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Rev | Author | Line No. | Line |
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1 | ingob | 1 | #include "main.h" |
1760 | holgerb | 2 | #define MULTIPLYER 4 |
1 | ingob | 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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1760 | holgerb | 9 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
10 | uint16_t RemainingPulse = 0; |
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11 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
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12 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
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723 | hbuss | 13 | |
173 | holgerb | 14 | unsigned int BeepMuster = 0xffff; |
1 | ingob | 15 | |
1156 | hbuss | 16 | volatile int16_t ServoNickValue = 0; |
17 | volatile int16_t ServoRollValue = 0; |
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18 | |||
19 | |||
1 | ingob | 20 | enum { |
21 | STOP = 0, |
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22 | CK = 1, |
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23 | CK8 = 2, |
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24 | CK64 = 3, |
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25 | CK256 = 4, |
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26 | CK1024 = 5, |
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27 | T0_FALLING_EDGE = 6, |
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28 | T0_RISING_EDGE = 7 |
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29 | }; |
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30 | |||
31 | |||
1561 | killagreg | 32 | ISR(TIMER0_OVF_vect) // 9,7kHz |
1 | ingob | 33 | { |
1643 | holgerb | 34 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
35 | unsigned char pieper_ein = 0; |
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723 | hbuss | 36 | if(SendSPI) SendSPI--; |
1469 | killagreg | 37 | if(SpektrumTimer) SpektrumTimer--; |
1 | ingob | 38 | if(!cnt--) |
39 | { |
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1105 | killagreg | 40 | cnt = 9; |
1643 | holgerb | 41 | CountMilliseconds++; |
1 | ingob | 42 | cnt_1ms++; |
43 | cnt_1ms %= 2; |
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1643 | holgerb | 44 | |
1 | ingob | 45 | if(!cnt_1ms) UpdateMotor = 1; |
1713 | holgerb | 46 | if(!(PINC & 0x10)) compass_active = 1; |
1643 | holgerb | 47 | |
1664 | holgerb | 48 | if(beeptime) |
1 | ingob | 49 | { |
1664 | holgerb | 50 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
1105 | killagreg | 51 | if(beeptime & BeepMuster) |
173 | holgerb | 52 | { |
53 | pieper_ein = 1; |
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54 | } |
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55 | else pieper_ein = 0; |
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1 | ingob | 56 | } |
1105 | killagreg | 57 | else |
1651 | killagreg | 58 | { |
173 | holgerb | 59 | pieper_ein = 0; |
60 | BeepMuster = 0xffff; |
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1105 | killagreg | 61 | } |
173 | holgerb | 62 | if(pieper_ein) |
63 | { |
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64 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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65 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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66 | } |
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1105 | killagreg | 67 | else |
173 | holgerb | 68 | { |
69 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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70 | else PORTC &= ~(1<<7); |
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1105 | killagreg | 71 | } |
1643 | holgerb | 72 | } |
73 | if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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1 | ingob | 74 | { |
75 | if(PINC & 0x10) |
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76 | { |
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1643 | holgerb | 77 | if(++cntKompass > 1000) compass_active = 0; |
1 | ingob | 78 | } |
79 | else |
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80 | { |
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1105 | killagreg | 81 | if((cntKompass) && (cntKompass < 362)) |
82 | { |
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693 | hbuss | 83 | cntKompass += cntKompass / 41; |
84 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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1837 | holgerb | 85 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
1105 | killagreg | 86 | } |
1 | ingob | 87 | cntKompass = 0; |
1105 | killagreg | 88 | } |
1 | ingob | 89 | } |
90 | } |
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91 | |||
92 | |||
93 | // ----------------------------------------------------------------------- |
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94 | unsigned int SetDelay (unsigned int t) |
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95 | { |
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96 | // TIMSK0 &= ~_BV(TOIE0); |
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1105 | killagreg | 97 | return(CountMilliseconds + t + 1); |
1 | ingob | 98 | // TIMSK0 |= _BV(TOIE0); |
99 | } |
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100 | |||
101 | // ----------------------------------------------------------------------- |
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102 | char CheckDelay(unsigned int t) |
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103 | { |
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104 | // TIMSK0 &= ~_BV(TOIE0); |
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105 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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106 | // TIMSK0 |= _BV(TOIE0); |
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107 | } |
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108 | |||
109 | // ----------------------------------------------------------------------- |
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110 | void Delay_ms(unsigned int w) |
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111 | { |
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112 | unsigned int akt; |
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113 | akt = SetDelay(w); |
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114 | while (!CheckDelay(akt)); |
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115 | } |
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116 | |||
395 | hbuss | 117 | void Delay_ms_Mess(unsigned int w) |
118 | { |
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119 | unsigned int akt; |
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120 | akt = SetDelay(w); |
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1166 | hbuss | 121 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
395 | hbuss | 122 | } |
123 | |||
1156 | hbuss | 124 | /*****************************************************/ |
125 | /* Initialize Timer 2 */ |
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126 | /*****************************************************/ |
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127 | // The timer 2 is used to generate the PWM at PD7 (J7) |
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128 | // to control a camera servo for nick compensation. |
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129 | void TIMER2_Init(void) |
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910 | hbuss | 130 | { |
1156 | hbuss | 131 | uint8_t sreg = SREG; |
132 | |||
133 | // disable all interrupts before reconfiguration |
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134 | cli(); |
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1469 | killagreg | 135 | |
1156 | hbuss | 136 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
137 | |||
138 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
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1171 | hbuss | 139 | HEF4017R_ON; |
1156 | hbuss | 140 | // Timer/Counter 2 Control Register A |
141 | |||
142 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
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143 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
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144 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
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145 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
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146 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
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147 | |||
148 | // Timer/Counter 2 Control Register B |
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149 | |||
150 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
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151 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
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152 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
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153 | |||
154 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
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155 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
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156 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
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157 | |||
