WebSVN - Projects - Blame - Rev 139 - /RC-Expander/branches/MX12 Expander 1.2sp/main.c

Rev	Author	Line No.	Line
139	jacques	1	/*------------------------------------------------------------------------------
		2
		3	Ident : main.c
		4	Project : MX12 2 (3) ppm channel expander
		5	Author : Jacques Wanders
		6	Description : main module
		7	Copyright (c): 05.2008 Jacques Wanders
		8	modified : 05.2008 Heinrich Fischer for use with WinAVR
		9
		10	----------------------------------------------------------------------------
		11	Release : v1.0 initial release
		12	Date : 13-05-2008
		13	----------------------------------------------------------------------------
		14	Release : v1.1
		15	Date : 13-05-2008
		16	Notes : Added Channel 9
		17	----------------------------------------------------------------------------
		18	Release : v1.2
		19	Date : 22-05-2008
		20	Notes : Modified time definitions for FORCE_LOW_END_FRAME
		21	and MIN_SYNC_TIME to avoid lost pulse groups
		22	----------------------------------------------------------------------------
		23	Release : v1.2sp
		24	Date : 06-10-2008
		25	Notes : Special version, with a total of 8 channels.
		26	original 6th MX12 channel is ignored and replaced
		27	----------------------------------------------------------------------------
		28
		29	The use of this project (hardware, software, binary files, sources and
		30	documentation) is only permittet for non-commercial use
		31	(directly or indirectly)
		32	THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		33	AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		34	IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		35	ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		36	LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		37	CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		38	SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		39	INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		40	CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		41	ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		42	POSSIBILITY OF SUCH DAMAGE.
		43
		44	------------------------------------------------------------------------------*/
		45
		46	#define ENABLE_BIT_DEFINITIONS
		47	//#include <ioavr.h>
		48	//#include <inavr.h>
		49	#include <avr/io.h>
		50	#include <avr/interrupt.h>
		51	#include "main.h"
		52
		53
		54	enum{
		55	stPPM_SYNC,
		56	stPPM_SYNC_WAIT,
		57	stPPM_CHANNEL_START,
		58	stPPM_CHANNEL_DATA,
		59	stPPM_CHANNEL_6_DATA_TRIGGER,
		60	stPPM_CHANNEL_6_DATA,
		61	stPPM_CHANNEL_7_START,
		62	stPPM_CHANNEL_7_DATA,
		63	stPPM_CHANNEL_8_START,
		64	stPPM_CHANNEL_8_DATA,
		65	stPPM_FINISH_PULSE,
		66	stPPM_FINISH_FRAME,
		67	stPPM_FRAME_END,
		68	};
		69
		70	unsigned char channel_number = 0;
		71	unsigned char ppm_state = stPPM_SYNC;
		72	unsigned char adc_channel = 0;
		73	volatile unsigned int channel_6 = 0xffff; // set to max. for testing if conversion is valid
		74	volatile unsigned int channel_7 = 0xffff; // set to max. for testing if conversion is valid
		75	volatile unsigned int channel_8 = 0xffff; // set to max. for testing if conversion is valid
		76
		77
		78	/*------------------------------------------------------------------------------
		79
		80	function : init_pin(void)
		81	purpose : Initialise I/O pins
		82
		83	*----------------------------------------------------------------------------/
		84	void init_pin(void)
		85	{
		86
		87	DDRA &= ~(1<<PPM_IN); // set Input Capture Pin as input
		88	PORTA \|= (1<<PPM_IN); // enable pullup
		89
