WebSVN - FlightCtrl - Blame - Rev 1263 - /branches/thjac/V1

Rev	Author	Line No.	Line
1263	thjac	1	#include "main.h"
		2	#include "parameter.h"
		3
		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;
		9	volatile unsigned char SendSPI = 0, ServoActive = 0;
		10
		11	unsigned int BeepMuster = 0xffff;
		12	int ServoValue = 0;
		13
		14	volatile int16_t ServoNickValue = 0;
		15	volatile int16_t ServoRollValue = 0;
		16
		17
		18	enum {
		19	STOP = 0,
		20	CK = 1,
		21	CK8 = 2,
		22	CK64 = 3,
		23	CK256 = 4,
		24	CK1024 = 5,
		25	T0_FALLING_EDGE = 6,
		26	T0_RISING_EDGE = 7
		27	};
		28
		29
		30	SIGNAL (SIG_OVERFLOW0) // 8kHz
		31	{
		32	static unsigned char cnt_1ms = 1,cnt = 0;
		33	unsigned char pieper_ein = 0;
		34	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
		35	if(SendSPI) SendSPI--;
		36	if(!cnt--)
		37	{
		38	cnt = 9;
		39	cnt_1ms++;
		40	cnt_1ms %= 2;
		41	if(!cnt_1ms) UpdateMotor = 1;
		42	CountMilliseconds++;
		43	}
		44
		45	if(beeptime > 1)
		46	{
		47	beeptime--;
		48	if(beeptime & BeepMuster)
		49	{
		50	pieper_ein = 1;
		51	}
		52	else pieper_ein = 0;
		53	}
		54	else
		55	{
		56	pieper_ein = 0;
		57	BeepMuster = 0xffff;
		58	}
		59
		60
		61	if(pieper_ein)
		62	{
		63	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
		64	else PORTC \|= (1<<7); // Speaker an PORTC.7
		65	}
		66	else
		67	{
		68	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		69	else PORTC &= ~(1<<7);
		70	}
		71
		72	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		73	{
		74	if(PINC & 0x10)
		75	{
		76	cntKompass++;
		77	}
		78	else
		79	{
		80	if((cntKompass) && (cntKompass < 362))
		81	{
		82	cntKompass += cntKompass / 41;
		83	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
		84	}
		85	// if(cntKompass < 10) cntKompass = 10;
		86	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
		87	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		88	cntKompass = 0;
		89	}
		90	}
		91	}
		92
		93
		94	// -----------------------------------------------------------------------
		95
		96	unsigned int SetDelay (unsigned int t)
		97	{
		98	// TIMSK0 &= ~_BV(TOIE0);
		99	return(CountMilliseconds + t + 1);
		100	// TIMSK0 \|= _BV(TOIE0);
		101	}
		102
		103	// -----------------------------------------------------------------------
		104	char CheckDelay(unsigned int t)
		105	{
		106	// TIMSK0 &= ~_BV(TOIE0);
		107	return(((t - CountMilliseconds) & 0x8000) >> 9);
		108	// TIMSK0 \|= _BV(TOIE0);
		109	}
		110
		111	// -----------------------------------------------------------------------
		112	void Delay_ms(unsigned int w)
		113	{
		114	unsigned int akt;
		115	akt = SetDelay(w);
		116	while (!CheckDelay(akt));
		117	}
		118
		119	void Delay_ms_Mess(unsigned int w)
		120	{
		121	unsigned int akt;
		122	akt = SetDelay(w);
		123	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
		124	}
		125
		126	/*****************************************************/
		127	/* Initialize Timer 2 */
		128	/*****************************************************/
		129	// The timer 2 is used to generate the PWM at PD7 (J7)
		130	// to control a camera servo for nick compensation.
