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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.
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// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
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// + 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
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// + features that can be used to identify the program may not be altered or defaced by the customer.
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// + 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
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// + 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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// + 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
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// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
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// + 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.
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// + #### END OF LICENSING TERMS ####
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// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
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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;
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;
2346 holgerb 63
unsigned char JustMK3MagConnected = 0;
1760 holgerb 64
uint16_t RemainingPulse = 0;
65
volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon
66
volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon
723 hbuss 67
 
173 holgerb 68
unsigned int BeepMuster = 0xffff;
2191 holgerb 69
signed int NickServoValue = 128 * MULTIPLYER * 16;
1 ingob 70
 
1156 hbuss 71
volatile int16_t        ServoNickValue = 0;
72
volatile int16_t        ServoRollValue = 0;
73
 
74
 
1 ingob 75
enum {
76
  STOP             = 0,
77
  CK               = 1,
78
  CK8              = 2,
79
  CK64             = 3,
80
  CK256            = 4,
81
  CK1024           = 5,
82
  T0_FALLING_EDGE  = 6,
83
  T0_RISING_EDGE   = 7
84
};
85
 
86
 
1561 killagreg 87
ISR(TIMER0_OVF_vect)    // 9,7kHz
1 ingob 88
{
2346 holgerb 89
   static unsigned char cnt_1ms = 1,cnt = 0;
1643 holgerb 90
   unsigned char pieper_ein = 0;
723 hbuss 91
   if(SendSPI) SendSPI--;
1469 killagreg 92
   if(SpektrumTimer) SpektrumTimer--;
1 ingob 93
   if(!cnt--)
94
    {
1105 killagreg 95
     cnt = 9;
1643 holgerb 96
     CountMilliseconds++;
1 ingob 97
     cnt_1ms++;
98
     cnt_1ms %= 2;
1643 holgerb 99
 
1 ingob 100
     if(!cnt_1ms) UpdateMotor = 1;
2346 holgerb 101
         if(!(PINC & 0x10)) JustMK3MagConnected = 1;
1643 holgerb 102
 
1664 holgerb 103
     if(beeptime)
1 ingob 104
        {
1664 holgerb 105
        if(beeptime > 10) beeptime -= 10; else beeptime = 0;
1105 killagreg 106
        if(beeptime & BeepMuster)
173 holgerb 107
         {
108
          pieper_ein = 1;
109
         }
110
         else pieper_ein = 0;
1 ingob 111
        }
1105 killagreg 112
     else
1651 killagreg 113
      {
173 holgerb 114
       pieper_ein = 0;
115
       BeepMuster = 0xffff;
1105 killagreg 116
      }
2309 holgerb 117
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
118
     if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7
119
     else           PORTC &= ~(1<<7);
120
#else
173 holgerb 121
     if(pieper_ein)
122
        {
123
          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
124
          else                      PORTC |= (1<<7); // Speaker an PORTC.7
125
        }
1105 killagreg 126
     else
173 holgerb 127
        {
128
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
129
         else                      PORTC &= ~(1<<7);
1105 killagreg 130
        }
2309 holgerb 131
#endif
1643 holgerb 132
        }
2346 holgerb 133
 if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)
1 ingob 134
 {
135
  if(PINC & 0x10)
136
   {
2346 holgerb 137
        if(++cntKompass > 1000) JustMK3MagConnected = 0;
1 ingob 138
   }
139
  else
140
   {
1105 killagreg 141
    if((cntKompass) && (cntKompass < 362))
142
    {
693 hbuss 143
     cntKompass += cntKompass / 41;
144
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1941 holgerb 145
//     KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1105 killagreg 146
    }
1 ingob 147
    cntKompass = 0;
1105 killagreg 148
   }
1 ingob 149
 }
150
}
151
 
152
 
153
// -----------------------------------------------------------------------
2090 holgerb 154
unsigned int SetDelay(unsigned int t)
1 ingob 155
{
156
//  TIMSK0 &= ~_BV(TOIE0);
1105 killagreg 157
  return(CountMilliseconds + t + 1);
1 ingob 158
//  TIMSK0 |= _BV(TOIE0);
159
}
160
 