158 | // Initialize the Timer/Counter 2 Register |
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159 | TCNT2 = 0; |
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160 | |||
161 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
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162 | OCR2A = 255; |
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163 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
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164 | |||
165 | // Timer/Counter 2 Interrupt Mask Register |
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166 | // Enable timer output compare match A Interrupt only |
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167 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
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168 | TIMSK2 |= (1<<OCIE2A); |
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169 | |||
170 | SREG = sreg; |
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910 | hbuss | 171 | } |
172 | |||
1156 | hbuss | 173 | //---------------------------- |
174 | void Timer_Init(void) |
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1 | ingob | 175 | { |
1156 | hbuss | 176 | tim_main = SetDelay(10); |
177 | TCCR0B = CK8; |
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178 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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179 | OCR0A = 0; |
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1638 | holgerb | 180 | OCR0B = 180; |
1156 | hbuss | 181 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
182 | //OCR1 = 0x00; |
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183 | TIMSK0 |= _BV(TOIE0); |
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184 | } |
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185 | |||
186 | |||
187 | /*****************************************************/ |
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188 | /* Control Servo Position */ |
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189 | /*****************************************************/ |
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190 | |||
1760 | holgerb | 191 | |
192 | void CalculateServo(void) |
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193 | { |
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1771 | holgerb | 194 | signed char cosinus, sinus; |
195 | signed long nick, roll; |
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1760 | holgerb | 196 | |
197 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
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198 | sinus = sintab[EE_Parameter.CamOrientation]; |
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199 | |||
200 | if(CalculateServoSignals == 1) |
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201 | { |
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1763 | killagreg | 202 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
1848 | holgerb | 203 | nick -= POI_KameraNick * 7; |
1840 | holgerb | 204 | |
205 | DebugOut.Analog[16] = POI_KameraNick; |
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206 | |||
1763 | killagreg | 207 | nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
208 | ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
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209 | ServoNickValue = ServoNickOffset / 16; // offset (Range from 0 to 255 * 3 = 765) |
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1840 | holgerb | 210 | |
1763 | killagreg | 211 | if(EE_Parameter.ServoCompInvert & 0x01) |
212 | { // inverting movement of servo |
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213 | ServoNickValue += nick;//(int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * nick) / (256L) ); |
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214 | } |
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215 | else |
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216 | { // non inverting movement of servo |
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217 | ServoNickValue -= nick; |
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218 | } |
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219 | // limit servo value to its parameter range definition |
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220 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
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221 | { |
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222 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
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223 | } |
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224 | else |
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225 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
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226 | { |
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227 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
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228 | } |
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229 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
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1760 | holgerb | 230 | } |
231 | else |
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232 | { |
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1763 | killagreg | 233 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
234 | roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L; |
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235 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
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236 | ServoRollValue = ServoRollOffset/16; // offset (Range from 0 to 255 * 3 = 765) |
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237 | if(EE_Parameter.ServoCompInvert & 0x02) |
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238 | { // inverting movement of servo |
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239 | ServoRollValue += roll; |
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240 | } |
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241 | else |
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242 | { // non inverting movement of servo |
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243 | ServoRollValue -= roll; |
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244 | } |
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245 | // limit servo value to its parameter range definition |
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246 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
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247 | { |
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248 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
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249 | } |
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250 | else |
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251 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
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252 | { |
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253 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
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254 | } |
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255 | CalculateServoSignals = 0; |
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1760 | holgerb | 256 | } |
257 | } |
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258 | |||
1156 | hbuss | 259 | ISR(TIMER2_COMPA_vect) |
260 | { |
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261 | // frame len 22.5 ms = 14063 * 1.6 us |
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262 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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263 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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264 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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265 | // resolution: 1500 - 375 = 1125 steps |
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266 | |||
267 | #define IRS_RUNTIME 127 |
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268 | #define PPM_STOPPULSE 188 |
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1171 | hbuss | 269 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
1156 | hbuss | 270 | #define MINSERVOPULSE 375 |
271 | #define MAXSERVOPULSE 1500 |
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272 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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273 | |||
274 | static uint8_t PulseOutput = 0; |
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275 | static uint16_t ServoFrameTime = 0; |
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276 | static uint8_t ServoIndex = 0; |
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277 | |||
278 | |||
279 | if(PlatinenVersion < 20) |
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280 | { |
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281 | //--------------------------- |
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282 | // Nick servo state machine |
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283 | //--------------------------- |
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284 | if(!PulseOutput) // pulse output complete |
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285 | { |
