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1 | #include <avr/io.h> |
1 | #include <avr/io.h> |
2 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
3 | #include "eeprom.h" |
3 | #include "eeprom.h" |
4 | #include "output.h" |
4 | #include "output.h" |
5 | #include "flight.h" |
5 | #include "flight.h" |
6 | #include "attitude.h" |
6 | #include "attitude.h" |
7 | #include "timer2.h" |
7 | #include "timer2.h" |
8 | 8 | ||
9 | // #define COARSERESOLUTION 1 |
9 | // #define COARSERESOLUTION 1 |
10 | 10 | ||
11 | #ifdef COARSERESOLUTION |
11 | #ifdef COARSERESOLUTION |
12 | #define NEUTRAL_PULSELENGTH 938 |
12 | #define NEUTRAL_PULSELENGTH ((int16_t)(F_CPU/32000*1.5f + 0.5f)) |
13 | #define STABILIZATION_LOG_DIVIDER 6 |
13 | #define STABILIZATION_LOG_DIVIDER 6 |
14 | #define SERVOLIMIT 500 |
14 | #define SERVOLIMIT ((int16_t)(F_CPU/32000*0.8f + 0.5f)) |
15 | #define SCALE_FACTOR 4 |
15 | #define SCALE_FACTOR 4 |
16 | #define CS2 ((1<<CS21)|(1<<CS20)) |
16 | #define CS2 ((1<<CS21)|(1<<CS20)) |
17 | 17 | ||
18 | #else |
18 | #else |
19 | #define NEUTRAL_PULSELENGTH 3750 |
19 | #define NEUTRAL_PULSELENGTH ((int16_t)(F_CPU/8000.0f * 1.5f + 0.5f)) |
20 | #define STABILIZATION_LOG_DIVIDER 4 |
20 | #define STABILIZATION_LOG_DIVIDER 4 |
21 | #define SERVOLIMIT 2000 |
21 | #define SERVOLIMIT ((int16_t)(F_CPU/8000.0f * 0.8f + 0.5f)) |
22 | #define SCALE_FACTOR 16 |
22 | #define SCALE_FACTOR 16 |
23 | #define CS2 (1<<CS21) |
23 | #define CS2 (1<<CS21) |
24 | #endif |
24 | #endif |
25 | 25 | ||
26 | #define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128) |
26 | #define FRAMELENGTH ((uint16_t)(NEUTRAL_PULSELENGTH + SERVOLIMIT) * (uint16_t)staticParams.servoCount + 128) |
27 | #define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT) |
27 | #define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT) |
28 | #define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT) |
28 | #define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT) |
29 | 29 | ||
30 | volatile uint8_t recalculateServoTimes = 0; |
30 | volatile uint8_t recalculateServoTimes = 0; |
31 | volatile uint16_t servoValues[MAX_SERVOS]; |
31 | volatile uint16_t servoValues[MAX_SERVOS]; |
32 | volatile uint16_t previousManualValues[2]; |
32 | volatile uint16_t previousManualValues[2]; |
33 | 33 | ||
34 | #define HEF4017R_ON PORTD |= (1<<PORTD3) |
34 | #define HEF4017R_ON PORTD |= (1<<PORTD3) |
35 | #define HEF4017R_OFF PORTD &= ~(1<<PORTD3) |
35 | #define HEF4017R_OFF PORTD &= ~(1<<PORTD3) |
36 | 36 | ||
37 | /***************************************************** |
37 | /***************************************************** |
38 | * Initialize Timer 2 |
38 | * Initialize Timer 2 |
39 | *****************************************************/ |
39 | *****************************************************/ |
40 | void timer2_init(void) { |
40 | void timer2_init(void) { |
41 | uint8_t sreg = SREG; |
41 | uint8_t sreg = SREG; |
42 | 42 | ||
43 | // disable all interrupts before reconfiguration |
43 | // disable all interrupts before reconfiguration |
44 | cli(); |
44 | cli(); |
45 | 45 | ||
46 | // set PD7 as output of the PWM for pitch servo |
46 | // set PD7 as output of the 4017 clk |
47 | DDRB |= (1 << DDB3); |
47 | DDRB |= (1 << DDB3); |
48 | PORTB &= ~(1 << PORTB3); // set PD7 to low |
48 | PORTB &= ~(1 << PORTB3); // set PD7 to low |
49 | 49 | ||
50 | // oc2b DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