		131	void TIMER2_Init(void)
		132	{
		133	uint8_t sreg = SREG;
		134
		135	// disable all interrupts before reconfiguration
		136	cli();
		137
		138	// set PD7 as output of the PWM for nick servo
		139	DDRD \|= (1<<DDD7);
		140	PORTD &= ~(1<<PORTD7); // set PD7 to low
		141
		142	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
		143	HEF4017R_ON;
		144	// Timer/Counter 2 Control Register A
		145
		146	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		147	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		148	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		149	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		150	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		151
		152	// Timer/Counter 2 Control Register B
		153
		154	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		155	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		156	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		157
		158	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		159	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		160	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		161
		162	// Initialize the Timer/Counter 2 Register
		163	TCNT2 = 0;
		164
		165	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		166	OCR2A = 255;
		167	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		168
		169	// Timer/Counter 2 Interrupt Mask Register
		170	// Enable timer output compare match A Interrupt only
		171	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		172	TIMSK2 \|= (1<<OCIE2A);
		173
		174	SREG = sreg;
		175	}
		176
		177	//----------------------------
		178	void Timer_Init(void)
		179	{
		180	tim_main = SetDelay(10);
		181	TCCR0B = CK8;
		182	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		183	OCR0A = 0;
		184	OCR0B = 120;
		185	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		186	//OCR1 = 0x00;
		187
		188	TIMSK0 \|= _BV(TOIE0);
		189	}
		190
		191
		192	/*****************************************************/
		193	/* Control Servo Position */
		194	/*****************************************************/
		195
		196	ISR(TIMER2_COMPA_vect)
		197	{
		198
		199	// frame len 22.5 ms = 14063 * 1.6 us
		200	// stop pulse: 0.3 ms = 188 * 1.6 us
		201	// min servo pulse: 0.6 ms = 375 * 1.6 us
		202	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		203	// resolution: 1500 - 375 = 1125 steps
		204
		205	#define IRS_RUNTIME 127
		206	#define PPM_STOPPULSE 188
		207	// #define PPM_FRAMELEN (14063
		208	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
		209	#define MINSERVOPULSE 375
		210	#define MAXSERVOPULSE 1500
		211	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		212
		213	static uint8_t PulseOutput = 0;
		214	static uint16_t RemainingPulse = 0;
		215	static uint16_t ServoFrameTime = 0;
		216	static uint8_t ServoIndex = 0;
		217
		218	#define MULTIPLYER 4
		219	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
		220	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
		221
		222	if(PlatinenVersion < 20)
		223	{
		224	//---------------------------
		225	// Nick servo state machine
		226	//---------------------------
		227	if(!PulseOutput) // pulse output complete
		228	{
		229	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		230	{
		231	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		232	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		233
		234	// Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden
		235	if (ServoValue < ((int) EE_Parameter.ServoNickMin * MULTIPLYER))
		236	ServoValue = (int) EE_Parameter.ServoNickMin * MULTIPLYER;
		237	else if (ServoValue > ((int) EE_Parameter.ServoNickMax * MULTIPLYER))
		238	ServoValue = (int) EE_Parameter.ServoNickMax * MULTIPLYER;
		239
		240	long integral;
		241
		242	/* �ber Parameter l��t sich zwischen "+" und "X" - Formations
		243	* umschalten (sh. parameter.h)
		244	*/
		245	if (PARAM_X_FORMATION) {
		246	integral = IntegralNick - IntegralRoll;
		247	} else {
		248	integral = IntegralNick;
		249	}
		250
		251	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		252	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		253	if(EE_Parameter.ServoNickCompInvert & 0x01)
		254	{ // inverting movement of servo
		255	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) );
		256	}
		257	else
		258	{ // non inverting movement of servo
		259	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) );
		260	}
		261
		262	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		263
		264	ServoNickValue /= MULTIPLYER;
		265	DebugOut.Analog[20] = ServoNickValue;
		266
		267	// range servo pulse width
		268	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		269	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		270	// accumulate time for correct update rate
		271	ServoFrameTime = RemainingPulse;
		272	}
		273	else // we had a high pulse
		274	{
		275	TCCR2A \|= (1<<COM2A0); // make a low pulse
		276	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		277	}
		278	// set pulse output active
		279	PulseOutput = 1;
		280	}
		281	} // EOF Nick servo state machine
		282	else
		283	{
		284	//-----------------------------------------------------
		285	// PPM state machine, onboard demultiplexed by HEF4017
		286	//-----------------------------------------------------
		287	if(!PulseOutput) // pulse output complete
		288	{
