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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | 53 | ||
54 | #include "main.h" |
54 | #include "main.h" |
55 | #define MULTIPLYER 4 |
55 | #define MULTIPLYER 4 |
56 | 56 | ||
57 | volatile unsigned int CountMilliseconds = 0; |
57 | volatile unsigned int CountMilliseconds = 0; |
58 | volatile static unsigned int tim_main; |
58 | volatile static unsigned int tim_main; |
59 | volatile unsigned char UpdateMotor = 0; |
59 | volatile unsigned char UpdateMotor = 0; |
60 | volatile unsigned int cntKompass = 0; |
60 | volatile unsigned int cntKompass = 0; |
61 | volatile unsigned int beeptime = 0; |
61 | volatile unsigned int beeptime = 0; |
62 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
62 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
63 | uint16_t RemainingPulse = 0; |
63 | uint16_t RemainingPulse = 0; |
64 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
64 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
65 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
65 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
- | 66 | volatile int16_t ServoPanOffset = (255 / 2) * MULTIPLYER * 16; // MartinR: für Pan-Funktion |
|
66 | 67 | ||
67 | unsigned int BeepMuster = 0xffff; |
68 | unsigned int BeepMuster = 0xffff; |
68 | 69 | ||
69 | volatile int16_t ServoNickValue = 0; |
70 | volatile int16_t ServoNickValue = 0; |
70 | volatile int16_t ServoRollValue = 0; |
71 | volatile int16_t ServoRollValue = 0; |
- | 72 | volatile int16_t ServoPanValue = 0; // MartinR : für PAN-Funktion |
|
71 | 73 | ||
72 | 74 | ||
73 | enum { |
75 | enum { |
74 | STOP = 0, |
76 | STOP = 0, |
75 | CK = 1, |
77 | CK = 1, |
76 | CK8 = 2, |
78 | CK8 = 2, |
77 | CK64 = 3, |
79 | CK64 = 3, |
78 | CK256 = 4, |
80 | CK256 = 4, |
79 | CK1024 = 5, |
81 | CK1024 = 5, |
80 | T0_FALLING_EDGE = 6, |
82 | T0_FALLING_EDGE = 6, |
81 | T0_RISING_EDGE = 7 |
83 | T0_RISING_EDGE = 7 |
82 | }; |
84 | }; |
83 | 85 | ||
84 | 86 | ||
85 | ISR(TIMER0_OVF_vect) // 9,7kHz |
87 | ISR(TIMER0_OVF_vect) // 9,7kHz |
86 | { |
88 | { |
87 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
89 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
88 | unsigned char pieper_ein = 0; |
90 | unsigned char pieper_ein = 0; |
89 | if(SendSPI) SendSPI--; |
91 | if(SendSPI) SendSPI--; |
90 | if(SpektrumTimer) SpektrumTimer--; |
92 | if(SpektrumTimer) SpektrumTimer--; |
91 | if(!cnt--) |
93 | if(!cnt--) |
92 | { |
94 | { |
93 | cnt = 9; |
95 | cnt = 9; |
94 | CountMilliseconds++; |
96 | CountMilliseconds++; |
95 | cnt_1ms++; |
97 | cnt_1ms++; |
96 | cnt_1ms %= 2; |
98 | cnt_1ms %= 2; |
97 | 99 | ||
98 | if(!cnt_1ms) UpdateMotor = 1; |
100 | if(!cnt_1ms) UpdateMotor = 1; |
99 | if(!(PINC & 0x10)) compass_active = 1; |
101 | if(!(PINC & 0x10)) compass_active = 1; |
100 | 102 | ||
101 | if(beeptime) |
103 | if(beeptime) |
102 | { |
104 | { |
103 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
105 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
104 | if(beeptime & BeepMuster) |
106 | if(beeptime & BeepMuster) |
105 | { |
107 | { |
106 | pieper_ein = 1; |
108 | pieper_ein = 1; |
107 | } |
109 | } |
108 | else pieper_ein = 0; |
110 | else pieper_ein = 0; |
109 | } |
111 | } |
110 | else |
112 | else |
111 | { |
113 | { |
112 | pieper_ein = 0; |
114 | pieper_ein = 0; |
113 | BeepMuster = 0xffff; |
115 | BeepMuster = 0xffff; |
114 | } |
116 | } |
115 | if(pieper_ein) |
117 | if(pieper_ein) |
116 | { |
118 | { |
117 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
119 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
118 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
120 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
119 | } |
121 | } |
120 | else |
122 | else |
121 | { |
123 | { |
122 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
124 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
123 | else PORTC &= ~(1<<7); |
125 | else PORTC &= ~(1<<7); |
124 | } |
126 | } |
125 | } |
127 | } |
126 | if(compass_active && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
