Rev 1224 | Rev 1320 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
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 | 135 | ||
137 | // set PD7 as output of the PWM for nick servo |
- | |
138 | DDRD |= (1<<DDD7); |
- | |
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 |