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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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2386 | holgerb | 62 | volatile unsigned char BytegapSPI = 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 |
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66 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
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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; |
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73 | |||
74 | |||
1 | ingob | 75 | enum { |
76 | STOP = 0, |
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77 | CK = 1, |
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78 | CK8 = 2, |
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79 | CK64 = 3, |
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80 | CK256 = 4, |
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81 | CK1024 = 5, |
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82 | T0_FALLING_EDGE = 6, |
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83 | T0_RISING_EDGE = 7 |
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84 | }; |
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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; |
2386 | holgerb | 91 | if(BytegapSPI) BytegapSPI--; |
1469 | killagreg | 92 | if(SpektrumTimer) SpektrumTimer--; |
1 | ingob | 93 | if(!cnt--) |
94 | { |
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1105 | killagreg | 95 | cnt = 9; |
1643 | holgerb | 96 | CountMilliseconds++; |
1 | ingob | 97 | cnt_1ms++; |
98 | cnt_1ms %= 2; |
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1643 | holgerb | 99 | |
2386 | holgerb | 100 | if(!cnt_1ms) if(UpdateMotor < 4) UpdateMotor++; |
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; |
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109 | } |
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110 | else pieper_ein = 0; |
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1 | ingob | 111 | } |
1105 | killagreg | 112 | else |
1651 | killagreg | 113 | { |
173 | holgerb | 114 | pieper_ein = 0; |
115 | BeepMuster = 0xffff; |
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1105 | killagreg | 116 | } |
2309 | holgerb | 117 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
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119 | else PORTC &= ~(1<<7); |
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120 | #else |
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173 | holgerb | 121 | if(pieper_ein) |
122 | { |
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2426 | holgerb | 123 | // if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
124 | // else |
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125 | PORTC |= (1<<7); // Speaker an PORTC.7 |
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173 | holgerb | 126 | } |
1105 | killagreg | 127 | else |
173 | holgerb | 128 | { |
2426 | holgerb | 129 | // if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
130 | // else |
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131 | PORTC &= ~(1<<7); |
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1105 | killagreg | 132 | } |
2309 | holgerb | 133 | #endif |
1643 | holgerb | 134 | } |
2346 | holgerb | 135 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
1 | ingob | 136 | { |
137 | if(PINC & 0x10) |
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138 | { |
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2346 | holgerb | 139 | if(++cntKompass > 1000) JustMK3MagConnected = 0; |
1 | ingob | 140 | } |
141 | else |
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142 | { |
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1105 | killagreg | 143 | if((cntKompass) && (cntKompass < 362)) |
144 | { |
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693 | hbuss | 145 | cntKompass += cntKompass / 41; |
146 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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1105 | killagreg | 147 | } |
1 | ingob | 148 | cntKompass = 0; |
1105 | killagreg | 149 | } |
1 | ingob | 150 | } |
151 | } |
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152 | |||
153 | |||
154 | // ----------------------------------------------------------------------- |
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2090 | holgerb | 155 | unsigned int SetDelay(unsigned int t) |
1 | ingob | 156 | { |
157 | // TIMSK0 &= ~_BV(TOIE0); |
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1105 | killagreg | 158 | return(CountMilliseconds + t + 1); |
1 | ingob | 159 | // TIMSK0 |= _BV(TOIE0); |
160 | } |
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161 | |||
162 | // ----------------------------------------------------------------------- |
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163 | char CheckDelay(unsigned int t) |
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164 | { |
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165 | // TIMSK0 &= ~_BV(TOIE0); |
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166 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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167 | // TIMSK0 |= _BV(TOIE0); |
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168 | } |
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169 | |||
170 | // ----------------------------------------------------------------------- |
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171 | void Delay_ms(unsigned int w) |
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172 | { |
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173 | unsigned int akt; |
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174 | akt = SetDelay(w); |
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175 | while (!CheckDelay(akt)); |
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176 | } |
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177 | |||
395 | hbuss | 178 | void Delay_ms_Mess(unsigned int w) |
179 | { |
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180 | unsigned int akt; |
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181 | akt = SetDelay(w); |
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1166 | hbuss | 182 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
395 | hbuss | 183 | } |
184 | |||
1156 | hbuss | 185 | /*****************************************************/ |
186 | /* Initialize Timer 2 */ |
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187 | /*****************************************************/ |
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188 | // The timer 2 is used to generate the PWM at PD7 (J7) |
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189 | // to control a camera servo for nick compensation. |
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190 | void TIMER2_Init(void) |
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910 | hbuss | 191 | { |
1156 | hbuss | 192 | uint8_t sreg = SREG; |
193 | |||
194 | // disable all interrupts before reconfiguration |
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195 | cli(); |
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1469 | killagreg | 196 | |
1156 | hbuss | 197 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
198 | |||
199 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
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2146 | holgerb | 200 | HEF4017Reset_ON; |
1156 | hbuss | 201 | // Timer/Counter 2 Control Register A |
202 | |||
203 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
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204 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
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205 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
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206 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
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207 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
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208 | |||
209 | // Timer/Counter 2 Control Register B |
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210 | |||
211 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
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212 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
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213 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
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214 | |||
215 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
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216 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
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217 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
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218 | |||
219 | // Initialize the Timer/Counter 2 Register |
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220 | TCNT2 = 0; |
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221 | |||
222 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
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223 | OCR2A = 255; |
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224 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
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225 | |||
226 | // Timer/Counter 2 Interrupt Mask Register |
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227 | // Enable timer output compare match A Interrupt only |