		289	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		290	{
		291	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		292
		293	if(ServoIndex == 0) // if we are at the sync gap
		294	{
		295	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		296	ServoFrameTime = 0; // reset servo frame time
		297	HEF4017R_ON; // enable HEF4017 reset
		298	}
		299	else // servo channels
		300	{
		301	long integral;
		302
		303	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		304	switch(ServoIndex) // map servo channels
		305	{
		306	case 1: // Nick Compensation Servo
		307	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		308	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		309
		310	/* �ber Parameter l��t sich zwischen "+" und "X" - Formations
		311	* umschalten (sh. parameter.h)
		312	*/
		313	if (PARAM_X_FORMATION)
		314	integral = IntegralNick - IntegralRoll;
		315	else
		316	integral = IntegralNick;
		317
		318	if(EE_Parameter.ServoNickCompInvert & 0x01)
		319	{ // inverting movement of servo
		320	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) );
		321	}
		322	else
		323	{ // non inverting movement of servo
		324	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) );
		325	}
		326	// limit servo value to its parameter range definition
		327	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		328	{
		329	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		330	}
		331	else
		332	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		333	{
		334	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		335	}
		336	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		337	ServoNickValue /= MULTIPLYER;
		338	DebugOut.Analog[20] = ServoNickValue;
		339	break;
		340	case 2: // Roll Compensation Servo
		341	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset
		342	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		343	//if(EE_Parameter.ServoRollCompInvert & 0x01)
		344	{ // inverting movement of servo
		345	ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		346	}
		347	/* else
		348	{ // non inverting movement of servo
		349	ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		350	}
		351	*/ // limit servo value to its parameter range definition
		352	if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		353	{
		354	ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		355	}
		356	else
		357	if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		358	{
		359	ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		360	}
		361	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		362	ServoRollValue /= MULTIPLYER;
		363	//DebugOut.Analog[20] = ServoRollValue;
		364
		365	/* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
		366	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		367	if(EE_Parameter.ServoRollCompInvert & 0x01)
		368	{ // inverting movement of servo
		369	ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		370	}
		371	else
		372	{ // non inverting movement of servo
		373	ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		374	}
		375	// limit servo value to its parameter range definition
		376	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		377	{
		378	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		379	}
		380	else
		381	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		382	{
		383	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		384	}
		385	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		386	ServoRollValue /= MULTIPLYER;
		387	//DebugOut.Analog[20] = ServoRollValue;
		388	*/ break;
		389
		390	default: // other servo channels
		391	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		392	break;
		393	}
		394	// range servo pulse width
		395	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		396	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		397	// substract stop pulse width
		398	RemainingPulse -= PPM_STOPPULSE;
		399	// accumulate time for correct sync gap
		400	ServoFrameTime += RemainingPulse;
		401	}
		402	}
		403	else // we had a high pulse
		404	{
		405	TCCR2A \|= (1<<COM2A0); // make a low pulse
		406	// set pulsewidth to stop pulse width
		407	RemainingPulse = PPM_STOPPULSE;
		408	// accumulate time for correct sync gap
		409	ServoFrameTime += RemainingPulse;
		410	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
		411	ServoIndex++; // change to next servo channel
		412	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		413	}
		414	// set pulse output active
		415	PulseOutput = 1;
		416	}
		417	} // EOF PPM state machine
		418
		419	// General pulse output generator
		420	if(RemainingPulse > (255 + IRS_RUNTIME))
		421	{
		422	OCR2A = 255;
		423	RemainingPulse -= 255;
		424	}
		425	else
		426	{
		427	if(RemainingPulse > 255) // this is the 2nd last part
		428	{
		429	if((RemainingPulse - 255) < IRS_RUNTIME)
		430	{
		431	OCR2A = 255 - IRS_RUNTIME;
		432	RemainingPulse -= 255 - IRS_RUNTIME;
		433
		434	}
		435	else // last part > ISR_RUNTIME
		436	{
		437	OCR2A = 255;
		438	RemainingPulse -= 255;
		439	}
		440	}
		441	else // this is the last part
		442	{
		443	OCR2A = RemainingPulse;
		444	RemainingPulse = 0;
		445	PulseOutput = 0; // trigger to stop pulse
		446	}
		447	} // EOF general pulse output generator
		448	}

Subversion Repositories FlightCtrl

(root)/branches/thjac/V1_13/timer0.c @ 2510 - Rev 1263