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2050 | holgerb | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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4 | // + Software Nutzungsbedingungen (english version: see below) |
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5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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19 | // + des Mitverschuldens offen. |
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20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Software LICENSING TERMS |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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34 | // + The Software may only be used with the Licensor's products. |
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35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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37 | // + agreement shall be the property of the Licensor. |
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38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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40 | // + The customer shall be responsible for taking reasonable precautions |
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41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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50 | // + #### END OF LICENSING TERMS #### |
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51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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53 | |||
1 | ingob | 54 | #include "main.h" |
1760 | holgerb | 55 | #define MULTIPLYER 4 |
1 | ingob | 56 | |
57 | volatile unsigned int CountMilliseconds = 0; |
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2191 | holgerb | 58 | volatile unsigned int tim_main; |
1 | ingob | 59 | volatile unsigned char UpdateMotor = 0; |
60 | volatile unsigned int cntKompass = 0; |
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61 | volatile unsigned int beeptime = 0; |
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1760 | holgerb | 62 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
63 | uint16_t RemainingPulse = 0; |
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64 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
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65 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
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723 | hbuss | 66 | |
173 | holgerb | 67 | unsigned int BeepMuster = 0xffff; |
2191 | holgerb | 68 | signed int NickServoValue = 128 * MULTIPLYER * 16; |
1 | ingob | 69 | |
1156 | hbuss | 70 | volatile int16_t ServoNickValue = 0; |
71 | volatile int16_t ServoRollValue = 0; |
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72 | |||
2191 | holgerb | 73 | // bitcoding for EE_Parameter.ServoCompInvert |
74 | #define SERVO_NICK_INV 0x01 |
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75 | #define SERVO_ROLL_INV 0x02 |
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76 | #define SERVO_RELATIVE 0x04 // direct poti control or relative moving of the servo value |
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1156 | hbuss | 77 | |
1 | ingob | 78 | enum { |
79 | STOP = 0, |
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80 | CK = 1, |
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81 | CK8 = 2, |
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82 | CK64 = 3, |
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83 | CK256 = 4, |
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84 | CK1024 = 5, |
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85 | T0_FALLING_EDGE = 6, |
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86 | T0_RISING_EDGE = 7 |
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87 | }; |
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88 | |||
89 | |||
1561 | killagreg | 90 | ISR(TIMER0_OVF_vect) // 9,7kHz |
1 | ingob | 91 | { |
1643 | holgerb | 92 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
93 | unsigned char pieper_ein = 0; |
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723 | hbuss | 94 | if(SendSPI) SendSPI--; |
1469 | killagreg | 95 | if(SpektrumTimer) SpektrumTimer--; |
1 | ingob | 96 | if(!cnt--) |
97 | { |
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1105 | killagreg | 98 | cnt = 9; |
1643 | holgerb | 99 | CountMilliseconds++; |
1 | ingob | 100 | cnt_1ms++; |
101 | cnt_1ms %= 2; |
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1643 | holgerb | 102 | |
1 | ingob | 103 | if(!cnt_1ms) UpdateMotor = 1; |
1713 | holgerb | 104 | if(!(PINC & 0x10)) compass_active = 1; |
1643 | holgerb | 105 | |
1664 | holgerb | 106 | if(beeptime) |
1 | ingob | 107 | { |
1664 | holgerb | 108 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
1105 | killagreg | 109 | if(beeptime & BeepMuster) |
173 | holgerb | 110 | { |
111 | pieper_ein = 1; |
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112 | } |
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113 | else pieper_ein = 0; |
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1 | ingob | 114 | } |
1105 | killagreg | 115 | else |
1651 | killagreg | 116 | { |
173 | holgerb | 117 | pieper_ein = 0; |
118 | BeepMuster = 0xffff; |
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1105 | killagreg | 119 | } |
173 | holgerb | 120 | if(pieper_ein) |
121 | { |
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122 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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123 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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124 | } |
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1105 | killagreg | 125 | else |
173 | holgerb | 126 | { |
127 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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128 | else PORTC &= ~(1<<7); |
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1105 | killagreg | 129 | } |
1643 | holgerb | 130 | } |
1916 | holgerb | 131 | if(compass_active && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
1 | ingob | 132 | { |
133 | if(PINC & 0x10) |
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134 | { |
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1643 | holgerb | 135 | if(++cntKompass > 1000) compass_active = 0; |
1 | ingob | 136 | } |
137 | else |
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138 | { |
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1105 | killagreg | 139 | if((cntKompass) && (cntKompass < 362)) |
140 | { |
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693 | hbuss | 141 | cntKompass += cntKompass / 41; |
142 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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1941 | holgerb | 143 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
1105 | killagreg | 144 | } |
1 | ingob | 145 | cntKompass = 0; |
1105 | killagreg | 146 | } |
1 | ingob | 147 | } |
148 | } |
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149 | |||
150 | |||
151 | // ----------------------------------------------------------------------- |
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2090 | holgerb | 152 | unsigned int SetDelay(unsigned int t) |
1 | ingob | 153 | { |
154 | // TIMSK0 &= ~_BV(TOIE0); |
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1105 | killagreg | 155 | return(CountMilliseconds + t + 1); |
1 | ingob | 156 | // TIMSK0 |= _BV(TOIE0); |
157 | } |
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158 | |||
159 | // ----------------------------------------------------------------------- |
