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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.
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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// + 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.
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// + 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.
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// + *) 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 ####
51
// + 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;
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
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;
2386 holgerb 91
   if(BytegapSPI) BytegapSPI--;
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
 
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;
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
        {
2426 holgerb 123
//          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
124
//          else                      
125
                  PORTC |= (1<<7); // Speaker an PORTC.7
173 holgerb 126
        }
1105 killagreg 127
     else
173 holgerb 128
        {
2426 holgerb 129
//         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
130
//         else                      
131
                 PORTC &= ~(1<<7);
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)
138
   {
2346 holgerb 139
        if(++cntKompass > 1000) JustMK3MagConnected = 0;
1 ingob 140
   }
141
  else
142
   {
1105 killagreg 143
    if((cntKompass) && (cntKompass < 362))
144
    {
693 hbuss 145
     cntKompass += cntKompass / 41;
146
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1941 holgerb 147
//     KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1105 killagreg 148
    }
1 ingob 149
    cntKompass = 0;
1105 killagreg 150
   }
1 ingob 151
 }
152
}
153
 
154
 
155
// -----------------------------------------------------------------------
2090 holgerb 156
unsigned int SetDelay(unsigned int t)
1 ingob 157
{
158
//  TIMSK0 &= ~_BV(TOIE0);
1105 killagreg 159
  return(CountMilliseconds + t + 1);
1 ingob 160
//  TIMSK0 |= _BV(TOIE0);
161
}
162
 
163
// -----------------------------------------------------------------------
164
char CheckDelay(unsigned int t)
165
{
166
//  TIMSK0 &= ~_BV(TOIE0);
167
  return(((t - CountMilliseconds) & 0x8000) >> 9);
168
//  TIMSK0 |= _BV(TOIE0);
169
}
170
 
171
// -----------------------------------------------------------------------
172
void Delay_ms(unsigned int w)
173
{
174
 unsigned int akt;
175
 akt = SetDelay(w);
176
 while (!CheckDelay(akt));
177
}
178
 
395 hbuss 179
void Delay_ms_Mess(unsigned int w)
180
{
181
 unsigned int akt;
182
 akt = SetDelay(w);
1166 hbuss 183
 while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395 hbuss 184
}
185
 
1156 hbuss 186
/*****************************************************/
187
/*              Initialize Timer 2                   */
188
/*****************************************************/
189
// The timer 2 is used to generate the PWM at PD7 (J7)
190
// to control a camera servo for nick compensation.
191
void TIMER2_Init(void)
910 hbuss 192
{
1156 hbuss 193
        uint8_t sreg = SREG;
194
 
195
        // disable all interrupts before reconfiguration
196
        cli();
1469 killagreg 197
 
1156 hbuss 198
        PORTD &= ~(1<<PORTD7);  // set PD7 to low
199
 
200
        DDRC  |= (1<<DDC6);     // set PC6 as output (Reset for HEF4017)
2146 holgerb 201
    HEF4017Reset_ON;
1156 hbuss 202
        // Timer/Counter 2 Control Register A
203
 
204
        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
205
    // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
206
    // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
207
        TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));
208
    TCCR2A |= (1<<WGM21)|(1<<WGM20);
209
 
210
    // Timer/Counter 2 Control Register B
211
 
212
        // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
213
        // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
214
        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
215
 
216
    // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
217
        TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));
218
    TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);
219
 
220
        // Initialize the Timer/Counter 2 Register
221
    TCNT2 = 0;
222
 
223
        // Initialize the Output Compare Register A used for PWM generation on port PD7.
224
        OCR2A = 255;
225
        TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
226
 
227
        // Timer/Counter 2 Interrupt Mask Register
228
        // Enable timer output compare match A Interrupt only
229
        TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));
230
        TIMSK2 |= (1<<OCIE2A);
231
 
232
    SREG = sreg;
910 hbuss 233
}
234
 
1156 hbuss 235
//----------------------------
236
void Timer_Init(void)
1 ingob 237
{
1156 hbuss 238
    tim_main = SetDelay(10);
239
    TCCR0B = CK8;
2367 holgerb 240
//    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
241
    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM
242
    OCR0B =  255;
243
    OCR0A = 180;
1156 hbuss 244
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
245
    //OCR1  = 0x00;
246
    TIMSK0 |= _BV(TOIE0);
247
}
248
 
