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