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1 | #include "main.h" |
1 | #include "main.h" |
2 | 2 | ||
3 | 3 | ||
4 | volatile unsigned int CountMilliseconds = 0; |
4 | volatile unsigned int CountMilliseconds = 0; |
5 | volatile static unsigned int tim_main; |
5 | volatile static unsigned int tim_main; |
6 | volatile unsigned char UpdateMotor = 0; |
6 | volatile unsigned char UpdateMotor = 0; |
7 | volatile unsigned int cntKompass = 0; |
7 | volatile unsigned int cntKompass = 0; |
8 | volatile unsigned int beeptime = 0; |
8 | volatile unsigned int beeptime = 0; |
9 | volatile unsigned char SendSPI = 0, ServoActive = 0; |
9 | volatile unsigned char SendSPI = 0, ServoActive = 0; |
10 | 10 | ||
11 | unsigned int BeepMuster = 0xffff; |
11 | unsigned int BeepMuster = 0xffff; |
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 | ISR(TIMER0_OVF_vect) // 9,7kHz |
29 | ISR(TIMER0_OVF_vect) // 9,7kHz |
30 | { |
30 | { |
31 | static unsigned char cnt_1ms = 1,cnt = 0; |
31 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
32 | unsigned char pieper_ein = 0; |
32 | unsigned char pieper_ein = 0; |
33 | if(SendSPI) SendSPI--; |
33 | if(SendSPI) SendSPI--; |
34 | if(SpektrumTimer) SpektrumTimer--; |
34 | if(SpektrumTimer) SpektrumTimer--; |
35 | if(!cnt--) |
35 | if(!cnt--) |
36 | { |
36 | { |
37 | cnt = 9; |
37 | cnt = 9; |
- | 38 | CountMilliseconds++; |
|
38 | cnt_1ms++; |
39 | cnt_1ms++; |
39 | cnt_1ms %= 2; |
40 | cnt_1ms %= 2; |
- | 41 | ||
40 | if(!cnt_1ms) UpdateMotor = 1; |
42 | if(!cnt_1ms) UpdateMotor = 1; |
41 | CountMilliseconds++; |
43 | if(!PINC & 0x10) compass_active = 1; |
42 | } |
44 | |
43 | if(beeptime >= 1) |
45 | if(beeptime >= 10) |
44 | { |
46 | { |
45 | beeptime--; |
47 | beeptime -= 10; |
46 | if(beeptime & BeepMuster) |
48 | if(beeptime & BeepMuster) |
47 | { |
49 | { |
48 | pieper_ein = 1; |
50 | pieper_ein = 1; |
49 | } |
51 | } |
50 | else pieper_ein = 0; |
52 | else pieper_ein = 0; |
51 | } |
53 | } |
52 | else |
54 | else |
53 | { |
55 | { |
54 | pieper_ein = 0; |
56 | pieper_ein = 0; |
55 | BeepMuster = 0xffff; |
57 | BeepMuster = 0xffff; |
56 | } |
58 | } |
57 | if(pieper_ein) |
59 | if(pieper_ein) |
58 | { |
60 | { |
59 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
60 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
61 | } |
63 | } |
62 | else |
64 | else |
63 | { |
65 | { |
64 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
65 | else PORTC &= ~(1<<7); |
67 | else PORTC &= ~(1<<7); |
66 | } |
68 | } |
67 | 69 | } |
|
68 | if(!NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
70 | if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
69 | { |
71 | { |
70 | if(PINC & 0x10) |
72 | if(PINC & 0x10) |
71 | { |
73 | { |
72 | cntKompass++; |
74 | if(++cntKompass > 1000) compass_active = 0; |
73 | } |
75 | } |
74 | else |
76 | else |
75 | { |
77 | { |
76 | if((cntKompass) && (cntKompass < 362)) |
78 | if((cntKompass) && (cntKompass < 362)) |
77 | { |
79 | { |
78 | cntKompass += cntKompass / 41; |
80 | cntKompass += cntKompass / 41; |
79 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
81 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
80 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
82 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
81 | } |
83 | } |
82 | cntKompass = 0; |
84 | cntKompass = 0; |
83 | } |
85 | } |
84 | } |
86 | } |
85 | } |
87 | } |
86 | 88 | ||
87 | 89 | ||
88 | // ----------------------------------------------------------------------- |
90 | // ----------------------------------------------------------------------- |
89 | unsigned int SetDelay (unsigned int t) |
91 | unsigned int SetDelay (unsigned int t) |
90 | { |
92 | { |
91 | // TIMSK0 &= ~_BV(TOIE0); |
93 | // TIMSK0 &= ~_BV(TOIE0); |
92 | return(CountMilliseconds + t + 1); |
94 | return(CountMilliseconds + t + 1); |
93 | // TIMSK0 |= _BV(TOIE0); |
95 | // TIMSK0 |= _BV(TOIE0); |
94 | } |
96 | } |
95 | 97 | ||
96 | // ----------------------------------------------------------------------- |
98 | // ----------------------------------------------------------------------- |
97 | char CheckDelay(unsigned int t) |
99 | char CheckDelay(unsigned int t) |
98 | { |
100 | { |
99 | // TIMSK0 &= ~_BV(TOIE0); |
101 | // TIMSK0 &= ~_BV(TOIE0); |
100 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
102 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
101 | // TIMSK0 |= _BV(TOIE0); |
103 | // TIMSK0 |= _BV(TOIE0); |
102 | } |
104 | } |
103 | 105 | ||
104 | // ----------------------------------------------------------------------- |
106 | // ----------------------------------------------------------------------- |
105 | void Delay_ms(unsigned int w) |
107 | void Delay_ms(unsigned int w) |
106 | { |
108 | { |
107 | unsigned int akt; |
109 | unsigned int akt; |
108 | akt = SetDelay(w); |
110 | akt = SetDelay(w); |
109 | while (!CheckDelay(akt)); |
111 | while (!CheckDelay(akt)); |
110 | } |
112 | } |
111 | 113 | ||
112 | void Delay_ms_Mess(unsigned int w) |
