Subversion Repositories FlightCtrl

#include "main.h"

#define MULTIPLYER 4

volatile unsigned int CountMilliseconds = 0;

volatile static unsigned int tim_main;

volatile unsigned char UpdateMotor = 0;

volatile unsigned int cntKompass = 0;

volatile unsigned int beeptime = 0;

volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1;

uint16_t RemainingPulse = 0;

volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon

volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon

unsigned int BeepMuster = 0xffff;

volatile int16_t	ServoNickValue = 0;

volatile int16_t	ServoRollValue = 0;

enum {

  STOP             = 0,

  CK               = 1,

  CK8              = 2,

  CK64             = 3,

  CK256            = 4,

  CK1024           = 5,

  T0_FALLING_EDGE  = 6,

  T0_RISING_EDGE   = 7

};

ISR(TIMER0_OVF_vect)    // 9,7kHz

{

   static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0;

   unsigned char pieper_ein = 0;

   if(SendSPI) SendSPI--;

   if(SpektrumTimer) SpektrumTimer--;

   if(!cnt--)

    {

     cnt = 9;

     CountMilliseconds++;

     cnt_1ms++;

     cnt_1ms %= 2;

     if(!cnt_1ms) UpdateMotor = 1;

	 if(!(PINC & 0x10)) compass_active = 1;

     if(beeptime)

        {

        if(beeptime > 10) beeptime -= 10; else beeptime = 0;

        if(beeptime & BeepMuster)

         {

          pieper_ein = 1;

         }

         else pieper_ein = 0;

        }

     else

      {

       pieper_ein = 0;

       BeepMuster = 0xffff;

      }

     if(pieper_ein)

        {

          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2

          else                      PORTC |= (1<<7); // Speaker an PORTC.7

        }

     else

        {

         if(PlatinenVersion == 10) PORTD &= ~(1<<2);

         else                      PORTC &= ~(1<<7);

        }

	}

 if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)

 {

  if(PINC & 0x10)

   {

	if(++cntKompass > 1000) compass_active = 0;

   }

  else

   {

    if((cntKompass) && (cntKompass < 362))

    {

     cntKompass += cntKompass / 41;

     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;

     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;

    }

    cntKompass = 0;

   }

 }

}

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

unsigned int SetDelay (unsigned int t)

{

//  TIMSK0 &= ~_BV(TOIE0);

  return(CountMilliseconds + t + 1);

//  TIMSK0 |= _BV(TOIE0);

}

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

char CheckDelay(unsigned int t)

{

//  TIMSK0 &= ~_BV(TOIE0);

  return(((t - CountMilliseconds) & 0x8000) >> 9);

//  TIMSK0 |= _BV(TOIE0);

}

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

void Delay_ms(unsigned int w)

{

 unsigned int akt;

 akt = SetDelay(w);

 while (!CheckDelay(akt));

}

void Delay_ms_Mess(unsigned int w)

{

 unsigned int akt;

 akt = SetDelay(w);

 while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}

}

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

/*              Initialize Timer 2                   */

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

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

// to control a camera servo for nick compensation.

void TIMER2_Init(void)

{

	uint8_t sreg = SREG;

	// disable all interrupts before reconfiguration

	cli();

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

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

    HEF4017R_ON;

	// 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 Timer_Init(void)

{

    tim_main = SetDelay(10);

    TCCR0B = CK8;

    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM

    OCR0A =  0;

    OCR0B = 180;

    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload

    //OCR1  = 0x00;

    TIMSK0 |= _BV(TOIE0);

}

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

/*              Control Servo Position               */

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

void CalculateServo(void)

{

 signed char cosinus, sinus;

 signed long nick, roll;

	cosinus = sintab[EE_Parameter.CamOrientation + 6];

	sinus = sintab[EE_Parameter.CamOrientation];

  if(CalculateServoSignals == 1)

   {

		nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L;

		nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L;

		ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed;

		ServoNickValue = ServoNickOffset / 16; // offset (Range from 0 to 255 * 3 = 765)

		if(EE_Parameter.ServoCompInvert & 0x01)