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160 | char CheckDelay(unsigned int t) |
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161 | { |
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162 | // TIMSK0 &= ~_BV(TOIE0); |
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163 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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164 | // TIMSK0 |= _BV(TOIE0); |
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165 | } |
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166 | |||
167 | // ----------------------------------------------------------------------- |
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168 | void Delay_ms(unsigned int w) |
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169 | { |
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170 | unsigned int akt; |
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171 | akt = SetDelay(w); |
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172 | while (!CheckDelay(akt)); |
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173 | } |
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174 | |||
395 | hbuss | 175 | void Delay_ms_Mess(unsigned int w) |
176 | { |
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177 | unsigned int akt; |
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178 | akt = SetDelay(w); |
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1166 | hbuss | 179 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
395 | hbuss | 180 | } |
181 | |||
1156 | hbuss | 182 | /*****************************************************/ |
183 | /* Initialize Timer 2 */ |
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184 | /*****************************************************/ |
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185 | // The timer 2 is used to generate the PWM at PD7 (J7) |
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186 | // to control a camera servo for nick compensation. |
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187 | void TIMER2_Init(void) |
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910 | hbuss | 188 | { |
1156 | hbuss | 189 | uint8_t sreg = SREG; |
190 | |||
191 | // disable all interrupts before reconfiguration |
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192 | cli(); |
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1469 | killagreg | 193 | |
1156 | hbuss | 194 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
195 | |||
196 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
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2146 | holgerb | 197 | HEF4017Reset_ON; |
1156 | hbuss | 198 | // Timer/Counter 2 Control Register A |
199 | |||
200 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
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201 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
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202 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
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203 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
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204 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
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205 | |||
206 | // Timer/Counter 2 Control Register B |
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207 | |||
208 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
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209 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
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210 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
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211 | |||
212 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
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213 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
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214 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
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215 | |||
216 | // Initialize the Timer/Counter 2 Register |
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217 | TCNT2 = 0; |
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218 | |||
219 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
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220 | OCR2A = 255; |
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221 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
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222 | |||
223 | // Timer/Counter 2 Interrupt Mask Register |
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224 | // Enable timer output compare match A Interrupt only |
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225 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
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226 | TIMSK2 |= (1<<OCIE2A); |
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227 | |||
228 | SREG = sreg; |
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910 | hbuss | 229 | } |
230 | |||
1156 | hbuss | 231 | //---------------------------- |
232 | void Timer_Init(void) |
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1 | ingob | 233 | { |
1156 | hbuss | 234 | tim_main = SetDelay(10); |
235 | TCCR0B = CK8; |
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236 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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237 | OCR0A = 0; |
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1638 | holgerb | 238 | OCR0B = 180; |
1156 | hbuss | 239 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
240 | //OCR1 = 0x00; |
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241 | TIMSK0 |= _BV(TOIE0); |
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242 | } |
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243 | |||
244 | |||
245 | /*****************************************************/ |
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246 | /* Control Servo Position */ |
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247 | /*****************************************************/ |
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2191 | holgerb | 248 | void CalcNickServoValue(void) |
249 | { |
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2232 | holgerb | 250 | signed int max, min; |
1156 | hbuss | 251 | |
2191 | holgerb | 252 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
253 | { |
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254 | max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
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255 | min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
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2192 | holgerb | 256 | NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
2191 | holgerb | 257 | LIMIT_MIN_MAX(NickServoValue,min, max); |
258 | } |
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259 | else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
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260 | } |
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1760 | holgerb | 261 | |
262 | void CalculateServo(void) |
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263 | { |
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1771 | holgerb | 264 | signed char cosinus, sinus; |
265 | signed long nick, roll; |
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1760 | holgerb | 266 | |
267 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
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268 | sinus = sintab[EE_Parameter.CamOrientation]; |
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269 | |||