161
// -----------------------------------------------------------------------
162
char CheckDelay(unsigned int t)
163
{
164
//  TIMSK0 &= ~_BV(TOIE0);
165
  return(((t - CountMilliseconds) & 0x8000) >> 9);
166
//  TIMSK0 |= _BV(TOIE0);
167
}
168
 
169
// -----------------------------------------------------------------------
170
void Delay_ms(unsigned int w)
171
{
172
 unsigned int akt;
173
 akt = SetDelay(w);
174
 while (!CheckDelay(akt));
175
}
176
 
395 hbuss 177
void Delay_ms_Mess(unsigned int w)
178
{
179
 unsigned int akt;
180
 akt = SetDelay(w);
1166 hbuss 181
 while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395 hbuss 182
}
183
 
1156 hbuss 184
/*****************************************************/
185
/*              Initialize Timer 2                   */
186
/*****************************************************/
187
// The timer 2 is used to generate the PWM at PD7 (J7)
188
// to control a camera servo for nick compensation.
189
void TIMER2_Init(void)
910 hbuss 190
{
1156 hbuss 191
        uint8_t sreg = SREG;
192
 
193
        // disable all interrupts before reconfiguration
194
        cli();
1469 killagreg 195
 
1156 hbuss 196
        PORTD &= ~(1<<PORTD7);  // set PD7 to low
197
 
198
        DDRC  |= (1<<DDC6);     // set PC6 as output (Reset for HEF4017)
2146 holgerb 199
    HEF4017Reset_ON;
1156 hbuss 200
        // Timer/Counter 2 Control Register A
201
 
202
        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
203
    // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
204
    // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
205
        TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));
206
    TCCR2A |= (1<<WGM21)|(1<<WGM20);
207
 
208
    // Timer/Counter 2 Control Register B
209
 
210
        // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
211
        // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
212
        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
213
 
214
    // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
215
        TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));
216
    TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);
217
 
218
        // Initialize the Timer/Counter 2 Register
219
    TCNT2 = 0;
220
 
221
        // Initialize the Output Compare Register A used for PWM generation on port PD7.
222
        OCR2A = 255;
223
        TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
224
 
225
        // Timer/Counter 2 Interrupt Mask Register
226
        // Enable timer output compare match A Interrupt only
227
        TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));
228
        TIMSK2 |= (1<<OCIE2A);
229
 
230
    SREG = sreg;
910 hbuss 231
}
232
 
1156 hbuss 233
//----------------------------
234
void Timer_Init(void)
1 ingob 235
{
1156 hbuss 236
    tim_main = SetDelay(10);
237
    TCCR0B = CK8;
2367 holgerb 238
//    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
239
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM
240
    OCR0B =  255;
241
    OCR0A = 180;
1156 hbuss 242
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
243
    //OCR1  = 0x00;
244
    TIMSK0 |= _BV(TOIE0);
245
}
246
 
247
 
248
/*****************************************************/
249
/*              Control Servo Position               */
250
/*****************************************************/
2191 holgerb 251
void CalcNickServoValue(void)
252
{
2232 holgerb 253
 signed int max, min;
1156 hbuss 254
 
2191 holgerb 255
 if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value
256
  {
257
        max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15);
258
        min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20);
2192 holgerb 259
        NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6;
2191 holgerb 260
        LIMIT_MIN_MAX(NickServoValue,min, max);
261
  }
262
  else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16);  // direct poti control
263
}
1760 holgerb 264
 
265
void CalculateServo(void)
266
{
1771 holgerb 267
 signed char cosinus, sinus;
268
 signed long nick, roll;
1760 holgerb 269
 
270
        cosinus = sintab[EE_Parameter.CamOrientation + 6];
271
        sinus = sintab[EE_Parameter.CamOrientation];
272
 
273
  if(CalculateServoSignals == 1)
274
   {
2380 holgerb 275
            if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0;
276
            else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L;
1848 holgerb 277
        nick -= POI_KameraNick * 7;
2296 holgerb 278
                nick = ((long)Parameter_ServoNickComp * nick) / 512L;
2010 holgerb 279
                // offset (Range from 0 to 255 * 3 = 765)
2191 holgerb 280
                if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue;
281
                else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed;
282
 