128 | if(compass_active && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
127 | { |
129 | { |
128 | if(PINC & 0x10) |
130 | if(PINC & 0x10) |
129 | { |
131 | { |
130 | if(++cntKompass > 1000) compass_active = 0; |
132 | if(++cntKompass > 1000) compass_active = 0; |
131 | } |
133 | } |
132 | else |
134 | else |
133 | { |
135 | { |
134 | if((cntKompass) && (cntKompass < 362)) |
136 | if((cntKompass) && (cntKompass < 362)) |
135 | { |
137 | { |
136 | cntKompass += cntKompass / 41; |
138 | cntKompass += cntKompass / 41; |
137 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
139 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
138 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
140 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
139 | } |
141 | } |
140 | cntKompass = 0; |
142 | cntKompass = 0; |
141 | } |
143 | } |
142 | } |
144 | } |
143 | } |
145 | } |
144 | 146 | ||
145 | 147 | ||
146 | // ----------------------------------------------------------------------- |
148 | // ----------------------------------------------------------------------- |
147 | unsigned int SetDelay (unsigned int t) |
149 | unsigned int SetDelay (unsigned int t) |
148 | { |
150 | { |
149 | // TIMSK0 &= ~_BV(TOIE0); |
151 | // TIMSK0 &= ~_BV(TOIE0); |
150 | return(CountMilliseconds + t + 1); |
152 | return(CountMilliseconds + t + 1); |
151 | // TIMSK0 |= _BV(TOIE0); |
153 | // TIMSK0 |= _BV(TOIE0); |
152 | } |
154 | } |
153 | 155 | ||
154 | // ----------------------------------------------------------------------- |
156 | // ----------------------------------------------------------------------- |
155 | char CheckDelay(unsigned int t) |
157 | char CheckDelay(unsigned int t) |
156 | { |
158 | { |
157 | // TIMSK0 &= ~_BV(TOIE0); |
159 | // TIMSK0 &= ~_BV(TOIE0); |
158 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
160 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
159 | // TIMSK0 |= _BV(TOIE0); |
161 | // TIMSK0 |= _BV(TOIE0); |
160 | } |
162 | } |
161 | 163 | ||
162 | // ----------------------------------------------------------------------- |
164 | // ----------------------------------------------------------------------- |
163 | void Delay_ms(unsigned int w) |
165 | void Delay_ms(unsigned int w) |
164 | { |
166 | { |
165 | unsigned int akt; |
167 | unsigned int akt; |
166 | akt = SetDelay(w); |
168 | akt = SetDelay(w); |
167 | while (!CheckDelay(akt)); |
169 | while (!CheckDelay(akt)); |
168 | } |
170 | } |
169 | 171 | ||
170 | void Delay_ms_Mess(unsigned int w) |
172 | void Delay_ms_Mess(unsigned int w) |
171 | { |
173 | { |
172 | unsigned int akt; |
174 | unsigned int akt; |
173 | akt = SetDelay(w); |
175 | akt = SetDelay(w); |
174 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
176 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
175 | } |
177 | } |
176 | 178 | ||
177 | /*****************************************************/ |
179 | /*****************************************************/ |
178 | /* Initialize Timer 2 */ |
180 | /* Initialize Timer 2 */ |
179 | /*****************************************************/ |
181 | /*****************************************************/ |
180 | // The timer 2 is used to generate the PWM at PD7 (J7) |
182 | // The timer 2 is used to generate the PWM at PD7 (J7) |
181 | // to control a camera servo for nick compensation. |
183 | // to control a camera servo for nick compensation. |
182 | void TIMER2_Init(void) |
184 | void TIMER2_Init(void) |
183 | { |
185 | { |
184 | uint8_t sreg = SREG; |
186 | uint8_t sreg = SREG; |
185 | 187 | ||
186 | // disable all interrupts before reconfiguration |
188 | // disable all interrupts before reconfiguration |
187 | cli(); |
189 | cli(); |
188 | 190 | ||
189 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
191 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
190 | 192 | ||
191 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
193 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
192 | HEF4017R_ON; |
194 | HEF4017R_ON; |
193 | // Timer/Counter 2 Control Register A |
