WebSVN - FlightCtrl - Diff - Rev 1224 and 1232


#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;
 
 
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();
 
 
       
        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
 
        if(PlatinenVersion < 20)
        {
                //---------------------------
                // Nick servo state machine
                //---------------------------
                if(!PulseOutput) // pulse output complete
                {
                        if(TCCR2A & (1<<COM2A0)) // we had a low pulse
                        {
                                TCCR2A &= ~(1<<COM2A0);// make a high pulse
                                RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
 
                                ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
                                ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
                                if(EE_Parameter.ServoCompInvert & 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.ServoCompInvert & 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
                                                        ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl  * MULTIPLYER) / 4; // lowpass offset
                                                        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
                                                        if(EE_Parameter.ServoCompInvert & 0x02)
                                                        {       // inverting movement of servo
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
                                                                ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
                                                        }
                                                        else
                                                        {       // non inverting movement of servo
                                                                ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 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;
 
                                                default: // other servo channels
                                                        RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
                                                        break;
                                        }
                                        // range servo pulse width
                                        if(RemainingPulse > MAXSERVOPULSE )                     RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
                                        else if(RemainingPulse < MINSERVOPULSE )        RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
                                        // substract stop pulse width
                                        RemainingPulse -= PPM_STOPPULSE;
                                        // accumulate time for correct sync gap
                                        ServoFrameTime += RemainingPulse;
                                }
                        }
                        else // we had a high pulse
                        {
                                TCCR2A |= (1<<COM2A0); // make a low pulse
                                // set pulsewidth to stop pulse width
                                RemainingPulse = PPM_STOPPULSE;
                                // accumulate time for correct sync gap
                                ServoFrameTime += RemainingPulse;
                                if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
                                else HEF4017R_ON;
                                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 1224	Rev 1232
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		15
16		16
17	enum {	17	enum {
18	STOP = 0,	18	STOP = 0,
19	CK = 1,	19	CK = 1,
20	CK8 = 2,	20	CK8 = 2,
21	CK64 = 3,	21	CK64 = 3,
22	CK256 = 4,	22	CK256 = 4,
23	CK1024 = 5,	23	CK1024 = 5,
24	T0_FALLING_EDGE = 6,	24	T0_FALLING_EDGE = 6,
25	T0_RISING_EDGE = 7	25	T0_RISING_EDGE = 7
26	};	26	};
27		27
28		28
29	SIGNAL (SIG_OVERFLOW0) // 8kHz	29	SIGNAL (SIG_OVERFLOW0) // 8kHz
30	{	30	{
31	static unsigned char cnt_1ms = 1,cnt = 0;	31	static unsigned char cnt_1ms = 1,cnt = 0;
32	unsigned char pieper_ein = 0;	32	unsigned char pieper_ein = 0;
33	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;	33	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
34	if(SendSPI) SendSPI--;	34	if(SendSPI) SendSPI--;
35	if(!cnt--)	35	if(!cnt--)
36	{	36	{
37	cnt = 9;	37	cnt = 9;
38	cnt_1ms++;	38	cnt_1ms++;
39	cnt_1ms %= 2;	39	cnt_1ms %= 2;
40	if(!cnt_1ms) UpdateMotor = 1;	40	if(!cnt_1ms) UpdateMotor = 1;
41	CountMilliseconds++;	41	CountMilliseconds++;
42	}	42	}
43		43
44	if(beeptime > 1)	44	if(beeptime >= 1)
45	{	45	{
46	beeptime--;	46	beeptime--;
47	if(beeptime & BeepMuster)	47	if(beeptime & BeepMuster)
48	{	48	{
49	pieper_ein = 1;	49	pieper_ein = 1;
50	}	50	}
51	else pieper_ein = 0;	51	else pieper_ein = 0;
52	}	52	}
53	else	53	else
54	{	54	{
55	pieper_ein = 0;	55	pieper_ein = 0;
56	BeepMuster = 0xffff;	56	BeepMuster = 0xffff;
57	}	57	}
58		-
59		58
60	if(pieper_ein)	59	if(pieper_ein)
61	{	60	{
62	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2	61	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
