0,0 → 1,478 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + 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 |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
#include "main.h" |
#define MULTIPLYER 4 |
|
volatile unsigned int CountMilliseconds = 0; |
volatile unsigned int tim_main; |
volatile unsigned char UpdateMotor = 0; |
volatile unsigned int cntKompass = 0; |
volatile unsigned int beeptime = 0; |
volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
uint16_t RemainingPulse = 0; |
volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
|
unsigned int BeepMuster = 0xffff; |
signed int NickServoValue = 128 * MULTIPLYER * 16; |
|
volatile int16_t ServoNickValue = 0; |
volatile int16_t ServoRollValue = 0; |
|
|
enum { |
STOP = 0, |
CK = 1, |
CK8 = 2, |
CK64 = 3, |
CK256 = 4, |
CK1024 = 5, |
T0_FALLING_EDGE = 6, |
T0_RISING_EDGE = 7 |
}; |
|
|
ISR(TIMER0_OVF_vect) // 9,7kHz |
{ |
static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
unsigned char pieper_ein = 0; |
if(SendSPI) SendSPI--; |
if(SpektrumTimer) SpektrumTimer--; |
if(!cnt--) |
{ |
cnt = 9; |
CountMilliseconds++; |
cnt_1ms++; |
cnt_1ms %= 2; |
|
if(!cnt_1ms) UpdateMotor = 1; |
if(!(PINC & 0x10)) compass_active = 1; |
|
if(beeptime) |
{ |
if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
if(beeptime & BeepMuster) |
{ |
pieper_ein = 1; |
} |
else pieper_ein = 0; |
} |
else |
{ |
pieper_ein = 0; |
BeepMuster = 0xffff; |
} |
if(pieper_ein) |
{ |
if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
else PORTC |= (1<<7); // Speaker an PORTC.7 |
} |
else |
{ |
if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
else PORTC &= ~(1<<7); |
} |
} |
if(compass_active && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
{ |
if(PINC & 0x10) |
{ |
if(++cntKompass > 1000) compass_active = 0; |
} |
else |
{ |
if((cntKompass) && (cntKompass < 362)) |
{ |
cntKompass += cntKompass / 41; |
if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
} |
cntKompass = 0; |
} |
} |
} |
|
|
// ----------------------------------------------------------------------- |
unsigned int SetDelay(unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(CountMilliseconds + t + 1); |
// TIMSK0 |= _BV(TOIE0); |
} |
|
// ----------------------------------------------------------------------- |
char CheckDelay(unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(((t - CountMilliseconds) & 0x8000) >> 9); |
// TIMSK0 |= _BV(TOIE0); |
} |
|
// ----------------------------------------------------------------------- |
void Delay_ms(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)); |
} |
|
void Delay_ms_Mess(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
} |
|
/*****************************************************/ |
/* Initialize Timer 2 */ |
/*****************************************************/ |
// The timer 2 is used to generate the PWM at PD7 (J7) |
// to control a camera servo for nick compensation. |
void TIMER2_Init(void) |
{ |
uint8_t sreg = SREG; |
|
// disable all interrupts before reconfiguration |
cli(); |
|
PORTD &= ~(1<<PORTD7); // set PD7 to low |
|
DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
HEF4017Reset_ON; |
// Timer/Counter 2 Control Register A |
|
// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
TCCR2A |= (1<<WGM21)|(1<<WGM20); |
|
// Timer/Counter 2 Control Register B |
|
// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
|
// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
|
// Initialize the Timer/Counter 2 Register |
TCNT2 = 0; |
|
// Initialize the Output Compare Register A used for PWM generation on port PD7. |
OCR2A = 255; |
TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
|
// Timer/Counter 2 Interrupt Mask Register |
// Enable timer output compare match A Interrupt only |
TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
TIMSK2 |= (1<<OCIE2A); |
|
SREG = sreg; |
} |
|
//---------------------------- |
void Timer_Init(void) |
{ |
tim_main = SetDelay(10); |
TCCR0B = CK8; |
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
OCR0A = 0; |
OCR0B = 180; |
TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
//OCR1 = 0x00; |
TIMSK0 |= _BV(TOIE0); |
} |
|
|
/*****************************************************/ |
/* Control Servo Position */ |
/*****************************************************/ |
void CalcNickServoValue(void) |
{ |
signed int max, min; |
|
if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
{ |
max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
LIMIT_MIN_MAX(NickServoValue,min, max); |
} |
else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
} |
|
void CalculateServo(void) |
{ |
signed char cosinus, sinus; |
signed long nick, roll; |
|
cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
sinus = sintab[EE_Parameter.CamOrientation]; |
|
if(CalculateServoSignals == 1) |
{ |
nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
nick -= POI_KameraNick * 7; |
nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
// offset (Range from 0 to 255 * 3 = 765) |
if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
|
if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
{ |
nick = ServoNickOffset / 16 + nick; |
} |
else |
{ // inverting movement of servo |