195 | // Timer/Counter 2 Control Register A |
194 | 196 | ||
195 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
197 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
196 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
198 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
197 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
199 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
198 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
200 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
199 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
201 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
200 | 202 | ||
201 | // Timer/Counter 2 Control Register B |
203 | // Timer/Counter 2 Control Register B |
202 | 204 | ||
203 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
205 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
204 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
206 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
205 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
207 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
206 | 208 | ||
207 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
209 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
208 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
210 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
209 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
211 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
210 | 212 | ||
211 | // Initialize the Timer/Counter 2 Register |
213 | // Initialize the Timer/Counter 2 Register |
212 | TCNT2 = 0; |
214 | TCNT2 = 0; |
213 | 215 | ||
214 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
216 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
215 | OCR2A = 255; |
217 | OCR2A = 255; |
216 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
218 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
217 | 219 | ||
218 | // Timer/Counter 2 Interrupt Mask Register |
220 | // Timer/Counter 2 Interrupt Mask Register |
219 | // Enable timer output compare match A Interrupt only |
221 | // Enable timer output compare match A Interrupt only |
220 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
222 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
221 | TIMSK2 |= (1<<OCIE2A); |
223 | TIMSK2 |= (1<<OCIE2A); |
222 | 224 | ||
223 | SREG = sreg; |
225 | SREG = sreg; |
224 | } |
226 | } |
225 | 227 | ||
226 | //---------------------------- |
228 | //---------------------------- |
227 | void Timer_Init(void) |
229 | void Timer_Init(void) |
228 | { |
230 | { |
229 | tim_main = SetDelay(10); |
231 | tim_main = SetDelay(10); |
230 | TCCR0B = CK8; |
232 | TCCR0B = CK8; |
231 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
233 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
232 | OCR0A = 0; |
234 | OCR0A = 0; |
233 | OCR0B = 180; |
235 | OCR0B = 180; |
234 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
236 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
235 | //OCR1 = 0x00; |
237 | //OCR1 = 0x00; |
236 | TIMSK0 |= _BV(TOIE0); |
238 | TIMSK0 |= _BV(TOIE0); |
237 | } |
239 | } |
238 | 240 | ||
239 | 241 | ||
240 | /*****************************************************/ |
242 | /*****************************************************/ |
241 | /* Control Servo Position */ |
243 | /* Control Servo Position */ |
242 | /*****************************************************/ |
244 | /*****************************************************/ |
243 | 245 | ||
244 | 246 | ||
245 | void CalculateServo(void) |
247 | void CalculateServo(void) |
246 | { |
248 | { |
247 | signed char cosinus, sinus; |
249 | //signed char cosinus, sinus; // MartinR : so war es |
- | 250 | extern signed char cosinus, sinus; // MartinR : extern für PAN-Funktion |
|
248 | signed long nick, roll; |
251 | signed long nick, roll; |
- | 252 | ||
- | 253 | nick = 0; // MartinR : StartWert bei abgeschalteten Nick/ Roll ausgleich |
|
- | 254 | roll = 0; // MartinR : StartWert bei abgeschalteten Nick/ Roll ausgleich |
|
- | 255 | int tmp; // MartinR : für PAN-Funktion // Wert : 0-24 -> 0-360 -> 15° steps |