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228 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
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229 | TIMSK2 |= (1<<OCIE2A); |
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230 | |||
231 | SREG = sreg; |
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910 | hbuss | 232 | } |
233 | |||
1156 | hbuss | 234 | //---------------------------- |
235 | void Timer_Init(void) |
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1 | ingob | 236 | { |
1156 | hbuss | 237 | tim_main = SetDelay(10); |
238 | TCCR0B = CK8; |
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2367 | holgerb | 239 | // TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
240 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM |
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241 | OCR0B = 255; |
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242 | OCR0A = 180; |
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1156 | hbuss | 243 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
244 | //OCR1 = 0x00; |
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245 | TIMSK0 |= _BV(TOIE0); |
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246 | } |
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247 | |||
248 | |||
249 | /*****************************************************/ |
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250 | /* Control Servo Position */ |
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251 | /*****************************************************/ |
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2191 | holgerb | 252 | void CalcNickServoValue(void) |
253 | { |
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2232 | holgerb | 254 | signed int max, min; |
1156 | hbuss | 255 | |
2191 | holgerb | 256 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
257 | { |
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258 | max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
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259 | min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
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2192 | holgerb | 260 | NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
2191 | holgerb | 261 | LIMIT_MIN_MAX(NickServoValue,min, max); |
262 | } |
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263 | else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
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264 | } |
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1760 | holgerb | 265 | |
266 | void CalculateServo(void) |
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267 | { |
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1771 | holgerb | 268 | signed char cosinus, sinus; |
269 | signed long nick, roll; |
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1760 | holgerb | 270 | |
271 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
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272 | sinus = sintab[EE_Parameter.CamOrientation]; |
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273 | |||
274 | if(CalculateServoSignals == 1) |
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275 | { |
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2380 | holgerb | 276 | if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0; |
277 | else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
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1848 | holgerb | 278 | nick -= POI_KameraNick * 7; |
2296 | holgerb | 279 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
2010 | holgerb | 280 | // offset (Range from 0 to 255 * 3 = 765) |
2191 | holgerb | 281 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
282 | else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
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283 | |||
284 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
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2010 | holgerb | 285 | { |
286 | nick = ServoNickOffset / 16 + nick; |
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1763 | killagreg | 287 | } |
288 | else |
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2010 | holgerb | 289 | { // inverting movement of servo |
290 | nick = ServoNickOffset / 16 - nick; |
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1763 | killagreg | 291 | } |
2012 | holgerb | 292 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
2010 | holgerb | 293 | else ServoNickValue = nick; |
1763 | killagreg | 294 | // limit servo value to its parameter range definition |
2040 | holgerb | 295 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
1763 | killagreg | 296 | { |
297 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
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298 | } |
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299 | else |
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2040 | holgerb | 300 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
1763 | killagreg | 301 | { |
302 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
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303 | } |
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2426 | holgerb | 304 | // if(PlatinenVersion < 20) CalculateServoSignals = 0; else |
305 | CalculateServoSignals++; |
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1760 | holgerb | 306 | } |
307 | else |
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308 | { |
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2523 | holgerb | 309 | if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) roll = 0; |
310 | else roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
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2296 | holgerb | 311 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
1763 | killagreg | 312 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
2191 | holgerb | 313 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
1763 | killagreg | 314 | { // inverting movement of servo |
2010 | holgerb | 315 | roll = ServoRollOffset / 16 + roll; |
1763 | killagreg | 316 | } |
317 | else |
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2010 | holgerb | 318 | { // inverting movement of servo |
319 | roll = ServoRollOffset / 16 - roll; |
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1763 | killagreg | 320 | } |
2012 | holgerb | 321 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
2010 | holgerb | 322 | else ServoRollValue = roll; |
1763 | killagreg | 323 | // limit servo value to its parameter range definition |
2040 | holgerb | 324 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
1763 | killagreg | 325 | { |
326 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
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327 | } |
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328 | else |
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2040 | holgerb | 329 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
1763 | killagreg | 330 | { |
331 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
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332 | } |
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333 | CalculateServoSignals = 0; |
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1760 | holgerb | 334 | } |
335 | } |
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336 | |||
1156 | hbuss | 337 | ISR(TIMER2_COMPA_vect) |
338 | { |
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339 | // frame len 22.5 ms = 14063 * 1.6 us |
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340 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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341 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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342 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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343 | // resolution: 1500 - 375 = 1125 steps |
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344 | |||
345 | #define IRS_RUNTIME 127 |
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346 | #define PPM_STOPPULSE 188 |
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1171 | hbuss | 347 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
1156 | hbuss | 348 | #define MINSERVOPULSE 375 |
349 | #define MAXSERVOPULSE 1500 |
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350 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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351 | |||
352 | static uint8_t PulseOutput = 0; |
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353 | static uint16_t ServoFrameTime = 0; |
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354 | static uint8_t ServoIndex = 0; |
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355 | |||
2426 | holgerb | 356 | /* |
1156 | hbuss | 357 | if(PlatinenVersion < 20) |
358 | { |
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359 | //--------------------------- |
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360 | // Nick servo state machine |
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361 | //--------------------------- |
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362 | if(!PulseOutput) // pulse output complete |
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363 | { |
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364 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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365 | { |
