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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 | { |
420 | OCR2A = 255; |
501 | OCR2A = 255; |
421 | RemainingPulse -= 255; |
502 | RemainingPulse -= 255; |
422 | } |
503 | } |
423 | } |
504 | } |
424 | else // this is the last part |
505 | else // this is the last part |
425 | { |
506 | { |
426 | OCR2A = RemainingPulse; |
507 | OCR2A = RemainingPulse; |
427 | RemainingPulse = 0; |
508 | RemainingPulse = 0; |
428 | PulseOutput = 0; // trigger to stop pulse |
509 | PulseOutput = 0; // trigger to stop pulse |
429 | } |
510 | } |
430 | } // EOF general pulse output generator |
511 | } // EOF general pulse output generator |
431 | } |
512 | } |
432 | 513 |