|
- | 256 | /* // MartinR: bisher |
|
- | 257 | tmp = EE_Parameter.CamOrientation + ((Parameter_Servo4 - 125) * (Parameter_UserParam8 - 125)) / 400 ; //MartinR : für PAN-Funktion |
|
- | 258 | if (tmp < 0) tmp = 24- (abs(tmp)) % 24 ; // MartinR :Modulo 24 |
|
- | 259 | else tmp = tmp % 24 ; // MartinR :Modulo 24 |
|
- | 260 | */ |
|
- | 261 | tmp = EE_Parameter.CamOrientation + ((Parameter_Servo4 - 125) * (Parameter_UserParam8 - 125)) / 200 ; //MartinR : für PAN-Funktion |
|
- | 262 | if (tmp < 0) tmp = 48- (abs(tmp)) % 48 ; // MartinR :Modulo 48 |
|
- | 263 | else tmp = tmp % 48 ; // MartinR :Modulo 48 |
|
249 | 264 | ||
250 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
265 | // cosinus = sintab[EE_Parameter.CamOrientation + 6]; // MartinR : so war es |
- | 266 | // sinus = sintab[EE_Parameter.CamOrientation]; // MartinR : so war es |
|
- | 267 | //cosinus = sintab[tmp + 6]; // MartinR : für PAN-Funktion |
|
- | 268 | cosinus += (2*sintab[tmp + 12]- cosinus + 1) / 2; // MartinR : für PAN-Funktion |
|
251 | sinus = sintab[EE_Parameter.CamOrientation]; |
269 | sinus += (2*sintab[tmp] - sinus + 1) / 2; // MartinR : für PAN-Funktion |
252 | 270 | ||
253 | if(CalculateServoSignals == 1) |
271 | if(CalculateServoSignals == 1) |
254 | { |
272 | { |
- | 273 | if (Parameter_UserParam7 < 50) // MartinR: um per UserParameter den Nickausgleich abzuschalten |
|
- | 274 | { |
|
255 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
275 | //nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; // MartinR: so war es |
- | 276 | nick = (cosinus * IntegralNick) / 512L - (sinus * IntegralRoll) / 512L; // MartinR: bessere Auflösung |
|
256 | nick -= POI_KameraNick * 7; |
277 | nick -= POI_KameraNick * 7; |
- | 278 | } |
|
257 | nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
279 | nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
258 | // offset (Range from 0 to 255 * 3 = 765) |
280 | // offset (Range from 0 to 255 * 3 = 765) |
259 | ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
281 | ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
260 | if(EE_Parameter.ServoCompInvert & 0x01) // inverting movement of servo |
282 | if(EE_Parameter.ServoCompInvert & 0x01) // inverting movement of servo |
261 | { |
283 | { |
262 | nick = ServoNickOffset / 16 + nick; |
284 | nick = ServoNickOffset / 16 + nick; |
263 | } |
285 | } |
264 | else |
286 | else |
265 | { // inverting movement of servo |
287 | { // inverting movement of servo |
266 | nick = ServoNickOffset / 16 - nick; |
288 | nick = ServoNickOffset / 16 - nick; |
267 | } |
289 | } |
268 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
290 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
269 | else ServoNickValue = nick; |
291 | else ServoNickValue = nick; |
270 | // limit servo value to its parameter range definition |
292 | // limit servo value to its parameter range definition |
271 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
293 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
272 | { |
294 | { |
273 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
295 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
274 | } |
296 | } |
275 | else |
297 | else |
276 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
298 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
277 | { |
299 | { |
278 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
300 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
279 | } |
301 | } |
280 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
302 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
281 | } |
303 | } |
282 | else |
304 | else |
283 | { |
305 | { |
- | 306 | if (Parameter_UserParam7 < 100) // MartinR: um per UserParameter den Nickausgleich abzuschalten |
|
- | 307 | { |
|
284 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
308 | //roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; // MartinR: so war es |
- | 309 | roll = (cosinus * IntegralRoll) / 512L + (sinus * IntegralNick) / 512L; // MartinR: bessere Auflösung |