283
                if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo
2010 holgerb 284
                {      
285
                        nick = ServoNickOffset / 16 + nick;
1763 killagreg 286
                }
287
                else
2010 holgerb 288
                {       // inverting movement of servo
289
                        nick = ServoNickOffset / 16 - nick;
1763 killagreg 290
                }
2012 holgerb 291
                if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1);
2010 holgerb 292
                else                     ServoNickValue = nick;
1763 killagreg 293
                // limit servo value to its parameter range definition
2040 holgerb 294
                if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER))
1763 killagreg 295
                {
296
                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
297
                }
298
                else
2040 holgerb 299
                if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER))
1763 killagreg 300
                {
301
                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
302
                }
303
                if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++;
1760 holgerb 304
        }
305
        else
306
        {
1763 killagreg 307
        roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L;
2296 holgerb 308
        roll = ((long)Parameter_ServoRollComp * roll) / 512L;
1763 killagreg 309
                ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed;
2191 holgerb 310
                if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV)
1763 killagreg 311
                {       // inverting movement of servo
2010 holgerb 312
                        roll = ServoRollOffset / 16 + roll;
1763 killagreg 313
                }
314
                else
2010 holgerb 315
                {       // inverting movement of servo
316
                        roll = ServoRollOffset / 16 - roll;
1763 killagreg 317
                }
2012 holgerb 318
                if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1);
2010 holgerb 319
                else                     ServoRollValue = roll;
1763 killagreg 320
                // limit servo value to its parameter range definition
2040 holgerb 321
                if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER))
1763 killagreg 322
                {
323
                        ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
324
                }
325
                else
2040 holgerb 326
                if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER))
1763 killagreg 327
                {
328
                        ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
329
                }
330
                CalculateServoSignals = 0;
1760 holgerb 331
        }
332
}
333
 
1156 hbuss 334
ISR(TIMER2_COMPA_vect)
335
{
336
        // frame len 22.5 ms = 14063 * 1.6 us
337
        // stop pulse: 0.3 ms = 188 * 1.6 us
338
        // min servo pulse: 0.6 ms =  375 * 1.6 us
339
        // max servo pulse: 2.4 ms = 1500 * 1.6 us
340
        // resolution: 1500 - 375 = 1125 steps
341
 
342
        #define IRS_RUNTIME 127
343
        #define PPM_STOPPULSE 188
1171 hbuss 344
    #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156 hbuss 345
        #define MINSERVOPULSE 375
346
        #define MAXSERVOPULSE 1500
347
        #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
348
 
349
        static uint8_t  PulseOutput = 0;
350
        static uint16_t ServoFrameTime = 0;
351
        static uint8_t  ServoIndex = 0;
352
 