270 | if(CalculateServoSignals == 1) |
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271 | { |
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1763 | killagreg | 272 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
1848 | holgerb | 273 | nick -= POI_KameraNick * 7; |
1763 | killagreg | 274 | nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
2010 | holgerb | 275 | // offset (Range from 0 to 255 * 3 = 765) |
2191 | holgerb | 276 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
277 | else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
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278 | |||
279 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
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2010 | holgerb | 280 | { |
281 | nick = ServoNickOffset / 16 + nick; |
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1763 | killagreg | 282 | } |
283 | else |
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2010 | holgerb | 284 | { // inverting movement of servo |
285 | nick = ServoNickOffset / 16 - nick; |
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1763 | killagreg | 286 | } |
2012 | holgerb | 287 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
2010 | holgerb | 288 | else ServoNickValue = nick; |
1763 | killagreg | 289 | // limit servo value to its parameter range definition |
2040 | holgerb | 290 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
1763 | killagreg | 291 | { |
292 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
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293 | } |
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294 | else |
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2040 | holgerb | 295 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
1763 | killagreg | 296 | { |
297 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
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298 | } |
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299 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
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1760 | holgerb | 300 | } |
301 | else |
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302 | { |
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1763 | killagreg | 303 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
304 | roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L; |
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305 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
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2191 | holgerb | 306 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
1763 | killagreg | 307 | { // inverting movement of servo |
2010 | holgerb | 308 | roll = ServoRollOffset / 16 + roll; |
1763 | killagreg | 309 | } |
310 | else |
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2010 | holgerb | 311 | { // inverting movement of servo |
312 | roll = ServoRollOffset / 16 - roll; |
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1763 | killagreg | 313 | } |
2012 | holgerb | 314 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
2010 | holgerb | 315 | else ServoRollValue = roll; |
1763 | killagreg | 316 | // limit servo value to its parameter range definition |
2040 | holgerb | 317 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
1763 | killagreg | 318 | { |
319 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
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320 | } |
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321 | else |
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2040 | holgerb | 322 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
1763 | killagreg | 323 | { |
324 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
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325 | } |
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326 | CalculateServoSignals = 0; |
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1760 | holgerb | 327 | } |
328 | } |
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329 | |||
1156 | hbuss | 330 | ISR(TIMER2_COMPA_vect) |
331 | { |
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332 | // frame len 22.5 ms = 14063 * 1.6 us |
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333 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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334 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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335 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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336 | // resolution: 1500 - 375 = 1125 steps |
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337 | |||
338 | #define IRS_RUNTIME 127 |
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339 | #define PPM_STOPPULSE 188 |
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1171 | hbuss | 340 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
1156 | hbuss | 341 | #define MINSERVOPULSE 375 |
342 | #define MAXSERVOPULSE 1500 |
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343 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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344 | |||
345 | static uint8_t PulseOutput = 0; |
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346 | static uint16_t ServoFrameTime = 0; |
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347 | static uint8_t ServoIndex = 0; |
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348 | |||
349 | |||
350 | if(PlatinenVersion < 20) |
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351 | { |
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352 | //--------------------------- |
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353 | // Nick servo state machine |
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354 | //--------------------------- |
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355 | if(!PulseOutput) // pulse output complete |
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356 | { |
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357 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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358 | { |
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359 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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360 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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361 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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362 | // range servo pulse width |
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363 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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364 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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365 | // accumulate time for correct update rate |
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366 | ServoFrameTime = RemainingPulse; |
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367 | } |
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368 | else // we had a high pulse |
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369 | { |
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370 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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371 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
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1763 | killagreg | 372 | CalculateServoSignals = 1; |
1156 | hbuss | 373 | } |
374 | // set pulse output active |
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375 | PulseOutput = 1; |
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376 | } |