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366 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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367 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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368 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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369 | // range servo pulse width |
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370 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
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371 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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372 | // accumulate time for correct update rate |
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373 | ServoFrameTime = RemainingPulse; |
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374 | } |
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375 | else // we had a high pulse |
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376 | { |
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377 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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378 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
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1763 | killagreg | 379 | CalculateServoSignals = 1; |
1156 | hbuss | 380 | } |
381 | // set pulse output active |
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382 | PulseOutput = 1; |
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383 | } |
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384 | } // EOF Nick servo state machine |
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385 | else |
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2426 | holgerb | 386 | */ |
1156 | hbuss | 387 | { |
388 | //----------------------------------------------------- |
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389 | // PPM state machine, onboard demultiplexed by HEF4017 |
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390 | //----------------------------------------------------- |
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391 | if(!PulseOutput) // pulse output complete |
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392 | { |
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393 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
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394 | { |
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395 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
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396 | if(ServoIndex == 0) // if we are at the sync gap |
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397 | { |
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398 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
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399 | ServoFrameTime = 0; // reset servo frame time |
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2146 | holgerb | 400 | HEF4017Reset_ON; // enable HEF4017 reset |
1156 | hbuss | 401 | } |
2166 | holgerb | 402 | else // servo channels |
403 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
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404 | { |
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405 | RemainingPulse = 10; // end it here |
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406 | } |
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407 | else |
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1156 | hbuss | 408 | { |
409 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
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410 | switch(ServoIndex) // map servo channels |
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411 | { |
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2166 | holgerb | 412 | case 1: // Nick Compensation Servo |
1156 | hbuss | 413 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
414 | break; |
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1224 | hbuss | 415 | case 2: // Roll Compensation Servo |
416 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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1232 | hbuss | 417 | break; |
1565 | killagreg | 418 | case 3: |
419 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
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1403 | hbuss | 420 | break; |
1543 | killagreg | 421 | case 4: |
1565 | killagreg | 422 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
1403 | hbuss | 423 | break; |
1543 | killagreg | 424 | case 5: |
1565 | killagreg | 425 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
1403 | hbuss | 426 | break; |
1156 | hbuss | 427 | default: // other servo channels |
428 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
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429 | break; |
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430 | } |
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431 | // range servo pulse width |
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2166 | holgerb | 432 | if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
433 | else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
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1156 | hbuss | 434 | // substract stop pulse width |
435 | RemainingPulse -= PPM_STOPPULSE; |
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436 | // accumulate time for correct sync gap |
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437 | ServoFrameTime += RemainingPulse; |
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438 | } |
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439 | } |
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440 | else // we had a high pulse |
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441 | { |
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442 | TCCR2A |= (1<<COM2A0); // make a low pulse |
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443 | // set pulsewidth to stop pulse width |
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444 | RemainingPulse = PPM_STOPPULSE; |
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445 | // accumulate time for correct sync gap |
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446 | ServoFrameTime += RemainingPulse; |
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2146 | holgerb | 447 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
448 | else HEF4017Reset_ON; |
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2166 | holgerb | 449 | ServoIndex++; |
450 | if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
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1763 | killagreg | 451 | { |
452 | CalculateServoSignals = 1; |
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1760 | holgerb | 453 | ServoIndex = 0; // reset to the sync gap |
454 | } |
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1156 | hbuss | 455 | } |
456 | // set pulse output active |
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457 | PulseOutput = 1; |
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458 | } |
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459 | } // EOF PPM state machine |
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460 | |||
461 | // General pulse output generator |
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462 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
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463 | { |
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464 | OCR2A = 255; |
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465 | RemainingPulse -= 255; |
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910 | hbuss | 466 | } |
1156 | hbuss | 467 | else |
468 | { |
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469 | if(RemainingPulse > 255) // this is the 2nd last part |
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470 | { |
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471 | if((RemainingPulse - 255) < IRS_RUNTIME) |
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472 | { |
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473 | OCR2A = 255 - IRS_RUNTIME; |
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474 | RemainingPulse -= 255 - IRS_RUNTIME; |
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475 | |||
476 | } |
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477 | else // last part > ISR_RUNTIME |
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478 | { |
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479 | OCR2A = 255; |
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480 | RemainingPulse -= 255; |
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481 | } |
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482 | } |
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483 | else // this is the last part |
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484 | { |
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485 | OCR2A = RemainingPulse; |
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486 | RemainingPulse = 0; |
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487 | PulseOutput = 0; // trigger to stop pulse |
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488 | } |
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489 | } // EOF general pulse output generator |
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1111 | hbuss | 490 | } |