		{	// inverting movement of servo

			ServoNickValue += nick;//(int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * nick) / (256L) );

		}

		else

		{	// non inverting movement of servo

			ServoNickValue -= nick;

		}

		// limit servo value to its parameter range definition

		if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )

		{

			ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;

		}

		else

		if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )

		{

			ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;

		}

		if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++;

	}

	else

	{

    	roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L;

    	roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L;

		ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed;

		ServoRollValue = ServoRollOffset/16; // offset (Range from 0 to 255 * 3 = 765)

		if(EE_Parameter.ServoCompInvert & 0x02)

		{	// inverting movement of servo

			ServoRollValue += roll;

		}

		else

		{	// non inverting movement of servo

			ServoRollValue -= roll;

		}

		// limit servo value to its parameter range definition

		if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )

		{

			ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;

		}

		else

		if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )

		{

			ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;

		}

		CalculateServoSignals = 0;

	}

}

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 IRS_RUNTIME 127

	#define PPM_STOPPULSE 188

    #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)

	#define MINSERVOPULSE 375

	#define MAXSERVOPULSE 1500

	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

	static uint8_t  PulseOutput = 0;

	static uint16_t ServoFrameTime = 0;

	static uint8_t  ServoIndex = 0;

	if(PlatinenVersion < 20)

	{

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

		// Nick servo state machine

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

		if(!PulseOutput) // pulse output complete

		{

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

			{

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

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

				RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position

				// range servo pulse width

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

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

				// accumulate time for correct update rate

				ServoFrameTime = RemainingPulse;

			}

			else // we had a high pulse

			{

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

				RemainingPulse = PPM_FRAMELEN - ServoFrameTime;

				CalculateServoSignals = 1;

			}

			// set pulse output active

			PulseOutput = 1;

		}

	} // EOF Nick servo state machine

	else

	{

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

		// PPM state machine, onboard demultiplexed by HEF4017

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

		if(!PulseOutput) // 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

				{

					RemainingPulse = 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

				{

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

					switch(ServoIndex) // map servo channels

					{

						case 1: // Nick Compensation Servo

							RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position

							break;

 					 case 2: // Roll Compensation Servo

							RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position

							break;

					 case 3:

					 		RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;

							break;

					 case 4:

					 		RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER;

							break;

					 case 5:

					 		RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER;

							break;

						default: // other servo channels

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

							break;

					}

					// range servo pulse width

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

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

					// substract stop pulse width

					RemainingPulse -= PPM_STOPPULSE;

					// accumulate time for correct sync gap

					ServoFrameTime += RemainingPulse;

				}

			}

			else // we had a high pulse

			{

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

				// set pulsewidth to stop pulse width

				RemainingPulse = PPM_STOPPULSE;

				// accumulate time for correct sync gap

				ServoFrameTime += RemainingPulse;

				if((ServoActive && SenderOkay > 50) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset

				else HEF4017R_ON;

				ServoIndex++; // change to next servo channel

				if(ServoIndex > EE_Parameter.ServoNickRefresh)

				  {

				    CalculateServoSignals = 1;

					ServoIndex = 0; // reset to the sync gap

				  }

			}

			// set pulse output active

			PulseOutput = 1;

		}

	} // EOF PPM state machine

	// General pulse output generator

	if(RemainingPulse > (255 + IRS_RUNTIME))

	{

		OCR2A = 255;

		RemainingPulse -= 255;

	}

	else

	{

		if(RemainingPulse > 255) // this is the 2nd last part

		{

			if((RemainingPulse - 255) < IRS_RUNTIME)

			{

				OCR2A = 255 - IRS_RUNTIME;

				RemainingPulse -= 255 - IRS_RUNTIME;

			}

			else // last part > ISR_RUNTIME

			{

				OCR2A = 255;

				RemainingPulse -= 255;

			}

		}

		else // this is the last part

		{

			OCR2A = RemainingPulse;

			RemainingPulse = 0;

			PulseOutput = 0; // trigger to stop pulse

		}

	} // EOF general pulse output generator

}