50 | // oc2b DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
51 | DDRD |= (1 << DDD3); // set PC6 as output (Reset for HEF4017) |
51 | DDRD |= (1 << DDD3); // set PC6 as output (Reset for HEF4017) |
52 | HEF4017R_ON; // reset |
52 | HEF4017R_ON; // reset |
53 | 53 | ||
54 | // Timer/Counter 2 Control Register A |
54 | // Timer/Counter 2 Control Register A |
55 | // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0) |
55 | // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0) |
56 | // PD3: Output OCR2 match, (Bits: COM2B1 = 1, COM2B0 = 0) |
56 | // PD3: Output OCR2 match, (Bits: COM2B1 = 1, COM2B0 = 0) |
57 | // PB3: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
57 | // PB3: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
58 | // ardu TCCR2A &= ~((1 << COM2B0) | (1 << COM2A1) | (1 << COM2A0) | (1 << WGM20) | (1 << WGM22)); |
58 | // ardu TCCR2A &= ~((1 << COM2B0) | (1 << COM2A1) | (1 << COM2A0) | (1 << WGM20) | (1 << WGM22)); |
59 | // ardu TCCR2A |= (1 << COM2B1) | (1 << WGM21); |
59 | // ardu TCCR2A |= (1 << COM2B1) | (1 << WGM21); |
60 | TCCR2A &= ~((1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20) | (1 << WGM22)); |
60 | TCCR2A &= ~((1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20) | (1 << WGM22)); |
61 | TCCR2A |= (1 << COM2A1) | (1 << WGM21); |
61 | TCCR2A |= (1 << COM2A1) | (1 << WGM21); |
62 | 62 | ||
63 | // Timer/Counter 2 Control Register B |
63 | // Timer/Counter 2 Control Register B |
64 | 64 | ||
65 | // Set clock divider for timer 2 to 20MHz / 8 = 2.5 MHz |
65 | // Set clock divider for timer 2 to 20MHz / 8 = 2.5 MHz |
66 | // The timer increments from 0x00 to 0xFF with an update rate of 2.5 kHz or 0.4 us |
66 | // The timer increments from 0x00 to 0xFF with an update rate of 2.5 kHz or 0.4 us |
67 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 9.765 kHz or 0.1024ms |
67 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 9.765 kHz or 0.1024ms |
68 | 68 | ||
69 | TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS20) | (1 << CS21) | (1 << CS22)); |
69 | TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS20) | (1 << CS21) | (1 << CS22)); |
70 | TCCR2B |= CS2; |
70 | TCCR2B |= CS2; |
71 | 71 | ||
72 | // Initialize the Timer/Counter 2 Register |
72 | // Initialize the Timer/Counter 2 Register |
73 | TCNT2 = 0; |
73 | TCNT2 = 0; |
74 | 74 | ||
75 | // Initialize the Output Compare Register A used for signal generation on port PD7. |
75 | // Initialize the Output Compare Register A used for signal generation on port PD7. |
76 | OCR2A = 255; |
76 | OCR2A = 255; |
77 | 77 | ||
78 | // Timer/Counter 2 Interrupt Mask Register |
78 | // Timer/Counter 2 Interrupt Mask Register |
79 | // Enable timer output compare match A Interrupt only |
79 | // Enable timer output compare match A Interrupt only |
80 | TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2)); |
80 | TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2)); |
81 | TIMSK2 |= (1 << OCIE2A); |
81 | TIMSK2 |= (1 << OCIE2A); |
82 | 82 | ||
83 | for (uint8_t axis=0; axis<2; axis++) |
83 | for (uint8_t axis=0; axis<2; axis++) |
84 | previousManualValues[axis] = dynamicParams.gimbalServoManualControl[axis] * SCALE_FACTOR; |
84 | previousManualValues[axis] = dynamicParams.gimbalServoManualControl[axis] * SCALE_FACTOR; |
85 | 85 | ||
86 | SREG = sreg; |
86 | SREG = sreg; |
87 | } |
87 | } |
88 | 88 | ||
89 | /***************************************************** |