|
- | 310 | } |
|
285 | roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L; |
311 | roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L; |
286 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
312 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
287 | if(EE_Parameter.ServoCompInvert & 0x02) |
313 | if(EE_Parameter.ServoCompInvert & 0x02) |
288 | { // inverting movement of servo |
314 | { // inverting movement of servo |
289 | roll = ServoRollOffset / 16 + roll; |
315 | roll = ServoRollOffset / 16 + roll; |
290 | } |
316 | } |
291 | else |
317 | else |
292 | { // inverting movement of servo |
318 | { // inverting movement of servo |
293 | roll = ServoRollOffset / 16 - roll; |
319 | roll = ServoRollOffset / 16 - roll; |
294 | } |
320 | } |
295 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
321 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
296 | else ServoRollValue = roll; |
322 | else ServoRollValue = roll; |
297 | // limit servo value to its parameter range definition |
323 | // limit servo value to its parameter range definition |
298 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
324 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
299 | { |
325 | { |
300 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
326 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
301 | } |
327 | } |
302 | else |
328 | else |
303 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
329 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
304 | { |
330 | { |
305 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
331 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
306 | } |
332 | } |
- | 333 | ||
- | 334 | // MartinR: Filterung der Pan- Funktion |
|
- | 335 | ServoPanOffset += ((int16_t)Parameter_Servo4 * (MULTIPLYER*16) - ServoPanOffset) / EE_Parameter.ServoManualControlSpeed; |
|
- | 336 | ServoPanValue = (int16_t)ServoPanOffset/16; // offset (Range from 0 to 255 * 3 = 765) |
|
- | 337 | ||
307 | CalculateServoSignals = 0; |
338 | CalculateServoSignals = 0; |
308 | } |
339 | } |
309 | } |
340 | } |
310 | 341 | ||
311 | ISR(TIMER2_COMPA_vect) |
342 | ISR(TIMER2_COMPA_vect) |
312 | { |
343 | { |
313 | // frame len 22.5 ms = 14063 * 1.6 us |
344 | // frame len 22.5 ms = 14063 * 1.6 us |
314 | // stop pulse: 0.3 ms = 188 * 1.6 us |
345 | // stop pulse: 0.3 ms = 188 * 1.6 us |
315 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
346 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
316 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
347 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
317 | // resolution: 1500 - 375 = 1125 steps |
348 | // resolution: 1500 - 375 = 1125 steps |
318 | 349 | ||
319 | #define IRS_RUNTIME 127 |
350 | #define IRS_RUNTIME 127 |
320 | #define PPM_STOPPULSE 188 |
351 | #define PPM_STOPPULSE 188 |
321 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
352 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
322 | #define MINSERVOPULSE 375 |
353 | #define MINSERVOPULSE 375 |
323 | #define MAXSERVOPULSE 1500 |
354 | #define MAXSERVOPULSE 1500 |
324 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
355 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
325 | 356 | ||
326 | static uint8_t PulseOutput = 0; |
357 | static uint8_t PulseOutput = 0; |
327 | static uint16_t ServoFrameTime = 0; |
358 | static uint16_t ServoFrameTime = 0; |
328 | static uint8_t ServoIndex = 0; |
359 | static uint8_t ServoIndex = 0; |
329 | 360 | ||
330 | 361 | ||
331 | if(PlatinenVersion < 20) |
362 | if(PlatinenVersion < 20) |
332 | { |
363 | { |
- | 364 | /* // MartinR : deaktiviert wegen Platzbedarf |
|
333 | //--------------------------- |
365 | //--------------------------- |
334 | // Nick servo state machine |
366 | // Nick servo state machine |
335 | //--------------------------- |
367 | //--------------------------- |
336 | if(!PulseOutput) // pulse output complete |
368 | if(!PulseOutput) // pulse output complete |
337 | { |
369 | { |
338 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
370 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