63	else PORTC \|= (1<<7); // Speaker an PORTC.7	62	else PORTC \|= (1<<7); // Speaker an PORTC.7
64	}	63	}
65	else	64	else
66	{	65	{
67	if(PlatinenVersion == 10) PORTD &= ~(1<<2);	66	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
68	else PORTC &= ~(1<<7);	67	else PORTC &= ~(1<<7);
69	}	68	}
70		69
71	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)	70	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
72	{	71	{
73	if(PINC & 0x10)	72	if(PINC & 0x10)
74	{	73	{
75	cntKompass++;	74	cntKompass++;
76	}	75	}
77	else	76	else
78	{	77	{
79	if((cntKompass) && (cntKompass < 362))	78	if((cntKompass) && (cntKompass < 362))
80	{	79	{
81	cntKompass += cntKompass / 41;	80	cntKompass += cntKompass / 41;
82	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;	81	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
83	}	82	}
84	// if(cntKompass < 10) cntKompass = 10;	83	// if(cntKompass < 10) cntKompass = 10;
85	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;	84	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
86	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	85	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
87	cntKompass = 0;	86	cntKompass = 0;
88	}	87	}
89	}	88	}
90	}	89	}
91		90
92		91
93	// -----------------------------------------------------------------------	92	// -----------------------------------------------------------------------
94		93
95	unsigned int SetDelay (unsigned int t)	94	unsigned int SetDelay (unsigned int t)
96	{	95	{
97	// TIMSK0 &= ~_BV(TOIE0);	96	// TIMSK0 &= ~_BV(TOIE0);
98	return(CountMilliseconds + t + 1);	97	return(CountMilliseconds + t + 1);
99	// TIMSK0 \|= _BV(TOIE0);	98	// TIMSK0 \|= _BV(TOIE0);
100	}	99	}
101		100
102	// -----------------------------------------------------------------------	101	// -----------------------------------------------------------------------
103	char CheckDelay(unsigned int t)	102	char CheckDelay(unsigned int t)
104	{	103	{
105	// TIMSK0 &= ~_BV(TOIE0);	104	// TIMSK0 &= ~_BV(TOIE0);
106	return(((t - CountMilliseconds) & 0x8000) >> 9);	105	return(((t - CountMilliseconds) & 0x8000) >> 9);
107	// TIMSK0 \|= _BV(TOIE0);	106	// TIMSK0 \|= _BV(TOIE0);
108	}	107	}
109		108
110	// -----------------------------------------------------------------------	109	// -----------------------------------------------------------------------
111	void Delay_ms(unsigned int w)	110	void Delay_ms(unsigned int w)
112	{	111	{
113	unsigned int akt;	112	unsigned int akt;
114	akt = SetDelay(w);	113	akt = SetDelay(w);
115	while (!CheckDelay(akt));	114	while (!CheckDelay(akt));
116	}	115	}
117		116
118	void Delay_ms_Mess(unsigned int w)	117	void Delay_ms_Mess(unsigned int w)
119	{	118	{
120	unsigned int akt;	119	unsigned int akt;
121	akt = SetDelay(w);	120	akt = SetDelay(w);
122	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}	121	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
123	}	122	}
124		123
125	/*****************************************************/	124	/*****************************************************/
126	/* Initialize Timer 2 */	125	/* Initialize Timer 2 */
127	/*****************************************************/	126	/*****************************************************/
128	// The timer 2 is used to generate the PWM at PD7 (J7)	127	// The timer 2 is used to generate the PWM at PD7 (J7)
129	// to control a camera servo for nick compensation.	128	// to control a camera servo for nick compensation.
130	void TIMER2_Init(void)	129	void TIMER2_Init(void)
131	{	130	{
132	uint8_t sreg = SREG;	131	uint8_t sreg = SREG;
133		132
134	// disable all interrupts before reconfiguration	133	// disable all interrupts before reconfiguration
135	cli();	134	cli();
136		-
137	// set PD7 as output of the PWM for nick servo	-
138	DDRD \|= (1<<DDD7);	135
139	PORTD &= ~(1<<PORTD7); // set PD7 to low	136	PORTD &= ~(1<<PORTD7); // set PD7 to low
140		137
141	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)	138	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
142	HEF4017R_ON;	139	HEF4017R_ON;
143	// Timer/Counter 2 Control Register A	140	// Timer/Counter 2 Control Register A
144		141
145	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)	142	// 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)	143	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
147	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)	144	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
148	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));	145	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
149	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);	146	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
150		147
151	// Timer/Counter 2 Control Register B	148	// Timer/Counter 2 Control Register B
152		149
153	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz	150	// 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	151	// 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	152	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
156		153
157	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)	154	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
158	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));	155	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
159	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);	156	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
