Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

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