353
 
354
        if(PlatinenVersion < 20)
355
        {
356
                //---------------------------
357
                // Nick servo state machine
358
                //---------------------------
359
                if(!PulseOutput) // pulse output complete
360
                {
361
                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse
362
                        {
363
                                TCCR2A &= ~(1<<COM2A0);// make a high pulse
364
                                RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
365
                                RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
366
                                // range servo pulse width
367
                                if(RemainingPulse > MAXSERVOPULSE )                     RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
368
                                else if(RemainingPulse < MINSERVOPULSE )        RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
369
                                // accumulate time for correct update rate
370
                                ServoFrameTime = RemainingPulse;
371
                        }
372
                        else // we had a high pulse
373
                        {
374
                                TCCR2A |= (1<<COM2A0); // make a low pulse
375
                                RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
1763 killagreg 376
                                CalculateServoSignals = 1;
1156 hbuss 377
                        }
378
                        // set pulse output active
379
                        PulseOutput = 1;
380
                }
381
        } // EOF Nick servo state machine
382
        else
383
        {
384
                //-----------------------------------------------------
385
                // PPM state machine, onboard demultiplexed by HEF4017
386
                //-----------------------------------------------------
387
                if(!PulseOutput) // pulse output complete
388
                {
389
                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse
390
                        {
391
                                TCCR2A &= ~(1<<COM2A0);// make a high pulse
392
                                if(ServoIndex == 0) // if we are at the sync gap
393
                                {
394
                                        RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
395
                                        ServoFrameTime = 0; // reset servo frame time
2146 holgerb 396
                                        HEF4017Reset_ON; // enable HEF4017 reset
1156 hbuss 397
                                }
2166 holgerb 398
                                else // servo channels 
399
                                if(ServoIndex > EE_Parameter.ServoNickRefresh)  
400
                                 {
401
                                  RemainingPulse = 10; // end it here
402
                                 }
403
                                else
1156 hbuss 404
                                {
405
                                        RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
406
                                        switch(ServoIndex) // map servo channels
407
                                        {
2166 holgerb 408
                                         case 1: // Nick Compensation Servo
1156 hbuss 409
                                                        RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
410
                                                        break;
1224 hbuss 411
                                         case 2: // Roll Compensation Servo
412
                                                        RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
1232 hbuss 413
                                                        break;
1565 killagreg 414
                                         case 3:
415
                                                        RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403 hbuss 416
                                                        break;
1543 killagreg 417
                                         case 4:
1565 killagreg 418
                                                        RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403 hbuss 419
                                                        break;
1543 killagreg 420
                                         case 5:
1565 killagreg 421
                                                        RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
1403 hbuss 422
                                                        break;
1156 hbuss 423
                                                default: // other servo channels
424
                                                        RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
425
                                                        break;
426
                                        }
427
                                        // range servo pulse width
2166 holgerb 428
                                        if(RemainingPulse > MAXSERVOPULSE)                      RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
429
                                        else if(RemainingPulse < MINSERVOPULSE)     RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
1156 hbuss 430
                                        // substract stop pulse width
431
                                        RemainingPulse -= PPM_STOPPULSE;
432
                                        // accumulate time for correct sync gap
433
                                        ServoFrameTime += RemainingPulse;
434
                                }
435
                        }
436
                        else // we had a high pulse
437
                        {
438
                                TCCR2A |= (1<<COM2A0); // make a low pulse
439
                                // set pulsewidth to stop pulse width
440
                                RemainingPulse = PPM_STOPPULSE;
441
                                // accumulate time for correct sync gap
442
                                ServoFrameTime += RemainingPulse;
2146 holgerb 443
                                if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset
444
                                else HEF4017Reset_ON;
2166 holgerb 445
                                ServoIndex++;
446
                                if(ServoIndex > EE_Parameter.ServoNickRefresh+1)
1763 killagreg 447
                                  {
448
                                    CalculateServoSignals = 1;
1760 holgerb 449
                                        ServoIndex = 0; // reset to the sync gap
450
                                  }
1156 hbuss 451
                        }
452
                        // set pulse output active
453
                        PulseOutput = 1;
454
                }
455
        } // EOF PPM state machine
456
 
457
        // General pulse output generator
458
        if(RemainingPulse > (255 + IRS_RUNTIME))
459
        {
460
                OCR2A = 255;
461
                RemainingPulse -= 255;
910 hbuss 462
        }
1156 hbuss 463
        else
464
        {
465
                if(RemainingPulse > 255) // this is the 2nd last part
466
                {
467
                        if((RemainingPulse - 255) < IRS_RUNTIME)
468
                        {
469
                                OCR2A = 255 - IRS_RUNTIME;
470
                                RemainingPulse -= 255 - IRS_RUNTIME;
471
 
472
                        }
473
                        else // last part > ISR_RUNTIME
474
                        {
475
                                OCR2A = 255;
476
                                RemainingPulse -= 255;
477
                        }
478
                }
479
                else // this is the last part
480
                {
481
                        OCR2A = RemainingPulse;
482
                        RemainingPulse = 0;
483
                        PulseOutput = 0; // trigger to stop pulse
484
                }
485
        } // EOF general pulse output generator
1111 hbuss 486
}