160		157
161	// Initialize the Timer/Counter 2 Register	158	// Initialize the Timer/Counter 2 Register
162	TCNT2 = 0;	159	TCNT2 = 0;
163		160
164	// Initialize the Output Compare Register A used for PWM generation on port PD7.	161	// Initialize the Output Compare Register A used for PWM generation on port PD7.
165	OCR2A = 255;	162	OCR2A = 255;
166	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0	163	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
167		164
168	// Timer/Counter 2 Interrupt Mask Register	165	// Timer/Counter 2 Interrupt Mask Register
169	// Enable timer output compare match A Interrupt only	166	// Enable timer output compare match A Interrupt only
170	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));	167	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
171	TIMSK2 \|= (1<<OCIE2A);	168	TIMSK2 \|= (1<<OCIE2A);
172		169
173	SREG = sreg;	170	SREG = sreg;
174	}	171	}
175		172
176	//----------------------------	173	//----------------------------
177	void Timer_Init(void)	174	void Timer_Init(void)
178	{	175	{
179	tim_main = SetDelay(10);	176	tim_main = SetDelay(10);
180	TCCR0B = CK8;	177	TCCR0B = CK8;
181	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM	178	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
182	OCR0A = 0;	179	OCR0A = 0;
183	OCR0B = 120;	180	OCR0B = 120;
184	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload	181	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
185	//OCR1 = 0x00;	182	//OCR1 = 0x00;
186		183
187	TIMSK0 \|= _BV(TOIE0);	184	TIMSK0 \|= _BV(TOIE0);
188	}	185	}
189		186
190		187
191	/*****************************************************/	188	/*****************************************************/
192	/* Control Servo Position */	189	/* Control Servo Position */
193	/*****************************************************/	190	/*****************************************************/
194		191
195	ISR(TIMER2_COMPA_vect)	192	ISR(TIMER2_COMPA_vect)
196	{	193	{
197		-
198	// frame len 22.5 ms = 14063 * 1.6 us	194	// frame len 22.5 ms = 14063 * 1.6 us
199	// stop pulse: 0.3 ms = 188 * 1.6 us	195	// stop pulse: 0.3 ms = 188 * 1.6 us
200	// min servo pulse: 0.6 ms = 375 * 1.6 us	196	// min servo pulse: 0.6 ms = 375 * 1.6 us
201	// max servo pulse: 2.4 ms = 1500 * 1.6 us	197	// max servo pulse: 2.4 ms = 1500 * 1.6 us
202	// resolution: 1500 - 375 = 1125 steps	198	// resolution: 1500 - 375 = 1125 steps
203		199
204	#define IRS_RUNTIME 127	200	#define IRS_RUNTIME 127
205	#define PPM_STOPPULSE 188	201	#define PPM_STOPPULSE 188
206	// #define PPM_FRAMELEN (14063	202	// #define PPM_FRAMELEN (14063
207	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)	203	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
208	#define MINSERVOPULSE 375	204	#define MINSERVOPULSE 375
209	#define MAXSERVOPULSE 1500	205	#define MAXSERVOPULSE 1500
210	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)	206	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
211		207
212	static uint8_t PulseOutput = 0;	208	static uint8_t PulseOutput = 0;
213	static uint16_t RemainingPulse = 0;	209	static uint16_t RemainingPulse = 0;
214	static uint16_t ServoFrameTime = 0;	210	static uint16_t ServoFrameTime = 0;
215	static uint8_t ServoIndex = 0;	211	static uint8_t ServoIndex = 0;
216		212
217	#define MULTIPLYER 4	213	#define MULTIPLYER 4
218	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon	214	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	215	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
220		216
221	if(PlatinenVersion < 20)	217	if(PlatinenVersion < 20)
222	{	218	{
223	//---------------------------	219	//---------------------------
224	// Nick servo state machine	220	// Nick servo state machine
225	//---------------------------	221	//---------------------------
226	if(!PulseOutput) // pulse output complete	222	if(!PulseOutput) // pulse output complete
227	{	223	{
228	if(TCCR2A & (1<<COM2A0)) // we had a low pulse	224	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
229	{	225	{
230	TCCR2A &= ~(1<<COM2A0);// make a high pulse	226	TCCR2A &= ~(1<<COM2A0);// make a high pulse
231	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms	227	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
232		228
233	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset	229	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
234	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)	230	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
235	if(EE_Parameter.ServoNickCompInvert & 0x01)	231	if(EE_Parameter.ServoCompInvert & 0x01)
236	{ // inverting movement of servo	232	{ // inverting movement of servo
237	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	233	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
238	}	234	}
239	else	235	else
240	{ // non inverting movement of servo	236	{ // non inverting movement of servo
241	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	237	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
242	}	238	}
243	// limit servo value to its parameter range definition	239	// limit servo value to its parameter range definition
244	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )	240	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
245	{	241	{
246	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;	242	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
247	}	243	}
248	else	244	else
249	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )	245	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
250	{	246	{
251	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;	247	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
252	}	248	}
253		249
254	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	250	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
255		251
256	ServoNickValue /= MULTIPLYER;	252	ServoNickValue /= MULTIPLYER;
257	DebugOut.Analog[20] = ServoNickValue;	253	DebugOut.Analog[20] = ServoNickValue;
258		254
259	// range servo pulse width	255	// range servo pulse width
260	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit	256	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
261	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit	257	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
262	// accumulate time for correct update rate	258	// accumulate time for correct update rate
263	ServoFrameTime = RemainingPulse;	259	ServoFrameTime = RemainingPulse;
264	}	260	}
265	else // we had a high pulse	261	else // we had a high pulse
266	{	262	{
267	TCCR2A \|= (1<<COM2A0); // make a low pulse	263	TCCR2A \|= (1<<COM2A0); // make a low pulse
268	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;	264	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
269	}	265	}
270	// set pulse output active	266	// set pulse output active
271	PulseOutput = 1;	267	PulseOutput = 1;
272	}	268	}
273	} // EOF Nick servo state machine	269	} // EOF Nick servo state machine
274	else	270	else
275	{	271	{
276	//-----------------------------------------------------	272	//-----------------------------------------------------
277	// PPM state machine, onboard demultiplexed by HEF4017	273	// PPM state machine, onboard demultiplexed by HEF4017
278	//-----------------------------------------------------	274	//-----------------------------------------------------
279	if(!PulseOutput) // pulse output complete	275	if(!PulseOutput) // pulse output complete
280	{	276	{
281	if(TCCR2A & (1<<COM2A0)) // we had a low pulse	277	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
282	{	278	{
283	TCCR2A &= ~(1<<COM2A0);// make a high pulse	279	TCCR2A &= ~(1<<COM2A0);// make a high pulse
284		280
285	if(ServoIndex == 0) // if we are at the sync gap	281	if(ServoIndex == 0) // if we are at the sync gap
286	{	282	{
287	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time	283	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
288	ServoFrameTime = 0; // reset servo frame time	284	ServoFrameTime = 0; // reset servo frame time
289	HEF4017R_ON; // enable HEF4017 reset	285	HEF4017R_ON; // enable HEF4017 reset
290	}	286	}
291	else // servo channels	287	else // servo channels
292	{	288	{
293	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms	289	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
294	switch(ServoIndex) // map servo channels	290	switch(ServoIndex) // map servo channels
295	{	291	{
296	case 1: // Nick Compensation Servo	292	case 1: // Nick Compensation Servo
297	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset	293	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
298	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)	294	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
299	if(EE_Parameter.ServoNickCompInvert & 0x01)	295	if(EE_Parameter.ServoCompInvert & 0x01)
300	{ // inverting movement of servo	296	{ // inverting movement of servo
301	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	297	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
302	}	298	}
303	else	299	else
304	{ // non inverting movement of servo	300	{ // non inverting movement of servo
305	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	301	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
306	}	302	}
307	// limit servo value to its parameter range definition	303	// limit servo value to its parameter range definition
308	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )	304	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
309	{	305	{
310	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;	306	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
311	}	307	}
312	else	308	else
313	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )	309	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
314	{	310	{
315	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;	311	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
316	}	312	}
317	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	313	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
318	ServoNickValue /= MULTIPLYER;	314	ServoNickValue /= MULTIPLYER;
319	DebugOut.Analog[20] = ServoNickValue;	315	DebugOut.Analog[20] = ServoNickValue;
320	break;	316	break;
321	case 2: // Roll Compensation Servo	317	case 2: // Roll Compensation Servo
322	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset	318	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
323	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)	319	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
324	//if(EE_Parameter.ServoRollCompInvert & 0x01)	320	if(EE_Parameter.ServoCompInvert & 0x02)
325	{ // inverting movement of servo	321	{ // inverting movement of servo
326	ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );	-
327	}	-
328	/* else	-
329	{ // non inverting movement of servo	-
330	ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );	-
331	}	-
332	*/ // limit servo value to its parameter range definition	-
333	if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )	-
334	{	-
335	ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;	-
336	}	-
337	else	-
338	if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )	-
339	{	-
340	ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;	-
341	}	-
342	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	-
343	ServoRollValue /= MULTIPLYER;	-
344	//DebugOut.Analog[20] = ServoRollValue;	-
345		-
346	/* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset	-
347	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)	-
348	if(EE_Parameter.ServoRollCompInvert & 0x01)	-
349	{ // inverting movement of servo	-
350	ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	322	ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
351	}	323	}
352	else	324	else
353	{ // non inverting movement of servo	325	{ // non inverting movement of servo
354	ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );	326	ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
355	}	327	}
356	// limit servo value to its parameter range definition	328	// limit servo value to its parameter range definition
357	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )	329	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
358	{	330	{
359	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;	331	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
360	}	332	}
361	else	333	else
362	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )	334	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
363	{	335	{
364	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;	336	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
365	}	337	}
366	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	338	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
367	ServoRollValue /= MULTIPLYER;	339	ServoRollValue /= MULTIPLYER;
368	//DebugOut.Analog[20] = ServoRollValue;	340	//DebugOut.Analog[20] = ServoRollValue;
369	*/ break;	341	break;
370		342
371	default: // other servo channels	343	default: // other servo channels
372	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs	344	RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
373	break;	345	break;
374	}	346	}
375	// range servo pulse width	347	// range servo pulse width
376	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit	348	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
377	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit	349	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
378	// substract stop pulse width	350	// substract stop pulse width
379	RemainingPulse -= PPM_STOPPULSE;	351	RemainingPulse -= PPM_STOPPULSE;
380	// accumulate time for correct sync gap	352	// accumulate time for correct sync gap
381	ServoFrameTime += RemainingPulse;	353	ServoFrameTime += RemainingPulse;
382	}	354	}
383	}	355	}
384	else // we had a high pulse	356	else // we had a high pulse
385	{	357	{
386	TCCR2A \|= (1<<COM2A0); // make a low pulse	358	TCCR2A \|= (1<<COM2A0); // make a low pulse
387	// set pulsewidth to stop pulse width	359	// set pulsewidth to stop pulse width
388	RemainingPulse = PPM_STOPPULSE;	360	RemainingPulse = PPM_STOPPULSE;
389	// accumulate time for correct sync gap	361	// accumulate time for correct sync gap
390	ServoFrameTime += RemainingPulse;	362	ServoFrameTime += RemainingPulse;
391	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset	363	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
-		364	else HEF4017R_ON;
392	ServoIndex++; // change to next servo channel	365	ServoIndex++; // change to next servo channel
393	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap	366	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
394	}	367	}
395	// set pulse output active	368	// set pulse output active
396	PulseOutput = 1;	369	PulseOutput = 1;
397	}	370	}
398	} // EOF PPM state machine	371	} // EOF PPM state machine
399		372
400	// General pulse output generator	373	// General pulse output generator
401	if(RemainingPulse > (255 + IRS_RUNTIME))	374	if(RemainingPulse > (255 + IRS_RUNTIME))
402	{	375	{
403	OCR2A = 255;	376	OCR2A = 255;
404	RemainingPulse -= 255;	377	RemainingPulse -= 255;
405	}	378	}
406	else	379	else
407	{	380	{
408	if(RemainingPulse > 255) // this is the 2nd last part	381	if(RemainingPulse > 255) // this is the 2nd last part
409	{	382	{
410	if((RemainingPulse - 255) < IRS_RUNTIME)	383	if((RemainingPulse - 255) < IRS_RUNTIME)
411	{	384	{
412	OCR2A = 255 - IRS_RUNTIME;	385	OCR2A = 255 - IRS_RUNTIME;
413	RemainingPulse -= 255 - IRS_RUNTIME;	386	RemainingPulse -= 255 - IRS_RUNTIME;
414		387
415	}	388	}
416	else // last part > ISR_RUNTIME	389	else // last part > ISR_RUNTIME
417	{	390	{
418	OCR2A = 255;	391	OCR2A = 255;
419	RemainingPulse -= 255;	392	RemainingPulse -= 255;
420	}	393	}
421	}	394	}
422	else // this is the last part	395	else // this is the last part
423	{	396	{
424	OCR2A = RemainingPulse;	397	OCR2A = RemainingPulse;
425	RemainingPulse = 0;	398	RemainingPulse = 0;
426	PulseOutput = 0; // trigger to stop pulse	399	PulseOutput = 0; // trigger to stop pulse
427	}	400	}
428	} // EOF general pulse output generator	401	} // EOF general pulse output generator
429	}	402	}
430		403

Subversion Repositories FlightCtrl

(root)/tags/V0.80e/timer0.c @ 2169 - Rev 1224 → 1232