nick = ServoNickOffset / 16 - nick; |
} |
if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
else ServoNickValue = nick; |
// limit servo value to its parameter range definition |
if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
{ |
ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
} |
else |
if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
{ |
ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
} |
if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
} |
else |
{ |
roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L; |
ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
{ // inverting movement of servo |
roll = ServoRollOffset / 16 + roll; |
} |
else |
{ // inverting movement of servo |
roll = ServoRollOffset / 16 - roll; |
} |
if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
else ServoRollValue = roll; |
// limit servo value to its parameter range definition |
if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
{ |
ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
} |
else |
if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
{ |
ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
} |
CalculateServoSignals = 0; |
} |
} |
|
ISR(TIMER2_COMPA_vect) |
{ |
// frame len 22.5 ms = 14063 * 1.6 us |
// stop pulse: 0.3 ms = 188 * 1.6 us |
// min servo pulse: 0.6 ms = 375 * 1.6 us |
// max servo pulse: 2.4 ms = 1500 * 1.6 us |
// resolution: 1500 - 375 = 1125 steps |
|
#define IRS_RUNTIME 127 |
#define PPM_STOPPULSE 188 |
#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
#define MINSERVOPULSE 375 |
#define MAXSERVOPULSE 1500 |
#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
|
static uint8_t PulseOutput = 0; |
static uint16_t ServoFrameTime = 0; |
static uint8_t ServoIndex = 0; |
|
|
if(PlatinenVersion < 20) |
{ |
//--------------------------- |
// Nick servo state machine |
//--------------------------- |
if(!PulseOutput) // pulse output complete |
{ |
if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
{ |
TCCR2A &= ~(1<<COM2A0);// make a high pulse |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
// range servo pulse width |
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
// accumulate time for correct update rate |
ServoFrameTime = RemainingPulse; |
} |
else // we had a high pulse |
{ |
TCCR2A |= (1<<COM2A0); // make a low pulse |
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
CalculateServoSignals = 1; |
} |
// set pulse output active |
PulseOutput = 1; |
} |
} // EOF Nick servo state machine |
else |
{ |
//----------------------------------------------------- |
// PPM state machine, onboard demultiplexed by HEF4017 |
//----------------------------------------------------- |
if(!PulseOutput) // pulse output complete |
{ |
if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
{ |
TCCR2A &= ~(1<<COM2A0);// make a high pulse |
if(ServoIndex == 0) // if we are at the sync gap |
{ |
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
ServoFrameTime = 0; // reset servo frame time |
HEF4017Reset_ON; // enable HEF4017 reset |
} |
else // servo channels |
if(ServoIndex > EE_Parameter.ServoNickRefresh) |
{ |
RemainingPulse = 10; // end it here |
} |
else |
{ |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
switch(ServoIndex) // map servo channels |
{ |
case 1: // Nick Compensation Servo |
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
break; |
case 2: // Roll Compensation Servo |
RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
break; |
case 3: |
RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
break; |
case 4: |
RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
break; |
case 5: |
RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
break; |
default: // other servo channels |
RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
break; |
} |
// range servo pulse width |
if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
// substract stop pulse width |
RemainingPulse -= PPM_STOPPULSE; |
// accumulate time for correct sync gap |
ServoFrameTime += RemainingPulse; |
} |
} |
else // we had a high pulse |
{ |
TCCR2A |= (1<<COM2A0); // make a low pulse |
// set pulsewidth to stop pulse width |
RemainingPulse = PPM_STOPPULSE; |
// accumulate time for correct sync gap |
ServoFrameTime += RemainingPulse; |
if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
else HEF4017Reset_ON; |
ServoIndex++; |
if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
{ |
CalculateServoSignals = 1; |
ServoIndex = 0; // reset to the sync gap |
} |
} |
// set pulse output active |
PulseOutput = 1; |
} |
} // EOF PPM state machine |
|
// General pulse output generator |
if(RemainingPulse > (255 + IRS_RUNTIME)) |
{ |
OCR2A = 255; |
RemainingPulse -= 255; |
} |
else |
{ |
if(RemainingPulse > 255) // this is the 2nd last part |
{ |
if((RemainingPulse - 255) < IRS_RUNTIME) |
{ |
OCR2A = 255 - IRS_RUNTIME; |
RemainingPulse -= 255 - IRS_RUNTIME; |
|
} |
else // last part > ISR_RUNTIME |
{ |
OCR2A = 255; |
RemainingPulse -= 255; |
} |
} |
else // this is the last part |
{ |
OCR2A = RemainingPulse; |
RemainingPulse = 0; |
PulseOutput = 0; // trigger to stop pulse |
} |
} // EOF general pulse output generator |
} |