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286 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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287 | { |
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288 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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289 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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290 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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291 | // range servo pulse width |
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292 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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293 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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294 | // accumulate time for correct update rate |
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295 | ServoFrameTime = RemainingPulse; |
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296 | } |
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297 | else // we had a high pulse |
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298 | { |
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299 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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300 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
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1763 | killagreg | 301 | CalculateServoSignals = 1; |
1156 | hbuss | 302 | } |
303 | // set pulse output active |
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304 | PulseOutput = 1; |
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305 | } |
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306 | } // EOF Nick servo state machine |
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307 | else |
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308 | { |
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309 | //----------------------------------------------------- |
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310 | // PPM state machine, onboard demultiplexed by HEF4017 |
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311 | //----------------------------------------------------- |
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312 | if(!PulseOutput) // pulse output complete |
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313 | { |
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314 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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315 | { |
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316 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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317 | |||
318 | if(ServoIndex == 0) // if we are at the sync gap |
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319 | { |
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320 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
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321 | ServoFrameTime = 0; // reset servo frame time |
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322 | HEF4017R_ON; // enable HEF4017 reset |
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323 | } |
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324 | else // servo channels |
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325 | { |
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326 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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327 | switch(ServoIndex) // map servo channels |
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328 | { |
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329 | case 1: // Nick Compensation Servo |
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330 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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331 | break; |
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1224 | hbuss | 332 | case 2: // Roll Compensation Servo |
333 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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1232 | hbuss | 334 | break; |
1565 | killagreg | 335 | case 3: |
336 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
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1403 | hbuss | 337 | break; |
1543 | killagreg | 338 | case 4: |
1565 | killagreg | 339 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
1403 | hbuss | 340 | break; |
1543 | killagreg | 341 | case 5: |
1565 | killagreg | 342 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
1403 | hbuss | 343 | break; |
1156 | hbuss | 344 | default: // other servo channels |
345 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
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346 | break; |
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347 | } |
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348 | // range servo pulse width |
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349 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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350 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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351 | // substract stop pulse width |
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352 | RemainingPulse -= PPM_STOPPULSE; |
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353 | // accumulate time for correct sync gap |
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354 | ServoFrameTime += RemainingPulse; |
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355 | } |
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356 | } |
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357 | else // we had a high pulse |
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358 | { |
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359 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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360 | // set pulsewidth to stop pulse width |
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361 | RemainingPulse = PPM_STOPPULSE; |
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362 | // accumulate time for correct sync gap |
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363 | ServoFrameTime += RemainingPulse; |
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1771 | holgerb | 364 | if((ServoActive && SenderOkay > 50) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
1232 | hbuss | 365 | else HEF4017R_ON; |
1156 | hbuss | 366 | ServoIndex++; // change to next servo channel |
1763 | killagreg | 367 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
368 | { |
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369 | CalculateServoSignals = 1; |
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1760 | holgerb | 370 | ServoIndex = 0; // reset to the sync gap |
371 | } |
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1156 | hbuss | 372 | } |
373 | // set pulse output active |
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374 | PulseOutput = 1; |
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375 | } |
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376 | } // EOF PPM state machine |
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377 | |||
378 | // General pulse output generator |
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379 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
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380 | { |
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381 | OCR2A = 255; |
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382 | RemainingPulse -= 255; |
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910 | hbuss | 383 | } |
1156 | hbuss | 384 | else |
385 | { |
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386 | if(RemainingPulse > 255) // this is the 2nd last part |
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387 | { |
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388 | if((RemainingPulse - 255) < IRS_RUNTIME) |
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389 | { |
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390 | OCR2A = 255 - IRS_RUNTIME; |
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391 | RemainingPulse -= 255 - IRS_RUNTIME; |
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392 | |||
393 | } |
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394 | else // last part > ISR_RUNTIME |
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395 | { |
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396 | OCR2A = 255; |
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397 | RemainingPulse -= 255; |
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398 | } |
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399 | } |
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400 | else // this is the last part |
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401 | { |
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402 | OCR2A = RemainingPulse; |
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403 | RemainingPulse = 0; |
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404 | PulseOutput = 0; // trigger to stop pulse |
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405 | } |
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406 | } // EOF general pulse output generator |
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1111 | hbuss | 407 | } |