89 | /***************************************************** |
90 | * Control (camera gimbal etc.) servos |
90 | * Control (camera gimbal etc.) servos |
91 | *****************************************************/ |
91 | *****************************************************/ |
92 | int16_t calculateStabilizedServoAxis(uint8_t axis) { |
92 | int16_t calculateStabilizedServoAxis(uint8_t axis) { |
93 | int32_t value = attitude[axis] >> STABILIZATION_LOG_DIVIDER; // between -500000 to 500000 extreme limits. Just about |
93 | int32_t value = attitude[axis] >> STABILIZATION_LOG_DIVIDER; // between -500000 to 500000 extreme limits. Just about |
94 | // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000. |
94 | // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000. |
95 | // That is a divisor of about 1<<14. Same conclusion as H&I. |
95 | // That is a divisor of about 1<<14. Same conclusion as H&I. |
96 | value *= staticParams.gimbalServoConfigurations[axis].stabilizationFactor; |
96 | value *= staticParams.gimbalServoConfigurations[axis].stabilizationFactor; |
97 | value = value >> 8; |
97 | value = value >> 8; |
98 | if (staticParams.gimbalServoConfigurations[axis].flags & SERVO_STABILIZATION_REVERSE) |
98 | if (staticParams.gimbalServoConfigurations[axis].flags & SERVO_STABILIZATION_REVERSE) |
99 | return -value; |
99 | return -value; |
100 | return value; |
100 | return value; |
101 | } |
101 | } |
102 | 102 | ||
103 | // With constant-speed limitation. |
103 | // With constant-speed limitation. |
104 | uint16_t calculateManualServoAxis(uint8_t axis, uint16_t manualValue) { |
104 | uint16_t calculateManualServoAxis(uint8_t axis, uint16_t manualValue) { |
105 | int16_t diff = manualValue - previousManualValues[axis]; |
105 | int16_t diff = manualValue - previousManualValues[axis]; |
106 | uint8_t maxSpeed = staticParams.gimbalServoMaxManualSpeed; |
106 | uint8_t maxSpeed = staticParams.gimbalServoMaxManualSpeed; |
107 | if (diff > maxSpeed) diff = maxSpeed; |
107 | if (diff > maxSpeed) diff = maxSpeed; |
108 | else if (diff < -maxSpeed) diff = -maxSpeed; |
108 | else if (diff < -maxSpeed) diff = -maxSpeed; |
109 | manualValue = previousManualValues[axis] + diff; |
109 | manualValue = previousManualValues[axis] + diff; |
110 | previousManualValues[axis] = manualValue; |
110 | previousManualValues[axis] = manualValue; |
111 | return manualValue; |
111 | return manualValue; |
112 | } |
112 | } |
113 | 113 | ||
114 | // add stabilization and manual, apply soft position limits. |
114 | // add stabilization and manual, apply soft position limits. |
115 | // All in a [0..255*SCALE_FACTOR] space (despite signed types used internally) |
115 | // All in a [0..255*SCALE_FACTOR] space (despite signed types used internally) |
116 | int16_t featuredServoValue(uint8_t axis) { |
116 | int16_t featuredServoValue(uint8_t axis) { |
117 | int16_t value = calculateManualServoAxis(axis, dynamicParams.gimbalServoManualControl[axis] * SCALE_FACTOR); |
117 | int16_t value = calculateManualServoAxis(axis, dynamicParams.gimbalServoManualControl[axis] * SCALE_FACTOR); |
118 | value += calculateStabilizedServoAxis(axis); |
118 | value += calculateStabilizedServoAxis(axis); |
119 | int16_t limit = staticParams.gimbalServoConfigurations[axis].minValue * SCALE_FACTOR; |
119 | int16_t limit = staticParams.gimbalServoConfigurations[axis].minValue * SCALE_FACTOR; |
120 | if (value < limit) value = limit; |
120 | if (value < limit) value = limit; |