		90	DDRB \|= (1<<PPM_OUT_PIN); // configure PPM_OUT pin as output
		91	SET_PPM_OUT_LOW; // set low
		92
		93	DDRA &= ~(1 << CHANNEL_6_ADC); // Channel 6 (pin12) input
		94	PORTA &= ~(1 << CHANNEL_6_ADC); // disable pullup
		95
		96	DDRA &= ~(1 << CHANNEL_7_ADC); // Channel 7 (pin11) input
		97	PORTA &= ~(1 << CHANNEL_7_ADC); // disable pullup
		98
		99	DDRA &= ~(1 << CHANNEL_6_ADC); // Channel 8 (pin10) input
		100	PORTA &= ~(1 << CHANNEL_6_ADC); // disable pullup
		101
		102	}
		103	/-init_pin-------------------------------------------------------------------/
		104
		105
		106	/*------------------------------------------------------------------------------
		107
		108	function : init_adc(void)
		109	purpose : Initialise ADC registers
		110
		111	*----------------------------------------------------------------------------/
		112	void init_adc(void)
		113	{
		114
		115	cli(); // disable interrupts
		116
		117	DIDR0 \|= ((1<<ADC2D)\|(1<<ADC1D)); // digital input disable for pin 11 and 12
		118	ADMUX = 0x00; // VCC as reference voltage, select channel 0
		119	ADCSRA = (1 << ADPS2) \| (1 << ADPS1)\|\| (0 << ADPS0); // 8.0 [Mhz] / 128 = 62,5 [kHz]
		120	ADCSRB = 0x00; // free running mode
		121
		122	ADC_ENABLE;
		123
		124	sei(); // enable interrupts
		125	}
		126	/-init_adc-------------------------------------------------------------------/
		127
		128
		129	/*------------------------------------------------------------------------------
		130
		131	function : init_timer1(void)
		132	purpose : Initialise timer0
		133	Note(s) : Frequency : 8.0 [Mhz]
		134	8 / 8.0 Mhz : 1.00 [us]
		135
		136	*----------------------------------------------------------------------------/
		137	void init_timer1(void)
		138	{
		139	cli(); // disable interrupts
		140
		141	TCCR1A = ((0<<WGM11)\|(0<<WGM10)); // CTC mode
		142	TCCR1B = ((0<<WGM13)\|(1<<WGM12)\|(0<<CS12)\|(1<<CS11)\|(0<<CS10)); // CTC mode for COMPA, prescaler 8 / 8MHz => [1.0us]
		143
		144	CLEAR_INPUT_CAPTURE_INTERRUPT_FLAG; // reset ICF flag
		145
		146	SET_COUNTER_TO_ZERO;
		147	SET_COMPARE_COUNTER_TO_ZERO;
		148	ENABLE_INPUT_CAPTURE;
		149	DISABLE_OUTPUT_COMPARE;
		150	RISING_EDGE_TRIGGER;
		151
		152	sei(); // enable interrupts
		153	}
		154	/-init_timer1----------------------------------------------------------------/
		155
		156
		157	/*------------------------------------------------------------------------------
		158
		159	function : timer1_capture_interrupt(void)
		160	purpose : Synchronise PPM frame and copy input events to PPM_OUT,
		161	start mixing Ch6, 7 and 7 data when detect start pulse of Ch7
		162
		163	*----------------------------------------------------------------------------/
		164	//#pragma vector=TIM1_CAPT_vect
		165	//static __nested __interrupt void timer1_capture_interrupt (void)
		166	ISR(TIMER1_CAPT_vect)
		167	{
		168	cli(); // disable interrupts
		169	unsigned int data;
		170
		171	switch (ppm_state)
		172	{
		173	case stPPM_SYNC: // detect rising edge pulse
		174	data = ICR1; // get timer value after input capture
		175	SET_COUNTER_TO_ZERO;
		176	FALLING_EDGE_TRIGGER;
		177	if(data >= MIN_SYNC_TIME && data <= MAX_SYNC_TIME) // valid sync trigger
		178	{
		179	SET_PPM_OUT_HIGH;
		180	ppm_state = stPPM_CHANNEL_DATA; // next state: get data
		181	channel_number = 0;
		182	}
		183	else // trigger but not a valid sync time
		184	{
		185	SET_PPM_OUT_LOW;
		186	ppm_state = stPPM_SYNC_WAIT; // next state: wait for next sync event
		187	}
		188	break;
		189
		190	case stPPM_SYNC_WAIT:
		191	SET_PPM_OUT_LOW; // not nessecery, output should already be low
		192	SET_COUNTER_TO_ZERO;
