| 257 | ServoNickValue /= MULTIPLYER; |
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| 258 | DebugOut.Analog[20] = ServoNickValue; |
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| 259 | |||
| 260 | // range servo pulse width |
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| 261 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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| 262 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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| 263 | // accumulate time for correct update rate |
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| 264 | ServoFrameTime = RemainingPulse; |
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| 265 | } |
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| 266 | else // we had a high pulse |
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| 267 | { |
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| 268 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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| 269 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
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| 270 | } |
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| 271 | // set pulse output active |
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| 272 | PulseOutput = 1; |
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| 273 | } |
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| 274 | } // EOF Nick servo state machine |
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| 275 | else |
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| 276 | { |
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| 277 | //----------------------------------------------------- |
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| 278 | // PPM state machine, onboard demultiplexed by HEF4017 |
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| 279 | //----------------------------------------------------- |
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| 280 | if(!PulseOutput) // pulse output complete |
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| 281 | { |
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| 282 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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| 283 | { |
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| 284 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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| 285 | |||
| 286 | if(ServoIndex == 0) // if we are at the sync gap |
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| 287 | { |
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| 288 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
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| 289 | ServoFrameTime = 0; // reset servo frame time |
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| 290 | HEF4017R_ON; // enable HEF4017 reset |
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| 291 | } |
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| 292 | else // servo channels |
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| 293 | { |
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| 294 | long integral; |
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| 295 | |||
| 296 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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| 297 | switch(ServoIndex) // map servo channels |
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| 298 | { |
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| 299 | case 1: // Nick Compensation Servo |
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| 300 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
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| 301 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
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| 302 | |||
| 303 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
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| 304 | * umschalten (sh. parameter.h) |
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| 305 | */ |
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| 306 | if (PARAM_X_FORMATION) |
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| 307 | integral = IntegralNick - IntegralRoll; |
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| 308 | else |
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| 309 | integral = IntegralNick; |
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| 310 | |||
| 311 | if(EE_Parameter.ServoNickCompInvert & 0x01) |
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| 312 | { // inverting movement of servo |
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| 313 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) ); |
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| 314 | } |
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| 315 | else |
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| 316 | { // non inverting movement of servo |
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| 317 | ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) ); |
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| 318 | } |
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| 319 | // limit servo value to its parameter range definition |
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| 320 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
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| 321 | { |
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| 322 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
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| 323 | } |
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| 324 | else |
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| 325 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
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| 326 | { |
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| 327 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
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| 328 | } |
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| 329 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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| 330 | ServoNickValue /= MULTIPLYER; |
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| 331 | DebugOut.Analog[20] = ServoNickValue; |
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| 332 | break; |
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| 333 | case 2: // Roll Compensation Servo |
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| 334 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset |
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| 335 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
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| 336 | //if(EE_Parameter.ServoRollCompInvert & 0x01) |
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| 337 | { // inverting movement of servo |
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| 338 | ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
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| 339 | } |
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| 340 | /* else |
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| 341 | { // non inverting movement of servo |
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| 342 | ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
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| 343 | } |
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| 344 | */ // limit servo value to its parameter range definition |
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| 345 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
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| 346 | { |
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| 347 | ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
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| 348 | } |
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| 349 | else |
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| 350 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
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| 351 | { |
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| 352 | ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
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| 353 | } |
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| 354 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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| 355 | ServoRollValue /= MULTIPLYER; |
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| 356 | //DebugOut.Analog[20] = ServoRollValue; |
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| 357 | |||
| 358 | /* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
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| 359 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
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| 360 | if(EE_Parameter.ServoRollCompInvert & 0x01) |
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| 361 | { // inverting movement of servo |
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| 362 | ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
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| 363 | } |
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| 364 | else |
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| 365 | { // non inverting movement of servo |
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| 366 | ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
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| 367 | } |
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| 368 | // limit servo value to its parameter range definition |
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| 369 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
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| 370 | { |
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| 371 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
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| 372 | } |
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| 373 | else |
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| 374 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
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| 375 | { |
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| 376 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
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| 377 | } |
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| 378 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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| 379 | ServoRollValue /= MULTIPLYER; |
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| 380 | //DebugOut.Analog[20] = ServoRollValue; |
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| 381 | */ break; |
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| 382 | |||
| 383 | default: // other servo channels |
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| 384 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
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| 385 | break; |
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| 386 | } |
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| 387 | // range servo pulse width |
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| 388 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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| 389 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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| 390 | // substract stop pulse width |
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| 391 | RemainingPulse -= PPM_STOPPULSE; |
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| 392 | // accumulate time for correct sync gap |
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| 393 | ServoFrameTime += RemainingPulse; |
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| 394 | } |
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| 395 | } |
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| 396 | else // we had a high pulse |
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| 397 | { |
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| 398 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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| 399 | // set pulsewidth to stop pulse width |
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| 400 | RemainingPulse = PPM_STOPPULSE; |
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| 401 | // accumulate time for correct sync gap |
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| 402 | ServoFrameTime += RemainingPulse; |
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| 403 | if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset |
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| 404 | ServoIndex++; // change to next servo channel |
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| 405 | if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap |
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| 406 | } |
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| 407 | // set pulse output active |
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| 408 | PulseOutput = 1; |
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| 409 | } |
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| 410 | } // EOF PPM state machine |
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| 411 | |||
| 412 | // General pulse output generator |
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| 413 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
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| 414 | { |
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| 415 | OCR2A = 255; |
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| 416 | RemainingPulse -= 255; |
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| 417 | } |
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| 418 | else |
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| 419 | { |
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| 420 | if(RemainingPulse > 255) // this is the 2nd last part |
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| 421 | { |
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| 422 | if((RemainingPulse - 255) < IRS_RUNTIME) |
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| 423 | { |
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| 424 | OCR2A = 255 - IRS_RUNTIME; |
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| 425 | RemainingPulse -= 255 - IRS_RUNTIME; |
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| 426 | |||
| 427 | } |
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| 428 | else // last part > ISR_RUNTIME |
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| 429 | { |
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| 430 | OCR2A = 255; |
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| 431 | RemainingPulse -= 255; |
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| 432 | } |
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| 433 | } |
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| 434 | else // this is the last part |
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| 435 | { |
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| 436 | OCR2A = RemainingPulse; |
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| 437 | RemainingPulse = 0; |
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| 438 | PulseOutput = 0; // trigger to stop pulse |
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| 439 | } |
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| 440 | } // EOF general pulse output generator |
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| 441 | } |