114 | void Delay_ms_Mess(unsigned int w) |
113 | { |
115 | { |
114 | unsigned int akt; |
116 | unsigned int akt; |
115 | akt = SetDelay(w); |
117 | akt = SetDelay(w); |
116 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
118 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
117 | } |
119 | } |
118 | 120 | ||
119 | /*****************************************************/ |
121 | /*****************************************************/ |
120 | /* Initialize Timer 2 */ |
122 | /* Initialize Timer 2 */ |
121 | /*****************************************************/ |
123 | /*****************************************************/ |
122 | // The timer 2 is used to generate the PWM at PD7 (J7) |
124 | // The timer 2 is used to generate the PWM at PD7 (J7) |
123 | // to control a camera servo for nick compensation. |
125 | // to control a camera servo for nick compensation. |
124 | void TIMER2_Init(void) |
126 | void TIMER2_Init(void) |
125 | { |
127 | { |
126 | uint8_t sreg = SREG; |
128 | uint8_t sreg = SREG; |
127 | 129 | ||
128 | // disable all interrupts before reconfiguration |
130 | // disable all interrupts before reconfiguration |
129 | cli(); |
131 | cli(); |
130 | 132 | ||
131 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
133 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
132 | 134 | ||
133 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
135 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
134 | HEF4017R_ON; |
136 | HEF4017R_ON; |
135 | // Timer/Counter 2 Control Register A |
137 | // Timer/Counter 2 Control Register A |
136 | 138 | ||
137 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
139 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
138 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
140 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
139 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
141 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
140 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
142 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
141 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
143 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
142 | 144 | ||
143 | // Timer/Counter 2 Control Register B |
145 | // Timer/Counter 2 Control Register B |
144 | 146 | ||
145 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
147 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
146 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
148 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
147 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
149 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
148 | 150 | ||
149 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
151 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
150 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
152 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
151 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
153 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
152 | 154 | ||
153 | // Initialize the Timer/Counter 2 Register |
155 | // Initialize the Timer/Counter 2 Register |
154 | TCNT2 = 0; |
156 | TCNT2 = 0; |
155 | 157 | ||
156 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
158 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
157 | OCR2A = 255; |
159 | OCR2A = 255; |
158 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
160 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
159 | 161 | ||
160 | // Timer/Counter 2 Interrupt Mask Register |
162 | // Timer/Counter 2 Interrupt Mask Register |
161 | // Enable timer output compare match A Interrupt only |
163 | // Enable timer output compare match A Interrupt only |
162 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
164 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
163 | TIMSK2 |= (1<<OCIE2A); |
165 | TIMSK2 |= (1<<OCIE2A); |
164 | 166 | ||
165 | SREG = sreg; |
167 | SREG = sreg; |
166 | } |
168 | } |
167 | 169 | ||
168 | //---------------------------- |
170 | //---------------------------- |
169 | void Timer_Init(void) |
171 | void Timer_Init(void) |
170 | { |
172 | { |
171 | tim_main = SetDelay(10); |
173 | tim_main = SetDelay(10); |
172 | TCCR0B = CK8; |
174 | TCCR0B = CK8; |
173 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
175 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
174 | OCR0A = 0; |
176 | OCR0A = 0; |
175 | OCR0B = 180; |
177 | OCR0B = 180; |
176 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
178 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
177 | //OCR1 = 0x00; |
179 | //OCR1 = 0x00; |
178 | TIMSK0 |= _BV(TOIE0); |
180 | TIMSK0 |= _BV(TOIE0); |
179 | } |
181 | } |
180 | 182 | ||
181 | 183 | ||
182 | /*****************************************************/ |
184 | /*****************************************************/ |
183 | /* Control Servo Position */ |
185 | /* Control Servo Position */ |
184 | /*****************************************************/ |
186 | /*****************************************************/ |