249
 
250
/*****************************************************/
251
/*              Control Servo Position               */
252
/*****************************************************/
2191 holgerb 253
void CalcNickServoValue(void)
254
{
2232 holgerb 255
 signed int max, min;
1156 hbuss 256
 
2191 holgerb 257
 if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value
258
  {
259
        max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15);
260
        min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20);
2192 holgerb 261
        NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6;
2191 holgerb 262
        LIMIT_MIN_MAX(NickServoValue,min, max);
263
  }
264
  else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16);  // direct poti control
265
}
1760 holgerb 266
 
267
void CalculateServo(void)
268
{
1771 holgerb 269
 signed char cosinus, sinus;
270
 signed long nick, roll;
1760 holgerb 271
 
272
        cosinus = sintab[EE_Parameter.CamOrientation + 6];
273
        sinus = sintab[EE_Parameter.CamOrientation];
274
 
275
  if(CalculateServoSignals == 1)
276
   {
2380 holgerb 277
            if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0;
278
            else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L;
1848 holgerb 279
        nick -= POI_KameraNick * 7;
2296 holgerb 280
                nick = ((long)Parameter_ServoNickComp * nick) / 512L;
2010 holgerb 281
                // offset (Range from 0 to 255 * 3 = 765)
2191 holgerb 282
                if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue;
283
                else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed;
284
 
285
                if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo
2010 holgerb 286
                {      
287
                        nick = ServoNickOffset / 16 + nick;
1763 killagreg 288
                }
289
                else
2010 holgerb 290
                {       // inverting movement of servo
291
                        nick = ServoNickOffset / 16 - nick;
1763 killagreg 292
                }
2012 holgerb 293
                if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1);
2010 holgerb 294
                else                     ServoNickValue = nick;
1763 killagreg 295
                // limit servo value to its parameter range definition
2040 holgerb 296
                if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER))
1763 killagreg 297
                {
298
                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
299
                }
300
                else
2040 holgerb 301
                if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER))
1763 killagreg 302
                {
303
                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
304
                }
2426 holgerb 305
//              if(PlatinenVersion < 20) CalculateServoSignals = 0; else 
306
                CalculateServoSignals++;
1760 holgerb 307
        }
308
        else
309
        {
1763 killagreg 310
        roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L;
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
2010 holgerb 318
                {       // inverting movement of servo
319
                        roll = ServoRollOffset / 16 - roll;
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;
327
                }
328
                else
2040 holgerb 329
                if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER))
1763 killagreg 330
                {
331
                        ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
332
                }
333
                CalculateServoSignals = 0;
1760 holgerb 334
        }
335
}
336
 
1156 hbuss 337
ISR(TIMER2_COMPA_vect)
338
{
339
        // frame len 22.5 ms = 14063 * 1.6 us
340
        // stop pulse: 0.3 ms = 188 * 1.6 us
341
        // min servo pulse: 0.6 ms =  375 * 1.6 us
342
        // max servo pulse: 2.4 ms = 1500 * 1.6 us
343
        // resolution: 1500 - 375 = 1125 steps
344
 
345
        #define IRS_RUNTIME 127
346
        #define PPM_STOPPULSE 188
1171 hbuss 347
    #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156 hbuss 348
        #define MINSERVOPULSE 375
349
        #define MAXSERVOPULSE 1500
350
        #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
351
 
352
        static uint8_t  PulseOutput = 0;
353
        static uint16_t ServoFrameTime = 0;
354
        static uint8_t  ServoIndex = 0;
355
 