339 | { |
371 | { |
340 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
372 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
341 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
373 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
342 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
374 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
343 | // range servo pulse width |
375 | // range servo pulse width |
344 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
376 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
345 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
377 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
346 | // accumulate time for correct update rate |
378 | // accumulate time for correct update rate |
347 | ServoFrameTime = RemainingPulse; |
379 | ServoFrameTime = RemainingPulse; |
348 | } |
380 | } |
349 | else // we had a high pulse |
381 | else // we had a high pulse |
350 | { |
382 | { |
351 | TCCR2A |= (1<<COM2A0); // make a low pulse |
383 | TCCR2A |= (1<<COM2A0); // make a low pulse |
352 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
384 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
353 | CalculateServoSignals = 1; |
385 | CalculateServoSignals = 1; |
354 | } |
386 | } |
355 | // set pulse output active |
387 | // set pulse output active |
356 | PulseOutput = 1; |
388 | PulseOutput = 1; |
357 | } |
389 | } |
- | 390 | */ |
|
358 | } // EOF Nick servo state machine |
391 | } // EOF Nick servo state machine |
359 | else |
392 | else |
360 | { |
393 | { |
361 | //----------------------------------------------------- |
394 | //----------------------------------------------------- |
362 | // PPM state machine, onboard demultiplexed by HEF4017 |
395 | // PPM state machine, onboard demultiplexed by HEF4017 |
363 | //----------------------------------------------------- |
396 | //----------------------------------------------------- |
364 | if(!PulseOutput) // pulse output complete |
397 | if(!PulseOutput) // pulse output complete |
365 | { |
398 | { |
366 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
399 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
367 | { |
400 | { |
368 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
401 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
369 | 402 | ||
370 | if(ServoIndex == 0) // if we are at the sync gap |
403 | if(ServoIndex == 0) // if we are at the sync gap |
371 | { |
404 | { |
372 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
405 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
373 | ServoFrameTime = 0; // reset servo frame time |
406 | ServoFrameTime = 0; // reset servo frame time |
374 | HEF4017R_ON; // enable HEF4017 reset |
407 | HEF4017R_ON; // enable HEF4017 reset |
375 | } |
408 | } |
376 | else // servo channels |
409 | else // servo channels |
377 | { |
410 | { |
378 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
411 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
379 | switch(ServoIndex) // map servo channels |
412 | switch(ServoIndex) // map servo channels |
380 | { |
413 | { |
381 | case 1: // Nick Compensation Servo |
414 | case 1: // Nick Compensation Servo |
382 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
415 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
383 | break; |
416 | break; |
384 | case 2: // Roll Compensation Servo |
417 | case 2: // Roll Compensation Servo |
385 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
418 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
386 | break; |
419 | break; |
387 | case 3: |
420 | case 3: |
388 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
421 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
389 | break; |
422 | break; |
390 | case 4: |
423 | case 4: |
391 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
424 | //RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; // MartinR: so war es |
- | 425 | RemainingPulse += ServoPanValue - (256 / 2) * MULTIPLYER; // MartinR: zur Filterung der Pan-Funktion |
|