185 | 187 | ||
186 | ISR(TIMER2_COMPA_vect) |
188 | ISR(TIMER2_COMPA_vect) |
187 | { |
189 | { |
188 | // frame len 22.5 ms = 14063 * 1.6 us |
190 | // frame len 22.5 ms = 14063 * 1.6 us |
189 | // stop pulse: 0.3 ms = 188 * 1.6 us |
191 | // stop pulse: 0.3 ms = 188 * 1.6 us |
190 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
192 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
191 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
193 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
192 | // resolution: 1500 - 375 = 1125 steps |
194 | // resolution: 1500 - 375 = 1125 steps |
193 | 195 | ||
194 | #define IRS_RUNTIME 127 |
196 | #define IRS_RUNTIME 127 |
195 | #define PPM_STOPPULSE 188 |
197 | #define PPM_STOPPULSE 188 |
196 | // #define PPM_FRAMELEN (14063 |
198 | // #define PPM_FRAMELEN (14063 |
197 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
199 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
198 | #define MINSERVOPULSE 375 |
200 | #define MINSERVOPULSE 375 |
199 | #define MAXSERVOPULSE 1500 |
201 | #define MAXSERVOPULSE 1500 |
200 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
202 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
201 | 203 | ||
202 | static uint8_t PulseOutput = 0; |
204 | static uint8_t PulseOutput = 0; |
203 | static uint16_t RemainingPulse = 0; |
205 | static uint16_t RemainingPulse = 0; |
204 | static uint16_t ServoFrameTime = 0; |
206 | static uint16_t ServoFrameTime = 0; |
205 | static uint8_t ServoIndex = 0; |
207 | static uint8_t ServoIndex = 0; |
206 | 208 | ||
207 | #define MULTIPLYER 4 |
209 | #define MULTIPLYER 4 |
208 | static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
210 | static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
209 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
211 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
210 | 212 | ||
211 | if(PlatinenVersion < 20) |
213 | if(PlatinenVersion < 20) |
212 | { |
214 | { |
213 | //--------------------------- |
215 | //--------------------------- |
214 | // Nick servo state machine |
216 | // Nick servo state machine |
215 | //--------------------------- |
217 | //--------------------------- |
216 | if(!PulseOutput) // pulse output complete |
218 | if(!PulseOutput) // pulse output complete |
217 | { |
219 | { |
218 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
220 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
219 | { |
221 | { |
220 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
222 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
221 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
223 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
222 | 224 | ||
223 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
225 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
224 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
226 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
225 | if(EE_Parameter.ServoCompInvert & 0x01) |
227 | if(EE_Parameter.ServoCompInvert & 0x01) |
226 | { // inverting movement of servo |
228 | { // inverting movement of servo |
227 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
229 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
228 | } |
230 | } |
229 | else |
231 | else |
230 | { // non inverting movement of servo |
232 | { // non inverting movement of servo |
231 | 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) ); |
232 | } |
234 | } |
233 | // limit servo value to its parameter range definition |
235 | // limit servo value to its parameter range definition |
234 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
236 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
235 | { |
237 | { |
236 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
238 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
237 | } |
239 | } |
238 | else |
240 | else |
239 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
241 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
240 | { |
242 | { |
241 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
243 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
242 | } |
244 | } |
243 | 245 | ||
244 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
246 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
245 | 247 | ||
246 | ServoNickValue /= MULTIPLYER; |
248 | ServoNickValue /= MULTIPLYER; |
247 | 249 | ||
248 | // range servo pulse width |
250 | // range servo pulse width |
249 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
251 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
250 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
252 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
251 | // accumulate time for correct update rate |
253 | // accumulate time for correct update rate |
252 | ServoFrameTime = RemainingPulse; |
254 | ServoFrameTime = RemainingPulse; |
253 | } |
255 | } |
254 | else // we had a high pulse |
256 | else // we had a high pulse |
255 | { |
257 | { |
256 | TCCR2A |= (1<<COM2A0); // make a low pulse |
258 | TCCR2A |= (1<<COM2A0); // make a low pulse |
257 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
259 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
258 | } |
260 | } |
259 | // set pulse output active |
261 | // set pulse output active |
260 | PulseOutput = 1; |
262 | PulseOutput = 1; |
261 | } |
263 | } |
262 | } // EOF Nick servo state machine |
264 | } // EOF Nick servo state machine |
263 | else |
265 | else |
264 | { |
266 | { |
265 | //----------------------------------------------------- |
267 | //----------------------------------------------------- |
266 | // PPM state machine, onboard demultiplexed by HEF4017 |
268 | // PPM state machine, onboard demultiplexed by HEF4017 |
267 | //----------------------------------------------------- |
269 | //----------------------------------------------------- |
268 | if(!PulseOutput) // pulse output complete |
270 | if(!PulseOutput) // pulse output complete |
269 | { |
271 | { |
270 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
272 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
271 | { |
273 | { |
272 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
274 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
273 | 275 | ||
274 | if(ServoIndex == 0) // if we are at the sync gap |
276 | if(ServoIndex == 0) // if we are at the sync gap |
275 | { |
277 | { |
276 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
278 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
277 | ServoFrameTime = 0; // reset servo frame time |
279 | ServoFrameTime = 0; // reset servo frame time |
278 | HEF4017R_ON; // enable HEF4017 reset |
280 | HEF4017R_ON; // enable HEF4017 reset |
279 | } |
281 | } |
280 | else // servo channels |
282 | else // servo channels |
281 | { |
283 | { |
282 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
284 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
283 | switch(ServoIndex) // map servo channels |
285 | switch(ServoIndex) // map servo channels |
284 | { |
286 | { |
285 | case 1: // Nick Compensation Servo |
287 | case 1: // Nick Compensation Servo |
286 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
288 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
287 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
289 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
288 | if(EE_Parameter.ServoCompInvert & 0x01) |
290 | if(EE_Parameter.ServoCompInvert & 0x01) |
289 | { // inverting movement of servo |
291 | { // inverting movement of servo |
290 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
292 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
291 | } |
293 | } |
292 | else |
294 | else |
293 | { // non inverting movement of servo |
295 | { // non inverting movement of servo |
294 | ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
296 | ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
295 | } |
297 | } |
296 | // limit servo value to its parameter range definition |
298 | // limit servo value to its parameter range definition |
297 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
299 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
298 | { |
300 | { |
299 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
301 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
300 | } |
302 | } |
301 | else |
303 | else |
302 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
304 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
303 | { |
305 | { |
304 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
306 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
305 | } |
307 | } |
306 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
308 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
307 | ServoNickValue /= MULTIPLYER; |
309 | ServoNickValue /= MULTIPLYER; |
308 | break; |
310 | break; |
309 | case 2: // Roll Compensation Servo |
311 | case 2: // Roll Compensation Servo |
310 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
312 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
311 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
313 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
312 | if(EE_Parameter.ServoCompInvert & 0x02) |
314 | if(EE_Parameter.ServoCompInvert & 0x02) |
313 | { // inverting movement of servo |
315 | { // inverting movement of servo |
314 | ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
316 | ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
315 | } |
317 | } |
316 | else |
318 | else |
317 | { // non inverting movement of servo |
319 | { // non inverting movement of servo |
318 | ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
320 | ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
319 | } |
321 | } |
320 | // limit servo value to its parameter range definition |
322 | // limit servo value to its parameter range definition |
321 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
323 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
322 | { |
324 | { |
323 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
325 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
324 | } |
326 | } |
325 | else |
327 | else |
326 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
328 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
327 | { |
329 | { |
328 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
330 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
329 | } |
331 | } |
330 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
332 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
331 | ServoRollValue /= MULTIPLYER; |
333 | ServoRollValue /= MULTIPLYER; |
332 | //DebugOut.Analog[20] = ServoRollValue; |
334 | //DebugOut.Analog[20] = ServoRollValue; |
333 | break; |
335 | break; |
334 | case 3: |
336 | case 3: |
335 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
337 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
336 | break; |
338 | break; |
337 | case 4: |
339 | case 4: |
338 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
340 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
339 | break; |
341 | break; |
340 | case 5: |
342 | case 5: |
341 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
343 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
342 | break; |
344 | break; |
343 | default: // other servo channels |
345 | default: // other servo channels |
344 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
346 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
345 | break; |
347 | break; |
346 | } |
348 | } |
347 | // range servo pulse width |
349 | // range servo pulse width |
348 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
350 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
349 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
351 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
350 | // substract stop pulse width |
352 | // substract stop pulse width |
351 | RemainingPulse -= PPM_STOPPULSE; |
353 | RemainingPulse -= PPM_STOPPULSE; |
352 | // accumulate time for correct sync gap |
354 | // accumulate time for correct sync gap |
353 | ServoFrameTime += RemainingPulse; |
355 | ServoFrameTime += RemainingPulse; |
354 | } |
356 | } |
355 | } |
357 | } |
356 | else // we had a high pulse |
358 | else // we had a high pulse |
357 | { |
359 | { |
358 | TCCR2A |= (1<<COM2A0); // make a low pulse |
360 | TCCR2A |= (1<<COM2A0); // make a low pulse |
359 | // set pulsewidth to stop pulse width |
361 | // set pulsewidth to stop pulse width |
360 | RemainingPulse = PPM_STOPPULSE; |
362 | RemainingPulse = PPM_STOPPULSE; |
361 | // accumulate time for correct sync gap |
363 | // accumulate time for correct sync gap |
362 | ServoFrameTime += RemainingPulse; |
364 | ServoFrameTime += RemainingPulse; |
363 | if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset |
365 | if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset |
364 | else HEF4017R_ON; |
366 | else HEF4017R_ON; |
365 | ServoIndex++; // change to next servo channel |
367 | ServoIndex++; // change to next servo channel |
366 | if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap |
368 | if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap |
367 | } |
369 | } |
368 | // set pulse output active |
370 | // set pulse output active |
369 | PulseOutput = 1; |
371 | PulseOutput = 1; |
370 | } |
372 | } |
371 | } // EOF PPM state machine |
373 | } // EOF PPM state machine |
372 | 374 | ||
373 | // General pulse output generator |
375 | // General pulse output generator |
374 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
376 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
375 | { |
377 | { |
376 | OCR2A = 255; |
378 | OCR2A = 255; |
377 | RemainingPulse -= 255; |
379 | RemainingPulse -= 255; |
378 | } |
380 | } |
379 | else |
381 | else |
380 | { |
382 | { |
381 | if(RemainingPulse > 255) // this is the 2nd last part |
383 | if(RemainingPulse > 255) // this is the 2nd last part |
382 | { |
384 | { |
383 | if((RemainingPulse - 255) < IRS_RUNTIME) |
385 | if((RemainingPulse - 255) < IRS_RUNTIME) |
384 | { |
386 | { |
385 | OCR2A = 255 - IRS_RUNTIME; |
387 | OCR2A = 255 - IRS_RUNTIME; |
386 | RemainingPulse -= 255 - IRS_RUNTIME; |
388 | RemainingPulse -= 255 - IRS_RUNTIME; |
387 | 389 | ||
388 | } |
390 | } |
389 | else // last part > ISR_RUNTIME |
391 | else // last part > ISR_RUNTIME |
390 | { |
392 | { |
391 | OCR2A = 255; |
393 | OCR2A = 255; |
392 | RemainingPulse -= 255; |
394 | RemainingPulse -= 255; |
393 | } |
395 | } |
394 | } |
396 | } |
395 | else // this is the last part |
397 | else // this is the last part |
396 | { |
398 | { |
397 | OCR2A = RemainingPulse; |
399 | OCR2A = RemainingPulse; |
398 | RemainingPulse = 0; |
400 | RemainingPulse = 0; |
399 | PulseOutput = 0; // trigger to stop pulse |
401 | PulseOutput = 0; // trigger to stop pulse |
400 | } |
402 | } |
401 | } // EOF general pulse output generator |
403 | } // EOF general pulse output generator |
402 | } |
404 | } |
403 | 405 |