2426 holgerb 356
/*
1156 hbuss 357
        if(PlatinenVersion < 20)
358
        {
359
                //---------------------------
360
                // Nick servo state machine
361
                //---------------------------
362
                if(!PulseOutput) // pulse output complete
363
                {
364
                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse
365
                        {
366
                                TCCR2A &= ~(1<<COM2A0);// make a high pulse
367
                                RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
368
                                RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
369
                                // range servo pulse width
370
                                if(RemainingPulse > MAXSERVOPULSE )                     RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
371
                                else if(RemainingPulse < MINSERVOPULSE )        RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
372
                                // accumulate time for correct update rate
373
                                ServoFrameTime = RemainingPulse;
374
                        }
375
                        else // we had a high pulse
376
                        {
377
                                TCCR2A |= (1<<COM2A0); // make a low pulse
378
                                RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
1763 killagreg 379
                                CalculateServoSignals = 1;
1156 hbuss 380
                        }
381
                        // set pulse output active
382
                        PulseOutput = 1;
383
                }
384
        } // EOF Nick servo state machine
385
        else
2426 holgerb 386
*/
1156 hbuss 387
        {
388
                //-----------------------------------------------------
389
                // PPM state machine, onboard demultiplexed by HEF4017
390
                //-----------------------------------------------------
391
                if(!PulseOutput) // pulse output complete
392
                {
393
                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse
394
                        {
395
                                TCCR2A &= ~(1<<COM2A0);// make a high pulse
396
                                if(ServoIndex == 0) // if we are at the sync gap
397
                                {
398
                                        RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
399
                                        ServoFrameTime = 0; // reset servo frame time
2146 holgerb 400
                                        HEF4017Reset_ON; // enable HEF4017 reset
1156 hbuss 401
                                }
2166 holgerb 402
                                else // servo channels 
403
                                if(ServoIndex > EE_Parameter.ServoNickRefresh)  
404
                                 {
405
                                  RemainingPulse = 10; // end it here
406
                                 }
407
                                else
1156 hbuss 408
                                {
409
                                        RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
410
                                        switch(ServoIndex) // map servo channels
411
                                        {
2166 holgerb 412
                                         case 1: // Nick Compensation Servo
1156 hbuss 413
                                                        RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
414
                                                        break;
1224 hbuss 415
                                         case 2: // Roll Compensation Servo
416
                                                        RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
1232 hbuss 417
                                                        break;
1565 killagreg 418
                                         case 3:
419
                                                        RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER;
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
429
                                                        break;
430
                                        }
431
                                        // range servo pulse width
2166 holgerb 432
                                        if(RemainingPulse > MAXSERVOPULSE)                      RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
433
                                        else if(RemainingPulse < MINSERVOPULSE)     RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
1156 hbuss 434
                                        // substract stop pulse width
435
                                        RemainingPulse -= PPM_STOPPULSE;
436
                                        // accumulate time for correct sync gap
437
                                        ServoFrameTime += RemainingPulse;
438
                                }
439
                        }
440
                        else // we had a high pulse
441
                        {
442
                                TCCR2A |= (1<<COM2A0); // make a low pulse
443
                                // set pulsewidth to stop pulse width
444
                                RemainingPulse = PPM_STOPPULSE;
445
                                // accumulate time for correct sync gap
446
                                ServoFrameTime += RemainingPulse;
2146 holgerb 447
                                if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset
448
                                else HEF4017Reset_ON;
2166 holgerb 449
                                ServoIndex++;
450
                                if(ServoIndex > EE_Parameter.ServoNickRefresh+1)
1763 killagreg 451
                                  {
452
                                    CalculateServoSignals = 1;
1760 holgerb 453
                                        ServoIndex = 0; // reset to the sync gap
454
                                  }
1156 hbuss 455
                        }
456
                        // set pulse output active
457
                        PulseOutput = 1;
458
                }
459
        } // EOF PPM state machine
460
 
461
        // General pulse output generator
462
        if(RemainingPulse > (255 + IRS_RUNTIME))
463
        {
464
                OCR2A = 255;
465
                RemainingPulse -= 255;
910 hbuss 466
        }
1156 hbuss 467
        else
468
        {
469
                if(RemainingPulse > 255) // this is the 2nd last part
470
                {
471
                        if((RemainingPulse - 255) < IRS_RUNTIME)
472
                        {
473
                                OCR2A = 255 - IRS_RUNTIME;
474
                                RemainingPulse -= 255 - IRS_RUNTIME;
475
 
476
                        }
477
                        else // last part > ISR_RUNTIME
478
                        {
479
                                OCR2A = 255;
480
                                RemainingPulse -= 255;
481
                        }
482
                }
483
                else // this is the last part
484
                {
485
                        OCR2A = RemainingPulse;
486
                        RemainingPulse = 0;
487
                        PulseOutput = 0; // trigger to stop pulse
488
                }
489
        } // EOF general pulse output generator
1111 hbuss 490
}