| 13,7 → 13,12 |
|---|
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| |
| // Arthur P: Added two variables for control of the shutter servo cycle. |
| |
| volatile static unsigned int CameraShutterCycleCounter = 0; |
| volatile static unsigned int CameraShutterCycle = 0; |
| |
| |
| enum { |
| STOP = 0, |
| CK = 1, |
| 129,6 → 134,7 |
|---|
| // to control a camera servo for nick compensation. |
| void TIMER2_Init(void) |
| { |
| |
| uint8_t sreg = SREG; |
| |
| // disable all interrupts before reconfiguration |
| 176,6 → 182,7 |
|---|
| //---------------------------- |
| void Timer_Init(void) |
| { |
| |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| 218,7 → 225,17 |
|---|
| static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| |
| // Arthur P: Added initialization of the CameraShutterCycle value here as this routine is only |
| // called once. This retains all code changes in timer0.c. If parameter 6 > 0 then the user |
| // has set a value for the cycle. CameraShuytterCycle == 5x Para6 to get approx 0.1sec increments. |
| |
| // CameraShutterCycle = 5 * Parameter_UserParam6; |
| CameraShutterCycle = Parameter_UserParam6; |
| |
| // Arthur P: Modified the code to scheck the value of parameter 8. If 128 or higher then a HEF4017 is |
| // expected and will be used. Else J7 and J9 are seen as separate normal outputs. |
| // if((PlatinenVersion < 20) |
| |
| if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 )) |
| { |
| //--------------------------- |
| 320,11 → 337,22 |
|---|
| DebugOut.Analog[20] = ServoNickValue; |
| break; |
| case 2: // Roll Compensation Servo |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset |
| // Arthur P: Modified the code here to allow the user to either continue with the default |
| // offset value of 80, or set a different offset using parameter 7. I.e. if |
| // parameter 7 == 0 then the default is used, but if a value > 0 is entered then |
| // that value is used. |
| if(Parameter_UserParam7==0) |
| { |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset |
| } |
| else |
| { |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_UserParam7 * MULTIPLYER) / 4; |
| } |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| //if(EE_Parameter.ServoRollCompInvert & 0x01) |
| if(Parameter_UserParam8 & 0x40) |
| { // inverting movement of servo if 64 has been added to User Parameter8 |
| { // Arthur P: Inverting movement of servo if 64 has been added to User Parameter8 |
| ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| } |
| /**/ else |
| 369,7 → 397,57 |
|---|
| ServoRollValue /= MULTIPLYER; |
| //DebugOut.Analog[20] = ServoRollValue; |
| */ break; |
| case 3: // Arthur P: Shutter Servo including interval control over parameter 5 and 6. |
| |
| |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] < -32) |
| { |
| // Set servo to null position, turning camera off. |
| RemainingPulse = MINSERVOPULSE; |
| } |
| else |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 32) |
| // Middle position on a 3 position switch which runs from -127 to +127 |
| { |
| |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; |
| } |
| else |
| { |
| // Cycle shutter servo between on and off depending upon CameraShutterCycleCounter |
| // If CameraShutterCylce < 50 then default to continuous shoot. |
| if(CameraShutterCycle < 50 ) |
| { |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; |
| } |
| else |
| { |
| if(CameraShutterCycleCounter == CameraShutterCycle) |
| { |
| // Shutter on |
| CameraShutterCycleCounter = 0; |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; |
| } |
| else |
| { |
| // Leave on for at least 24 cycles or 0.25 seconds to allow |
| // the camera to properly trigger, turn off if past 0.25 sec. |
| // For now this is actually set via para5 to allow for a long enough |
| // shutter pulse for different cameras. Once it is clear what value |
| // works, this can be changed to a hardcoded value. |
| if(CameraShutterCycleCounter>Parameter_UserParam5) |
| { |
| |
| RemainingPulse = MINSERVOPULSE; |
| } |
| CameraShutterCycleCounter++; |
| } |
| } |
| } |
| } |
| break; |
| |
| default: // other servo channels |
| RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| break; |
| 378,6 → 456,9 |
|---|
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // substract stop pulse width |
| // Arthur P: I think the following line, correcting for the PPM sTOPPULSE does not apply for the |
| // calculated pulses, or maybe not at all. Therefore I-m commenting it out to see what happens.... |
| // 090624 reactivated as rollservo correction can now be done over para7. |
| RemainingPulse -= PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |