WebSVN - FlightCtrl - Diff - Rev 1229 and 1242 - /branches/V0.74d-Arthur P/timer0.c


#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static 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;
 
unsigned int BeepMuster = 0xffff;
int ServoValue = 0;
 
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,
  CK8              = 2,
  CK64             = 3,
  CK256            = 4,
  CK1024           = 5,
  T0_FALLING_EDGE  = 6,
  T0_RISING_EDGE   = 7
};
 
 
SIGNAL (SIG_OVERFLOW0)    // 8kHz
{
    static unsigned char cnt_1ms = 1,cnt = 0;
    unsigned char pieper_ein = 0;
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
   if(SendSPI) SendSPI--;
   if(!cnt--)
    {
     cnt = 9;
     cnt_1ms++;
     cnt_1ms %= 2;
     if(!cnt_1ms) UpdateMotor = 1;
     CountMilliseconds++;
    }
 
     if(beeptime > 1)
        {
        beeptime--;
        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(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
 {
  if(PINC & 0x10)
   {
    cntKompass++;
   }
  else
   {
    if((cntKompass) && (cntKompass < 362))
    {
     cntKompass += cntKompass / 41;
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
    }
//     if(cntKompass < 10) cntKompass = 10;
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 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();
 
        // set PD7 as output of the PWM for nick servo
        DDRD  |= (1<<DDD7);
        PORTD &= ~(1<<PORTD7);  // set PD7 to low
 
        DDRC  |= (1<<DDC6);     // set PC6 as output (Reset for HEF4017)
    HEF4017R_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 = 120;
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
    //OCR1  = 0x00;
 
    TIMSK0 |= _BV(TOIE0);
}
 
 
/*****************************************************/
/*              Control Servo Position               */
/*****************************************************/
 
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 (14063
    #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 RemainingPulse = 0;
        static uint16_t ServoFrameTime = 0;
        static uint8_t  ServoIndex = 0;
 
        #define MULTIPLYER 4
        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 ))
        {
                //---------------------------
                // 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
 
                                ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
                                ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
                                if(EE_Parameter.ServoNickCompInvert & 0x01)
                                {       // inverting movement of servo
                                        ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
                                }
                                else
                                {       // non inverting movement of servo
                                        ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
                                }
                                // 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;
                                }
 
                                RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
 
                                ServoNickValue /= MULTIPLYER;
                                DebugOut.Analog[20] = ServoNickValue;
 
                                // 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;
                        }
                        // 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
                                        HEF4017R_ON; // enable HEF4017 reset
                                }
                                else // servo channels
                                {
                                        RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
                                        switch(ServoIndex) // map servo channels
                                        {
                                                case 1: // Nick Compensation Servo
                                                        ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
                                                        ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
                                                        if(EE_Parameter.ServoNickCompInvert & 0x01)
                                                        {       // inverting movement of servo
                                                                ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
                                                        }
                                                        else
                                                        {       // non inverting movement of servo
                                                                ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
                                                        }
                                                        // 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;
                                                        }
                                                        RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
                                                        ServoNickValue /= MULTIPLYER;
                                                        DebugOut.Analog[20] = ServoNickValue;
                                                        break;
                                         case 2: // Roll Compensation Servo
                                                        // 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)
                                                        {       // 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
                                                        {       // non inverting movement of servo
                                                                ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
                                                        }
/**/                                                    // limit servo value to its parameter range definition
                                                        if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
                                                        {
                                                                ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
                                                        }
                                                        else
                                                        if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
                                                        {
                                                                ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
                                                        }
                                                        RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
                                                        ServoRollValue /= MULTIPLYER;
                                                        //DebugOut.Analog[20] = ServoRollValue;
 
/*                                                      ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
                                                        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
                                                        if(EE_Parameter.ServoRollCompInvert & 0x01)
                                                        {       // inverting movement of servo
                                                                ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
                                                        }
                                                        else
                                                        {       // non inverting movement of servo
                                                                ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
                                                        }
                                                        // 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;
                                                        }
                                                        RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
                                                        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;
                                        }
                                        // 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
                                        // 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;
                                }
                        }
                        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 > 180) HEF4017R_OFF; // disable HEF4017 reset
                                ServoIndex++; // change to next servo channel
                                if(ServoIndex > EE_Parameter.ServoNickRefresh) 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
}
 

Rev 1229	Rev 1242
1	#include "main.h"	1	#include "main.h"
2		2
3	volatile unsigned int CountMilliseconds = 0;	3	volatile unsigned int CountMilliseconds = 0;
4	volatile static unsigned int tim_main;	4	volatile static unsigned int tim_main;
5	volatile unsigned char UpdateMotor = 0;	5	volatile unsigned char UpdateMotor = 0;
6	volatile unsigned int cntKompass = 0;	6	volatile unsigned int cntKompass = 0;
7	volatile unsigned int beeptime = 0;	7	volatile unsigned int beeptime = 0;
8	volatile unsigned char SendSPI = 0, ServoActive = 0;	8	volatile unsigned char SendSPI = 0, ServoActive = 0;
9		9
10	unsigned int BeepMuster = 0xffff;	10	unsigned int BeepMuster = 0xffff;
11	int ServoValue = 0;	11	int ServoValue = 0;
12		12
13	volatile int16_t ServoNickValue = 0;	13	volatile int16_t ServoNickValue = 0;
14	volatile int16_t ServoRollValue = 0;	14	volatile int16_t ServoRollValue = 0;
-		15
-		16	// Arthur P: Added two variables for control of the shutter servo cycle.
-		17
-		18	volatile static unsigned int CameraShutterCycleCounter = 0;
-		19	volatile static unsigned int CameraShutterCycle = 0;
15		20
16		21
17	enum {	22	enum {
18	STOP = 0,	23	STOP = 0,
19	CK = 1,	24	CK = 1,
20	CK8 = 2,	25	CK8 = 2,
21	CK64 = 3,	26	CK64 = 3,
22	CK256 = 4,	27	CK256 = 4,
23	CK1024 = 5,	28	CK1024 = 5,
24	T0_FALLING_EDGE = 6,	29	T0_FALLING_EDGE = 6,
25	T0_RISING_EDGE = 7	30	T0_RISING_EDGE = 7
26	};	31	};
27		32
28		33
29	SIGNAL (SIG_OVERFLOW0) // 8kHz	34	SIGNAL (SIG_OVERFLOW0) // 8kHz
30	{	35	{
31	static unsigned char cnt_1ms = 1,cnt = 0;	36	static unsigned char cnt_1ms = 1,cnt = 0;
32	unsigned char pieper_ein = 0;	37	unsigned char pieper_ein = 0;
33	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	38	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
34	if(SendSPI) SendSPI--;	39	if(SendSPI) SendSPI--;
35	if(!cnt--)	40	if(!cnt--)
36	{	41	{
37	cnt = 9;	42	cnt = 9;
38	cnt_1ms++;	43	cnt_1ms++;
39	cnt_1ms %= 2;	44	cnt_1ms %= 2;
40	if(!cnt_1ms) UpdateMotor = 1;	45	if(!cnt_1ms) UpdateMotor = 1;
41	CountMilliseconds++;	46	CountMilliseconds++;
42	}	47	}
43		48
44	if(beeptime > 1)	49	if(beeptime > 1)
45	{	50	{
46	beeptime--;	51	beeptime--;
47	if(beeptime & BeepMuster)	52	if(beeptime & BeepMuster)
48	{	53	{
49	pieper_ein = 1;	54	pieper_ein = 1;
50	}	55	}
51	else pieper_ein = 0;	56	else pieper_ein = 0;
52	}	57	}
53	else	58	else
54	{	59	{
55	pieper_ein = 0;	60	pieper_ein = 0;
56	BeepMuster = 0xffff;	61	BeepMuster = 0xffff;
57	}	62	}
58		63
59		64
60	if(pieper_ein)	65	if(pieper_ein)
61	{	66	{
62	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2	67	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
63	else PORTC \|= (1<<7); // Speaker an PORTC.7	68	else PORTC \|= (1<<7); // Speaker an PORTC.7
64	}	69	}
65	else	70	else
66	{	71	{
67	if(PlatinenVersion == 10) PORTD &= ~(1<<2);	72	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
68	else PORTC &= ~(1<<7);	73	else PORTC &= ~(1<<7);
69	}	74	}
70		75
71	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	76	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
72	{	77	{
73	if(PINC & 0x10)	78	if(PINC & 0x10)
74	{	79	{
75	cntKompass++;	80	cntKompass++;
76	}	81	}
77	else	82	else
78	{	83	{
79	if((cntKompass) && (cntKompass < 362))	84	if((cntKompass) && (cntKompass < 362))
80	{	85	{
81	cntKompass += cntKompass / 41;	86	cntKompass += cntKompass / 41;
82	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;	87	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
83	}	88	}
84	// if(cntKompass < 10) cntKompass = 10;	89	// if(cntKompass < 10) cntKompass = 10;
85	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	90	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
86	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	91	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
87	cntKompass = 0;	92	cntKompass = 0;
88	}	93	}
89	}	94	}
90	}	95	}
91		96
92		97
93	// -----------------------------------------------------------------------	98	// -----------------------------------------------------------------------
94		99
95	unsigned int SetDelay (unsigned int t)	100	unsigned int SetDelay (unsigned int t)
96	{	101	{
97	// TIMSK0 &= ~_BV(TOIE0);	102	// TIMSK0 &= ~_BV(TOIE0);
98	return(CountMilliseconds + t + 1);	103	return(CountMilliseconds + t + 1);
99	// TIMSK0 \|= _BV(TOIE0);	104	// TIMSK0 \|= _BV(TOIE0);
100	}	105	}
101		106
102	// -----------------------------------------------------------------------	107	// -----------------------------------------------------------------------
103	char CheckDelay(unsigned int t)	108	char CheckDelay(unsigned int t)
104	{	109	{
105	// TIMSK0 &= ~_BV(TOIE0);	110	// TIMSK0 &= ~_BV(TOIE0);
106	return(((t - CountMilliseconds) & 0x8000) >> 9);	111	return(((t - CountMilliseconds) & 0x8000) >> 9);
107	// TIMSK0 \|= _BV(TOIE0);	112	// TIMSK0 \|= _BV(TOIE0);
108	}	113	}
109		114
110	// -----------------------------------------------------------------------	115	// -----------------------------------------------------------------------
111	void Delay_ms(unsigned int w)	116	void Delay_ms(unsigned int w)
112	{	117	{
113	unsigned int akt;	118	unsigned int akt;
114	akt = SetDelay(w);	119	akt = SetDelay(w);
115	while (!CheckDelay(akt));	120	while (!CheckDelay(akt));
116	}	121	}
117		122
118	void Delay_ms_Mess(unsigned int w)	123	void Delay_ms_Mess(unsigned int w)
119	{	124	{
120	unsigned int akt;	125	unsigned int akt;
121	akt = SetDelay(w);	126	akt = SetDelay(w);
122	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}	127	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
123	}	128	}
124		129
125	/*****************************************************/	130	/*****************************************************/
126	/* Initialize Timer 2 */	131	/* Initialize Timer 2 */
127	/*****************************************************/	132	/*****************************************************/
128	// The timer 2 is used to generate the PWM at PD7 (J7)	133	// The timer 2 is used to generate the PWM at PD7 (J7)
129	// to control a camera servo for nick compensation.	134	// to control a camera servo for nick compensation.
130	void TIMER2_Init(void)	135	void TIMER2_Init(void)
131	{	136	{
-		137
132	uint8_t sreg = SREG;	138	uint8_t sreg = SREG;
133		139
134	// disable all interrupts before reconfiguration	140	// disable all interrupts before reconfiguration
135	cli();	141	cli();
136		142
137	// set PD7 as output of the PWM for nick servo	143	// set PD7 as output of the PWM for nick servo
138	DDRD \|= (1<<DDD7);	144	DDRD \|= (1<<DDD7);
139	PORTD &= ~(1<<PORTD7); // set PD7 to low	145	PORTD &= ~(1<<PORTD7); // set PD7 to low
140		146
141	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)	147	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
142	HEF4017R_ON;	148	HEF4017R_ON;
143	// Timer/Counter 2 Control Register A	149	// Timer/Counter 2 Control Register A
144		150
145	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)	151	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
146	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)	152	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
147	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)	153	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
148	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));	154	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
149	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);	155	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
150		156
151	// Timer/Counter 2 Control Register B	157	// Timer/Counter 2 Control Register B
152		158
153	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz	159	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
154	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us	160	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
155	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms	161	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
156		162
157	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)	163	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
158	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));	164	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
159	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);	165	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
160		166
161	// Initialize the Timer/Counter 2 Register	167	// Initialize the Timer/Counter 2 Register
162	TCNT2 = 0;	168	TCNT2 = 0;
163		169
164	// Initialize the Output Compare Register A used for PWM generation on port PD7.	170	// Initialize the Output Compare Register A used for PWM generation on port PD7.
165	OCR2A = 255;	171	OCR2A = 255;
166	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0	172	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
167		173
168	// Timer/Counter 2 Interrupt Mask Register	174	// Timer/Counter 2 Interrupt Mask Register
169	// Enable timer output compare match A Interrupt only	175	// Enable timer output compare match A Interrupt only
170	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));	176	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
171	TIMSK2 \|= (1<<OCIE2A);	177	TIMSK2 \|= (1<<OCIE2A);
172		178
173	SREG = sreg;	179	SREG = sreg;
174	}	180	}
175		181
176	//----------------------------	182	//----------------------------
177	void Timer_Init(void)	183	void Timer_Init(void)
178	{	184	{
-		185
179	tim_main = SetDelay(10);	186	tim_main = SetDelay(10);
180	TCCR0B = CK8;	187	TCCR0B = CK8;
181	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	188	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
182	OCR0A = 0;	189	OCR0A = 0;
183	OCR0B = 120;	190	OCR0B = 120;
184	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload	191	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
185	//OCR1 = 0x00;	192	//OCR1 = 0x00;
186		193
187	TIMSK0 \|= _BV(TOIE0);	194	TIMSK0 \|= _BV(TOIE0);
188	}	195	}
189		196
190		197
191	/*****************************************************/	198	/*****************************************************/
192	/* Control Servo Position */	199	/* Control Servo Position */
193	/*****************************************************/	200	/*****************************************************/
194		201
195	ISR(TIMER2_COMPA_vect)	202	ISR(TIMER2_COMPA_vect)
196	{	203	{
197		204
198	// frame len 22.5 ms = 14063 * 1.6 us	205	// frame len 22.5 ms = 14063 * 1.6 us
199	// stop pulse: 0.3 ms = 188 * 1.6 us	206	// stop pulse: 0.3 ms = 188 * 1.6 us
200	// min servo pulse: 0.6 ms = 375 * 1.6 us	207	// min servo pulse: 0.6 ms = 375 * 1.6 us
201	// max servo pulse: 2.4 ms = 1500 * 1.6 us	208	// max servo pulse: 2.4 ms = 1500 * 1.6 us
202	// resolution: 1500 - 375 = 1125 steps	209	// resolution: 1500 - 375 = 1125 steps
203		210
204	#define IRS_RUNTIME 127	211	#define IRS_RUNTIME 127
205	#define PPM_STOPPULSE 188	212	#define PPM_STOPPULSE 188
206	// #define PPM_FRAMELEN (14063	213	// #define PPM_FRAMELEN (14063
207	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)	214	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
208	#define MINSERVOPULSE 375	215	#define MINSERVOPULSE 375
209	#define MAXSERVOPULSE 1500	216	#define MAXSERVOPULSE 1500
210	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)	217	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
211		218
212	static uint8_t PulseOutput = 0;	219	static uint8_t PulseOutput = 0;
213	static uint16_t RemainingPulse = 0;	220	static uint16_t RemainingPulse = 0;
214	static uint16_t ServoFrameTime = 0;	221	static uint16_t ServoFrameTime = 0;
215	static uint8_t ServoIndex = 0;	222	static uint8_t ServoIndex = 0;
216		223
217	#define MULTIPLYER 4	224	#define MULTIPLYER 4
218	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon	225	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
219	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon	226	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
-		227
-		228	// Arthur P: Added initialization of the CameraShutterCycle value here as this routine is only
-		229	// called once. This retains all code changes in timer0.c. If parameter 6 > 0 then the user
-		230	// has set a value for the cycle. CameraShuytterCycle == 5x Para6 to get approx 0.1sec increments.
-		231
-		232	// CameraShutterCycle = 5 * Parameter_UserParam6;
-		233	CameraShutterCycle = Parameter_UserParam6;
-		234
-		235	// Arthur P: Modified the code to scheck the value of parameter 8. If 128 or higher then a HEF4017 is
220		236	// expected and will be used. Else J7 and J9 are seen as separate normal outputs.
-		237	// if((PlatinenVersion < 20)
221	// if((PlatinenVersion < 20)	238
222	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))	239	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
223	{	240	{
224	//---------------------------	241	//---------------------------
225	// Nick servo state machine	242	// Nick servo state machine
226	//---------------------------	243	//---------------------------
227	if(!PulseOutput) // pulse output complete	244	if(!PulseOutput) // pulse output complete
228	{	245	{
229	if(TCCR2A & (1<<COM2A0)) // we had a low pulse	246	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
230	{	247	{
231	TCCR2A &= ~(1<<COM2A0);// make a high pulse	248	TCCR2A &= ~(1<<COM2A0);// make a high pulse
232	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms	249	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
233		250
234	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset	251	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
235	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)	252	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
236	if(EE_Parameter.ServoNickCompInvert & 0x01)	253	if(EE_Parameter.ServoNickCompInvert & 0x01)
237	{ // inverting movement of servo	254	{ // inverting movement of servo
238	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	255	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
239	}	256	}
240	else	257	else
241	{ // non inverting movement of servo	258	{ // non inverting movement of servo
242	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	259	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
243	}	260	}
244	// limit servo value to its parameter range definition	261	// limit servo value to its parameter range definition
245	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )	262	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
246	{	263	{
247	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;	264	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
248	}	265	}
249	else	266	else
250	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )	267	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
251	{	268	{
252	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;	269	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
253	}	270	}
254		271
255	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	272	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
256		273
257	ServoNickValue /= MULTIPLYER;	274	ServoNickValue /= MULTIPLYER;
258	DebugOut.Analog[20] = ServoNickValue;	275	DebugOut.Analog[20] = ServoNickValue;
259		276
260	// range servo pulse width	277	// range servo pulse width
261	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit	278	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
262	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit	279	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
263	// accumulate time for correct update rate	280	// accumulate time for correct update rate
264	ServoFrameTime = RemainingPulse;	281	ServoFrameTime = RemainingPulse;
265	}	282	}
266	else // we had a high pulse	283	else // we had a high pulse
267	{	284	{
268	TCCR2A \|= (1<<COM2A0); // make a low pulse	285	TCCR2A \|= (1<<COM2A0); // make a low pulse
269	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;	286	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
270	}	287	}
271	// set pulse output active	288	// set pulse output active
272	PulseOutput = 1;	289	PulseOutput = 1;
273	}	290	}
274	} // EOF Nick servo state machine	291	} // EOF Nick servo state machine
275	else	292	else
276	{	293	{
277	//-----------------------------------------------------	294	//-----------------------------------------------------
278	// PPM state machine, onboard demultiplexed by HEF4017	295	// PPM state machine, onboard demultiplexed by HEF4017
279	//-----------------------------------------------------	296	//-----------------------------------------------------
280	if(!PulseOutput) // pulse output complete	297	if(!PulseOutput) // pulse output complete
281	{	298	{
282	if(TCCR2A & (1<<COM2A0)) // we had a low pulse	299	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
283	{	300	{
284	TCCR2A &= ~(1<<COM2A0);// make a high pulse	301	TCCR2A &= ~(1<<COM2A0);// make a high pulse
285		302
286	if(ServoIndex == 0) // if we are at the sync gap	303	if(ServoIndex == 0) // if we are at the sync gap
287	{	304	{
288	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time	305	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
289	ServoFrameTime = 0; // reset servo frame time	306	ServoFrameTime = 0; // reset servo frame time
290	HEF4017R_ON; // enable HEF4017 reset	307	HEF4017R_ON; // enable HEF4017 reset
291	}	308	}
292	else // servo channels	309	else // servo channels
293	{	310	{
294	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms	311	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
295	switch(ServoIndex) // map servo channels	312	switch(ServoIndex) // map servo channels
296	{	313	{
297	case 1: // Nick Compensation Servo	314	case 1: // Nick Compensation Servo
298	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset	315	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
299	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)	316	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
300	if(EE_Parameter.ServoNickCompInvert & 0x01)	317	if(EE_Parameter.ServoNickCompInvert & 0x01)
301	{ // inverting movement of servo	318	{ // inverting movement of servo
302	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	319	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
303	}	320	}
304	else	321	else
305	{ // non inverting movement of servo	322	{ // non inverting movement of servo
306	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	323	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
307	}	324	}
308	// limit servo value to its parameter range definition	325	// limit servo value to its parameter range definition
309	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )	326	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
310	{	327	{
311	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;	328	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
312	}	329	}
313	else	330	else
314	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )	331	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
315	{	332	{
316	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;	333	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
317	}	334	}
318	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	335	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
319	ServoNickValue /= MULTIPLYER;	336	ServoNickValue /= MULTIPLYER;
320	DebugOut.Analog[20] = ServoNickValue;	337	DebugOut.Analog[20] = ServoNickValue;
321	break;	338	break;
322	case 2: // Roll Compensation Servo	339	case 2: // Roll Compensation Servo
-		340	// Arthur P: Modified the code here to allow the user to either continue with the default
-		341	// offset value of 80, or set a different offset using parameter 7. I.e. if
-		342	// parameter 7 == 0 then the default is used, but if a value > 0 is entered then
-		343	// that value is used.
-		344	if(Parameter_UserParam7==0)
-		345	{
323	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset	346	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset
-		347	}
-		348	else
-		349	{
-		350	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_UserParam7 * MULTIPLYER) / 4;
-		351	}
324	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)	352	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
325	//if(EE_Parameter.ServoRollCompInvert & 0x01)	353	//if(EE_Parameter.ServoRollCompInvert & 0x01)
326	if(Parameter_UserParam8 & 0x40)	354	if(Parameter_UserParam8 & 0x40)
327	{ // inverting movement of servo if 64 has been added to User Parameter8	355	{ // Arthur P: Inverting movement of servo if 64 has been added to User Parameter8
328	ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );	356	ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
329	}	357	}
330	/**/ else	358	/**/ else
331	{ // non inverting movement of servo	359	{ // non inverting movement of servo
332	ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );	360	ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
333	}	361	}
334	/**/ // limit servo value to its parameter range definition	362	/**/ // limit servo value to its parameter range definition
335	if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )	363	if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
336	{	364	{
337	ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;	365	ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
338	}	366	}
339	else	367	else
340	if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )	368	if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
341	{	369	{
342	ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;	370	ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
343	}	371	}
344	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	372	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
345	ServoRollValue /= MULTIPLYER;	373	ServoRollValue /= MULTIPLYER;
346	//DebugOut.Analog[20] = ServoRollValue;	374	//DebugOut.Analog[20] = ServoRollValue;
347		375
348	/* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset	376	/* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
349	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)	377	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
350	if(EE_Parameter.ServoRollCompInvert & 0x01)	378	if(EE_Parameter.ServoRollCompInvert & 0x01)
351	{ // inverting movement of servo	379	{ // inverting movement of servo
352	ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	380	ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
353	}	381	}
354	else	382	else
355	{ // non inverting movement of servo	383	{ // non inverting movement of servo
356	ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	384	ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
357	}	385	}
358	// limit servo value to its parameter range definition	386	// limit servo value to its parameter range definition
359	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )	387	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
360	{	388	{
361	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;	389	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
362	}	390	}
363	else	391	else
364	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )	392	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
365	{	393	{
366	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;	394	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
367	}	395	}
368	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	396	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
369	ServoRollValue /= MULTIPLYER;	397	ServoRollValue /= MULTIPLYER;
370	//DebugOut.Analog[20] = ServoRollValue;	398	//DebugOut.Analog[20] = ServoRollValue;
371	*/ break;	399	*/ break;
-		400	case 3: // Arthur P: Shutter Servo including interval control over parameter 5 and 6.
-		401
-		402
-		403	if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] < -32)
-		404	{
-		405	// Set servo to null position, turning camera off.
-		406	RemainingPulse = MINSERVOPULSE;
-		407	}
-		408	else
-		409	{
-		410	if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 32)
-		411	// Middle position on a 3 position switch which runs from -127 to +127
-		412	{
-		413
-		414	RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
-		415	}
-		416	else
-		417	{
-		418	// Cycle shutter servo between on and off depending upon CameraShutterCycleCounter
-		419	// If CameraShutterCylce < 50 then default to continuous shoot.
-		420	if(CameraShutterCycle < 50 )
-		421	{
-		422	RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
-		423	}
-		424	else
-		425	{
-		426	if(CameraShutterCycleCounter == CameraShutterCycle)
-		427	{
-		428	// Shutter on
-		429	CameraShutterCycleCounter = 0;
-		430	RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
-		431	}
-		432	else
-		433	{
-		434	// Leave on for at least 24 cycles or 0.25 seconds to allow
-		435	// the camera to properly trigger, turn off if past 0.25 sec.
-		436	// For now this is actually set via para5 to allow for a long enough
-		437	// shutter pulse for different cameras. Once it is clear what value
-		438	// works, this can be changed to a hardcoded value.
-		439	if(CameraShutterCycleCounter>Parameter_UserParam5)
-		440	{
-		441
-		442	RemainingPulse = MINSERVOPULSE;
-		443	}
-		444	CameraShutterCycleCounter++;
-		445	}
-		446	}
-		447	}
-		448	}
-		449	break;
372		450
373	default: // other servo channels	451	default: // other servo channels
374	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs	452	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
375	break;	453	break;
376	}	454	}
377	// range servo pulse width	455	// range servo pulse width
378	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit	456	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
379	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit	457	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
380	// substract stop pulse width	458	// substract stop pulse width
-		459	// Arthur P: I think the following line, correcting for the PPM sTOPPULSE does not apply for the
-		460	// calculated pulses, or maybe not at all. Therefore I-m commenting it out to see what happens....
-		461	// 090624 reactivated as rollservo correction can now be done over para7.
381	RemainingPulse -= PPM_STOPPULSE;	462	RemainingPulse -= PPM_STOPPULSE;
382	// accumulate time for correct sync gap	463	// accumulate time for correct sync gap
383	ServoFrameTime += RemainingPulse;	464	ServoFrameTime += RemainingPulse;
384	}	465	}
385	}	466	}
386	else // we had a high pulse	467	else // we had a high pulse
387	{	468	{
388	TCCR2A \|= (1<<COM2A0); // make a low pulse	469	TCCR2A \|= (1<<COM2A0); // make a low pulse
389	// set pulsewidth to stop pulse width	470	// set pulsewidth to stop pulse width
390	RemainingPulse = PPM_STOPPULSE;	471	RemainingPulse = PPM_STOPPULSE;
391	// accumulate time for correct sync gap	472	// accumulate time for correct sync gap
392	ServoFrameTime += RemainingPulse;	473	ServoFrameTime += RemainingPulse;
393	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset	474	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
394	ServoIndex++; // change to next servo channel	475	ServoIndex++; // change to next servo channel
395	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap	476	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
396	}	477	}
397	// set pulse output active	478	// set pulse output active
398	PulseOutput = 1;	479	PulseOutput = 1;
399	}	480	}
400	} // EOF PPM state machine	481	} // EOF PPM state machine
401		482
402	// General pulse output generator	483	// General pulse output generator
403	if(RemainingPulse > (255 + IRS_RUNTIME))	484	if(RemainingPulse > (255 + IRS_RUNTIME))
404	{	485	{
405	OCR2A = 255;	486	OCR2A = 255;
406	RemainingPulse -= 255;	487	RemainingPulse -= 255;
407	}	488	}
408	else	489	else
409	{	490	{
410	if(RemainingPulse > 255) // this is the 2nd last part	491	if(RemainingPulse > 255) // this is the 2nd last part
411	{	492	{
412	if((RemainingPulse - 255) < IRS_RUNTIME)	493	if((RemainingPulse - 255) < IRS_RUNTIME)
413	{	494	{
414	OCR2A = 255 - IRS_RUNTIME;	495	OCR2A = 255 - IRS_RUNTIME;
415	RemainingPulse -= 255 - IRS_RUNTIME;	496	RemainingPulse -= 255 - IRS_RUNTIME;
416		497
417	}	498	}
418	else // last part > ISR_RUNTIME	499	else // last part > ISR_RUNTIME
419	{	500	{

Subversion Repositories FlightCtrl

(root)/branches/V0.74d-Arthur P/timer0.c @ 1265 - Rev 1229 → 1242