		193	SET_CAPTURE_COUNTER_TO_ZERO;
		194	RISING_EDGE_TRIGGER;
		195	ppm_state = stPPM_SYNC; // next state: try again for new sync
		196	break;
		197
		198	case stPPM_CHANNEL_START: // detect rising edge pulse
		199	SET_COUNTER_TO_ZERO;
		200	SET_PPM_OUT_HIGH;
		201	FALLING_EDGE_TRIGGER;
		202	channel_number++; // prepare for next MX12 channel clock
		203	if(channel_number>4) // all 5 channels read
		204	{
		205	ppm_state = stPPM_CHANNEL_6_DATA_TRIGGER; // 7th. channel but now self created
		206	channel_number = 0;
		207	}
		208	else
		209	ppm_state = stPPM_CHANNEL_DATA;
		210	break;
		211
		212	case stPPM_CHANNEL_DATA: // detect falling edge pulse
		213	SET_COUNTER_TO_ZERO;
		214	SET_PPM_OUT_LOW;
		215	RISING_EDGE_TRIGGER;
		216	ppm_state = stPPM_CHANNEL_START; // wait for next channel rising edge pulse
		217	break;
		218
		219	case stPPM_CHANNEL_6_DATA_TRIGGER: // detect rising edge pulse
		220	SET_COUNTER_TO_ZERO;
		221	SET_PPM_OUT_LOW;
		222	SET_TIMER_TO_COMPA_CTC;
		223	DISABLE_INPUT_CAPTURE;
		224	ENABLE_OUTPUT_COMPARE;
		225	OCR1A = START_PULSE_LOW; // startpulse length 0.3ms
		226	TRIGGER_INPUT_COMPARE_INTERRUPT;
		227	ppm_state = stPPM_CHANNEL_6_DATA;
		228	break;
		229
		230	default:
		231	SET_PPM_OUT_LOW; // not nessecery, output should already be low
		232	SET_COUNTER_TO_ZERO;
		233	SET_CAPTURE_COUNTER_TO_ZERO;
		234	RISING_EDGE_TRIGGER;
		235	ppm_state = stPPM_SYNC; // next state: try again for new sync
		236	break;
		237
		238	}
		239	sei();
		240	}
		241	/-timer1_capture_interrupt---------------------------------------------------/
		242
		243
		244	/*------------------------------------------------------------------------------
		245
		246	function : timer1_compare_interrupt(void)
		247	purpose : Mixing channel 7, 8 and 9 data into ppm out,
		248	start input capture for frame synchronisation
		249
		250	*----------------------------------------------------------------------------/
		251	//#pragma vector=TIM1_COMPA_vect
		252	//__interrupt void timer1_compare_interrupt (void)
		253	ISR(TIM1_COMPA_vect)
		254	{
		255	cli();
		256	switch (ppm_state)
		257	{
		258	case stPPM_CHANNEL_6_DATA: // create 6th channel data
		259	SET_PPM_OUT_LOW;
		260	SET_COUNTER_TO_ZERO;
		261	OCR1A = channel_6; // COMPA: 0,7ms + channel 6 ADC value
		262	ppm_state = stPPM_CHANNEL_7_START; // next State
		263	break;
		264
		265	case stPPM_CHANNEL_7_START: // create 7th channel start pulse
		266	SET_PPM_OUT_HIGH;
		267	SET_COUNTER_TO_ZERO;
		268	OCR1A = START_PULSE_HIGH; // startpulse length 0.3ms
		269	ppm_state = stPPM_CHANNEL_7_DATA; // next State
		270	break;
		271
		272	case stPPM_CHANNEL_7_DATA: // create 7th channel data
		273	SET_PPM_OUT_LOW;
		274	SET_COUNTER_TO_ZERO;
		275	OCR1A = START_PULSE_LOW + channel_7; // COMPA: 0,7ms + channel 6 ADC value
		276	ppm_state = stPPM_CHANNEL_8_START; // next State
		277	break;
		278
		279	case stPPM_CHANNEL_8_START: // create 7th channel start pulse
		280	SET_PPM_OUT_HIGH;
		281	SET_COUNTER_TO_ZERO;
		282	OCR1A = START_PULSE_HIGH; // startpulse length 0.3ms
		283	ppm_state = stPPM_CHANNEL_8_DATA; // next State
		284	break;
		285
		286	case stPPM_CHANNEL_8_DATA: // create 7th channel data
		287	SET_PPM_OUT_LOW;
		288	SET_COUNTER_TO_ZERO;
		289	OCR1A = START_PULSE_LOW + channel_8; // COMPA: 0,7ms + channel 7 ADC value
		290	ppm_state = stPPM_FINISH_PULSE; // next State
		291	break;
		292
		293	case stPPM_FINISH_PULSE: // create last pulse
		294	SET_PPM_OUT_HIGH;
		295	SET_COUNTER_TO_ZERO;
		296	OCR1A = START_PULSE_HIGH; // startpulse length 0.3ms