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377 | } // EOF Nick servo state machine |
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378 | else |
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379 | { |
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380 | //----------------------------------------------------- |
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381 | // PPM state machine, onboard demultiplexed by HEF4017 |
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382 | //----------------------------------------------------- |
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383 | if(!PulseOutput) // pulse output complete |
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384 | { |
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385 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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386 | { |
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387 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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388 | if(ServoIndex == 0) // if we are at the sync gap |
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389 | { |
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390 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
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391 | ServoFrameTime = 0; // reset servo frame time |
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2146 | holgerb | 392 | HEF4017Reset_ON; // enable HEF4017 reset |
1156 | hbuss | 393 | } |
2166 | holgerb | 394 | else // servo channels |
395 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
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396 | { |
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397 | RemainingPulse = 10; // end it here |
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398 | } |
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399 | else |
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1156 | hbuss | 400 | { |
401 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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402 | switch(ServoIndex) // map servo channels |
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403 | { |
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2166 | holgerb | 404 | case 1: // Nick Compensation Servo |
1156 | hbuss | 405 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
406 | break; |
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1224 | hbuss | 407 | case 2: // Roll Compensation Servo |
408 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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1232 | hbuss | 409 | break; |
1565 | killagreg | 410 | case 3: |
411 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
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1403 | hbuss | 412 | break; |
1543 | killagreg | 413 | case 4: |
1565 | killagreg | 414 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
1403 | hbuss | 415 | break; |
1543 | killagreg | 416 | case 5: |
1565 | killagreg | 417 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
1403 | hbuss | 418 | break; |
1156 | hbuss | 419 | default: // other servo channels |
420 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
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421 | break; |
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422 | } |
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423 | // range servo pulse width |
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2166 | holgerb | 424 | if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
425 | else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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1156 | hbuss | 426 | // substract stop pulse width |
427 | RemainingPulse -= PPM_STOPPULSE; |
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428 | // accumulate time for correct sync gap |
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429 | ServoFrameTime += RemainingPulse; |
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430 | } |
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431 | } |
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432 | else // we had a high pulse |
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433 | { |
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434 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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435 | // set pulsewidth to stop pulse width |
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436 | RemainingPulse = PPM_STOPPULSE; |
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437 | // accumulate time for correct sync gap |
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438 | ServoFrameTime += RemainingPulse; |
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2146 | holgerb | 439 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
440 | else HEF4017Reset_ON; |
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2166 | holgerb | 441 | ServoIndex++; |
442 | if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
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1763 | killagreg | 443 | { |
444 | CalculateServoSignals = 1; |
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1760 | holgerb | 445 | ServoIndex = 0; // reset to the sync gap |
446 | } |
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1156 | hbuss | 447 | } |
448 | // set pulse output active |
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449 | PulseOutput = 1; |
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450 | } |
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451 | } // EOF PPM state machine |
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452 | |||
453 | // General pulse output generator |
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454 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
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455 | { |
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456 | OCR2A = 255; |
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457 | RemainingPulse -= 255; |
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910 | hbuss | 458 | } |
1156 | hbuss | 459 | else |
460 | { |
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461 | if(RemainingPulse > 255) // this is the 2nd last part |
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462 | { |
||
463 | if((RemainingPulse - 255) < IRS_RUNTIME) |
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464 | { |
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465 | OCR2A = 255 - IRS_RUNTIME; |
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466 | RemainingPulse -= 255 - IRS_RUNTIME; |
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467 | |||
468 | } |
||
469 | else // last part > ISR_RUNTIME |
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470 | { |
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471 | OCR2A = 255; |
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472 | RemainingPulse -= 255; |
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473 | } |
||
474 | } |
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475 | else // this is the last part |
||
476 | { |
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477 | OCR2A = RemainingPulse; |
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478 | RemainingPulse = 0; |
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479 | PulseOutput = 0; // trigger to stop pulse |
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480 | } |
||
481 | } // EOF general pulse output generator |
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1111 | hbuss | 482 | } |