392 | break; |
426 | break; |
393 | case 5: |
427 | case 5: |
394 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
428 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
395 | break; |
429 | break; |
396 | default: // other servo channels |
430 | default: // other servo channels |
397 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
431 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
398 | break; |
432 | break; |
399 | } |
433 | } |
400 | // range servo pulse width |
434 | // range servo pulse width |
401 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
435 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
402 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
436 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
403 | // substract stop pulse width |
437 | // substract stop pulse width |
404 | RemainingPulse -= PPM_STOPPULSE; |
438 | RemainingPulse -= PPM_STOPPULSE; |
405 | // accumulate time for correct sync gap |
439 | // accumulate time for correct sync gap |
406 | ServoFrameTime += RemainingPulse; |
440 | ServoFrameTime += RemainingPulse; |
407 | } |
441 | } |
408 | } |
442 | } |
409 | else // we had a high pulse |
443 | else // we had a high pulse |
410 | { |
444 | { |
411 | TCCR2A |= (1<<COM2A0); // make a low pulse |
445 | TCCR2A |= (1<<COM2A0); // make a low pulse |
412 | // set pulsewidth to stop pulse width |
446 | // set pulsewidth to stop pulse width |
413 | RemainingPulse = PPM_STOPPULSE; |
447 | RemainingPulse = PPM_STOPPULSE; |
414 | // accumulate time for correct sync gap |
448 | // accumulate time for correct sync gap |
415 | ServoFrameTime += RemainingPulse; |
449 | ServoFrameTime += RemainingPulse; |
416 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
450 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
417 | else HEF4017R_ON; |
451 | else HEF4017R_ON; |
418 | ServoIndex++; // change to next servo channel |
452 | ServoIndex++; // change to next servo channel |
419 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
453 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
420 | { |
454 | { |
421 | CalculateServoSignals = 1; |
455 | CalculateServoSignals = 1; |
422 | ServoIndex = 0; // reset to the sync gap |
456 | ServoIndex = 0; // reset to the sync gap |
423 | } |
457 | } |
424 | } |
458 | } |
425 | // set pulse output active |
459 | // set pulse output active |
426 | PulseOutput = 1; |
460 | PulseOutput = 1; |
427 | } |
461 | } |
428 | } // EOF PPM state machine |
462 | } // EOF PPM state machine |
429 | 463 | ||
430 | // General pulse output generator |
464 | // General pulse output generator |
431 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
465 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
432 | { |
466 | { |
433 | OCR2A = 255; |
467 | OCR2A = 255; |
434 | RemainingPulse -= 255; |
468 | RemainingPulse -= 255; |
435 | } |
469 | } |
436 | else |
470 | else |
437 | { |
471 | { |
438 | if(RemainingPulse > 255) // this is the 2nd last part |
472 | if(RemainingPulse > 255) // this is the 2nd last part |
439 | { |
473 | { |
440 | if((RemainingPulse - 255) < IRS_RUNTIME) |
474 | if((RemainingPulse - 255) < IRS_RUNTIME) |
441 | { |
475 | { |
442 | OCR2A = 255 - IRS_RUNTIME; |
476 | OCR2A = 255 - IRS_RUNTIME; |
443 | RemainingPulse -= 255 - IRS_RUNTIME; |
477 | RemainingPulse -= 255 - IRS_RUNTIME; |
444 | 478 | ||
445 | } |
479 | } |
446 | else // last part > ISR_RUNTIME |
480 | else // last part > ISR_RUNTIME |
447 | { |
481 | { |
448 | OCR2A = 255; |
482 | OCR2A = 255; |
449 | RemainingPulse -= 255; |
483 | RemainingPulse -= 255; |
450 | } |
484 | } |
451 | } |
485 | } |
452 | else // this is the last part |
486 | else // this is the last part |
453 | { |
487 | { |
454 | OCR2A = RemainingPulse; |
488 | OCR2A = RemainingPulse; |
455 | RemainingPulse = 0; |
489 | RemainingPulse = 0; |
456 | PulseOutput = 0; // trigger to stop pulse |
490 | PulseOutput = 0; // trigger to stop pulse |
457 | } |
491 | } |
458 | } // EOF general pulse output generator |
492 | } // EOF general pulse output generator |
459 | } |
493 | } |
460 | 494 |