		297	ppm_state = stPPM_FINISH_FRAME; // next State
		298	break;
		299
		300	case stPPM_FINISH_FRAME: // create extra low pulse for masking PPM_IN data of channel 7 and 8
		301	SET_PPM_OUT_LOW;
		302	SET_COUNTER_TO_ZERO;
		303	OCR1A = FORCE_LOW_END_FRAME; // keep last end low; 2 channels max - 2 channels min => 2x2ms - 2x1ms + extra length = 2 ms + 1 ms = 3ms => 3000 ticks
		304	ppm_state = stPPM_FRAME_END; // next State
		305	break;
		306
		307	case stPPM_FRAME_END:
		308	default:
		309	RISING_EDGE_TRIGGER;
		310	DISABLE_OUTPUT_COMPARE;
		311	ENABLE_INPUT_CAPTURE;
		312	SET_TIMER_TO_COMPA_CTC;
		313	SET_COUNTER_TO_ZERO;
		314	SET_COMPARE_COUNTER_TO_ZERO;
		315	SET_CAPTURE_COUNTER_TO_ZERO;
		316	ppm_state = stPPM_SYNC; // next State
		317	TRIGGER_INPUT_CAPTURE_INTERRUPT;
		318	break;
		319
		320	}
		321	sei();
		322	}
		323	/-timer1_compare_interrupt---------------------------------------------------/
		324
		325
		326	/*------------------------------------------------------------------------------
		327
		328	function : adc_server(void)
		329	purpose : Handle Analog conversion of RC channel 6, 7 and 8
		330
		331	*----------------------------------------------------------------------------/
		332	//#pragma vector=ADC_vect
		333	//__interrupt void adc_server(void)
		334	ISR(ADC_vect)
		335	{
		336	unsigned int AdcResult;
		337
		338	ADC_DISABLE;
		339
		340	AdcResult = ADC;
		341	if(AdcResult > 1000) // limit conversion value
		342	AdcResult = 1000; // 1000 => 1ms
		343
		344	ADMUX &= ~(ADC_CHANNEL_MASK); // clear channel select bits
		345
		346	if(adc_channel == ADC_CHANNEL_6)
		347	{
		348	channel_6 = AdcResult; // set channel 6 value;
		349	adc_channel = ADC_CHANNEL_7; // set next event for channel 7 conversion
		350	}
		351	else if(adc_channel == ADC_CHANNEL_7)
		352	{
		353	channel_7 = AdcResult; // set channel 7 value;
		354	adc_channel = ADC_CHANNEL_8; // set next event for channel 8 conversion
		355	}
		356	else
		357	{
		358	channel_8 = AdcResult; // set channel 8 value;
		359	adc_channel = ADC_CHANNEL_6; // set next event for channel 6 conversion
		360	}
		361
		362	ADMUX \|= adc_channel; // select new conversion channel
		363
		364	ADC_ENABLE;
		365	}
		366	/-adc_server-----------------------------------------------------------------/
		367
		368
		369	/*------------------------------------------------------------------------------
		370
		371	function : check_valid_adc_value(void)
		372	purpose : wait until 3 ADC channels are processed at least once
		373	before init Input Capture/Timer1
		374
		375	*----------------------------------------------------------------------------/
		376	void check_valid_adc_value (void)
		377	{
		378	unsigned char exit = FALSE;
		379
		380	do
		381	{
		382	if(channel_6 < 0xffff && channel_7 < 0xffff && channel_8 < 0xffff) // both channels must be processed
		383	exit = TRUE;
		384
		385	}while (!exit);
		386	}
		387	/-check_valid_adc_value------------------------------------------------------/
		388
		389
		390	/*------------------------------------------------------------------------------
		391
		392	function : main(void)
		393
		394	*----------------------------------------------------------------------------/
		395	int main(void)
		396	{
		397
		398	init_pin();
		399	init_adc();
		400	check_valid_adc_value(); // wait until both ADC channels are processed at least once
		401	init_timer1();
		402
		403	while(1)
		404	{}
		405	}
		406
		407	/-main-----------------------------------------------------------------------/
		408

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