121 | limit = staticParams.gimbalServoConfigurations[axis].maxValue * SCALE_FACTOR; |
121 | limit = staticParams.gimbalServoConfigurations[axis].maxValue * SCALE_FACTOR; |
122 | if (value > limit) value = limit; |
122 | if (value > limit) value = limit; |
123 | value -= (128 * SCALE_FACTOR); |
123 | value -= (128 * SCALE_FACTOR); |
124 | if (value < -SERVOLIMIT) value = -SERVOLIMIT; |
124 | if (value < -SERVOLIMIT) value = -SERVOLIMIT; |
125 | else if (value > SERVOLIMIT) value = SERVOLIMIT; |
125 | else if (value > SERVOLIMIT) value = SERVOLIMIT; |
126 | // Shift into the [NEUTRAL_PULSELENGTH-SERVOLIMIT..NEUTRAL_PULSELENGTH+SERVOLIMIT] space. |
126 | // Shift into the [NEUTRAL_PULSELENGTH-SERVOLIMIT..NEUTRAL_PULSELENGTH+SERVOLIMIT] space. |
127 | return value + NEUTRAL_PULSELENGTH; |
127 | return value + NEUTRAL_PULSELENGTH; |
128 | } |
128 | } |
129 | 129 | ||
130 | void calculateControlServoValues(void) { |
130 | void calculateControlServoValues(void) { |
131 | int16_t value; |
131 | int16_t value; |
132 | for (uint8_t axis=0; axis<4; axis++) { |
132 | for (uint8_t axis=0; axis<4; axis++) { |
133 | value = controlServos[axis]; |
133 | value = controlServos[axis]; |
134 | if (value < -SERVOLIMIT) value = -SERVOLIMIT; |
134 | if (value < -SERVOLIMIT) value = -SERVOLIMIT; |
135 | else if (value > SERVOLIMIT) value = SERVOLIMIT; |
135 | else if (value > SERVOLIMIT) value = SERVOLIMIT; |
136 | servoValues[axis] = value + NEUTRAL_PULSELENGTH; |
136 | servoValues[axis] = value + NEUTRAL_PULSELENGTH; |
137 | } |
137 | } |
138 | } |
138 | } |
139 | 139 | ||
140 | void calculateFeaturedServoValues(void) { |
140 | void calculateFeaturedServoValues(void) { |
141 | int16_t value; |
141 | int16_t value; |
142 | uint8_t axis; |
142 | uint8_t axis; |
143 | 143 | ||
144 | // Save the computation cost of computing a new value before the old one is used. |
144 | // Save the computation cost of computing a new value before the old one is used. |
145 | if (!recalculateServoTimes) return; |
145 | if (!recalculateServoTimes) return; |
146 | 146 | ||
147 | for (axis= MAX_CONTROL_SERVOS; axis<MAX_CONTROL_SERVOS+2; axis++) { |
147 | for (axis= MAX_CONTROL_SERVOS; axis<MAX_CONTROL_SERVOS+2; axis++) { |
148 | value = featuredServoValue(axis-MAX_CONTROL_SERVOS); |
148 | value = featuredServoValue(axis-MAX_CONTROL_SERVOS); |
149 | servoValues[axis] = value; |
149 | servoValues[axis] = value; |
150 | } |
150 | } |
151 | for (axis=MAX_CONTROL_SERVOS+2; axis<MAX_SERVOS; axis++) { |
151 | for (axis=MAX_CONTROL_SERVOS+2; axis<MAX_SERVOS; axis++) { |
152 | value = 128 * SCALE_FACTOR; |
152 | value = 128 * SCALE_FACTOR; |
153 | servoValues[axis] = value; |
153 | servoValues[axis] = value; |
154 | } |
154 | } |
155 | 155 | ||
156 | recalculateServoTimes = 0; |
156 | recalculateServoTimes = 0; |
157 | } |
157 | } |
158 | 158 | ||
159 | ISR(TIMER2_COMPA_vect) { |
159 | ISR(TIMER2_COMPA_vect) { |
160 | static uint16_t remainingPulseTime; |
160 | static uint16_t remainingPulseTime; |
161 | static uint8_t servoIndex = 0; |
161 | static uint8_t servoIndex = 0; |
162 | static uint16_t sumOfPulseTimes = 0; |
162 | static uint16_t sumOfPulseTimes = 0; |
163 | 163 | ||
164 | if (!remainingPulseTime) { |
164 | if (!remainingPulseTime) { |
165 | // Pulse is over, and the next pulse has already just started. Calculate length of next pulse. |
165 | // Pulse is over, and the next pulse has already just started. Calculate length of next pulse. |
166 | if (servoIndex < staticParams.servoCount) { |
166 | if (servoIndex < staticParams.servoCount) { |
167 | // There are more signals to output. |
167 | // There are more signals to output. |
168 | sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]); |
168 | sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]); |
169 | servoIndex++; |
169 | servoIndex++; |
170 | } else { |
170 | } else { |
171 | // There are no more signals. Reset the counter and make this pulse cover the missing frame time. |
171 | // There are no more signals. Reset the counter and make this pulse cover the missing frame time. |
172 | remainingPulseTime = FRAMELEN - sumOfPulseTimes; |
172 | remainingPulseTime = FRAMELENGTH - sumOfPulseTimes; |
173 | sumOfPulseTimes = servoIndex = 0; |
173 | sumOfPulseTimes = servoIndex = 0; |
174 | recalculateServoTimes = 1; |
174 | recalculateServoTimes = 1; |
175 | HEF4017R_ON; |
175 | HEF4017R_ON; |
176 | } |
176 | } |
177 | } |
177 | } |
178 | 178 | ||
179 | // Schedule the next OCR2A event. The counter is already reset at this time. |
179 | // Schedule the next OCR2A event. The counter is already reset at this time. |
180 | if (remainingPulseTime > 256+128) { |
180 | if (remainingPulseTime > 256+128) { |
181 | // Set output to reset to zero at next OCR match. It does not really matter when the output is set low again, |
181 | // Set output to reset to zero at next OCR match. It does not really matter when the output is set low again, |
182 | // as long as it happens once per pulse. This will, because all pulses are > 255+128 long. |
182 | // as long as it happens once per pulse. This will, because all pulses are > 255+128 long. |
183 | OCR2A = 255; |
183 | OCR2A = 255; |
184 | TCCR2A &= ~(1<<COM2A0); |
184 | TCCR2A &= ~(1<<COM2A0); |
185 | remainingPulseTime-=256; |
185 | remainingPulseTime-=256; |
186 | } else if (remainingPulseTime > 256) { |
186 | } else if (remainingPulseTime > 256) { |
187 | // Remaining pulse lengths in the range [256..256+128] might cause trouble if handled the standard |
187 | // Remaining pulse lengths in the range [256..256+128] might cause trouble if handled the standard |
188 | // way, which is in chunks of 256. The remainder would be very small, possibly causing an interrupt on interrupt |
188 | // way, which is in chunks of 256. The remainder would be very small, possibly causing an interrupt on interrupt |
189 | // condition. Instead we now make a chunk of 128. The remaining chunk will then be in [128..255] which is OK. |
189 | // condition. Instead we now make a chunk of 128. The remaining chunk will then be in [128..255] which is OK. |
190 | remainingPulseTime-=128; |
190 | remainingPulseTime-=128; |
191 | OCR2A=127; |
191 | OCR2A=127; |
192 | } else { |
192 | } else { |
193 | // Set output to high at next OCR match. This is when the 4017 counter will advance by one. Also set reset low |
193 | // Set output to high at next OCR match. This is when the 4017 counter will advance by one. Also set reset low |
194 | TCCR2A |= (1<<COM2A0); |
194 | TCCR2A |= (1<<COM2A0); |
195 | OCR2A = remainingPulseTime-1; |
195 | OCR2A = remainingPulseTime-1; |
196 | remainingPulseTime=0; |
196 | remainingPulseTime=0; |
197 | HEF4017R_OFF; // implement servo-disable here, by only removing the reset signal if ServoEnabled!=0. |
197 | HEF4017R_OFF; // implement servo-disable here, by only removing the reset signal if ServoEnabled!=0. |
198 | } |
198 | } |
199 | } |
199 | } |
200 | 200 |