WebSVN - FlightCtrl - Diff - Rev 1821 and 1868 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <avr/io.h>
#include <avr/interrupt.h>
#include "eeprom.h"
#include "uart0.h"
#include "rc.h"
#include "attitude.h"
 
volatile int16_t ServoPitchValue = 0;
volatile int16_t ServoRollValue = 0;
volatile uint8_t ServoActive = 0;
 
#define HEF4017R_ON     PORTC |=  (1<<PORTC6)
#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
 
/*****************************************************
 *              Initialize Timer 2                  
 *****************************************************/
// The timer 2 is used to generate the PWM at PD7 (J7)
// to control a camera servo for pitch compensation.
void timer2_init(void) {
        uint8_t sreg = SREG;
 
        // disable all interrupts before reconfiguration
        cli();
 
        // set PD7 as output of the PWM for pitch servo
        DDRD |= (1 << DDD7);
        PORTD &= ~(1 << PORTD7); // set PD7 to low
 
        DDRC |= (1 << DDC6); // set PC6 as output (Reset for HEF4017)
        //PORTC &= ~(1<<PORTC6);        // set PC6 to low
        HEF4017R_ON; // enable reset
 
        // Timer/Counter 2 Control Register A
 
        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
        // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
        // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
        TCCR2A &= ~((1 << COM2A1) | (1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0));
        TCCR2A |= (1 << WGM21) | (1 << WGM20);
 
        // Timer/Counter 2 Control Register B
 
        // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
        // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
 
        // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
        TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS22));
        TCCR2B |= (1 << CS21) | (1 << CS20) | (1 << WGM22);
 
        // Initialize the Timer/Counter 2 Register
        TCNT2 = 0;
 
        // Initialize the Output Compare Register A used for PWM generation on port PD7.
        OCR2A = 255;
        TCCR2A |= (1 << COM2A1); // set or clear at compare match depends on value of COM2A0
 
        // Timer/Counter 2 Interrupt Mask Register
        // Enable timer output compare match A Interrupt only
        TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2));
        TIMSK2 |= (1 << OCIE2A);
 
        SREG = sreg;
}
 
void Servo_On(void) {
        ServoActive = 1;
}
 
void Servo_Off(void) {
        ServoActive = 0;
        HEF4017R_ON; // enable reset
}
 
/*****************************************************
 * Control Servo Position              
 *****************************************************/
ISR(TIMER2_COMPA_vect)
{
        // frame len 22.5 ms = 14063 * 1.6 us
        // stop pulse: 0.3 ms = 188 * 1.6 us
        // min servo pulse: 0.6 ms =  375 * 1.6 us
        // max servo pulse: 2.4 ms = 1500 * 1.6 us
        // resolution: 1500 - 375 = 1125 steps
 
#define PPM_STOPPULSE 188
#define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel
#define MINSERVOPULSE 375
#define MAXSERVOPULSE 1500
#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
 
#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)
        static uint8_t isGeneratingPulse = 0;
        static uint16_t remainingPulseLength = 0;
        static uint16_t ServoFrameTime = 0;
        static uint8_t ServoIndex = 0;
 
#define MULTIPLIER 4
        static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position
        static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position
#endif
#ifdef USE_NON_4017_SERVO_OUTPUTS 
        //---------------------------
        // Pitch servo state machine
        //---------------------------
        if (!isGeneratingPulse) { // pulse output complete on _next_ interrupt
                if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse
                        TCCR2A &= ~(1<<COM2A0); // make a low pulse on _next_ interrupt, and now
                        remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms
                        ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset
                        if(staticParams.ServoPitchCompInvert & 0x01) {
                                // inverting movement of servo
                                // todo: function.
                                ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));
                        } else {
                                // todo: function.
                                // non inverting movement of servo
                                ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));
                        }
                        // limit servo value to its parameter range definition
                        if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) {
                                ServoPitchValue = (int16_t)staticParams.ServoPitchMin;
                        } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) {
                                ServoPitchValue = (int16_t)staticParams.ServoPitchMax;
                        }
 
                        remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position
 
                        // range servo pulse width
                        if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit
                        else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit
 
                        // accumulate time for correct update rate
                        ServoFrameTime = remainingPulseLength;
                } else { // we had a high pulse
                        TCCR2A |= (1<<COM2A0); // make a low pulse
                        remainingPulseLength = PPM_FRAMELEN - ServoFrameTime;
                }
                // set pulse output active
                isGeneratingPulse = 1;
        } // EOF Pitch servo state machine
 
#elseif defined(USE_4017_SERVOS)
        //-----------------------------------------------------
        // PPM state machine, onboard demultiplexed by HEF4017
        //-----------------------------------------------------
        if(!isGeneratingPulse) { // pulse output complete
                if(TCCR2A & (1<<COM2A0)) { // we had a low pulse
                        TCCR2A &= ~(1<<COM2A0);// make a high pulse
 
                        if(ServoIndex == 0) { // if we are at the sync gap
                                remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
                                ServoFrameTime = 0; // reset servo frame time
                                HEF4017R_ON; // enable HEF4017 reset
                        } else { // servo channels
                                remainingPulseLength = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
                                switch(ServoIndex) { // map servo channels
                                        case 1: // Pitch Compensation Servo
                                        ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset
                                        ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765)
                                        if(staticParams.ServoPitchCompInvert & 0x01) {
                                                // inverting movement of servo
                                                ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );
                                        } else { // non inverting movement of servo
                                                ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );
                                        }
                                        // limit servo value to its parameter range definition
                                        if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {
                                                ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;
                                        } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {
                                                ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;
                                        }
                                        remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position
                                        ServoPitchValue /= MULTIPLIER;
                                        break;
 
                                        case 2: // Roll Compensation Servo
                                        ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset
                                        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
                                        //if(staticParams.ServoRollCompInvert & 0x01)
                                        { // inverting movement of servo
                                                ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) );
                                        }
                                        /*                                                      else
                                         {      // non inverting movement of servo
                                         ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) );
                                         }
                                         */// limit servo value to its parameter range definition
                                        if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {
                                                ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;
                                        } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {
                                                ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;
                                        }
                                        remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position
                                        ServoRollValue /= MULTIPLIER;
                                        break;
 
                                        default: // other servo channels
                                        remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
                                        break;
                                }
                                // range servo pulse width
                                if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit
                                else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit
                                // substract stop pulse width
                                remainingPulseLength -= PPM_STOPPULSE;
                                // accumulate time for correct sync gap
                                ServoFrameTime += remainingPulseLength;
                        }
                } else { // we had a high pulse
                        TCCR2A |= (1<<COM2A0); // make a low pulse
                        // set pulsewidth to stop pulse width
                        remainingPulseLength = PPM_STOPPULSE;
                        // accumulate time for correct sync gap
                        ServoFrameTime += remainingPulseLength;
                        if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset
                        ServoIndex++; // change to next servo channel
                        if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap
                }
                // set pulse output active
                isGeneratingPulse = 1;
        }
#endif
 
        /*
         * Cases:
         * 1) 255 + 128 <= remainingPulseLength --> delta = 255
         * 2) 255 <= remainingPulseLength < 255 + 128 --> delta = 255 - 128
         *    this is to avoid a too short delta on the last cycle, which would cause
         *    an interupt-on-interrupt condition and the loss of the last interrupt.
         * 3) remainingPulseLength < 255 --> delta = remainingPulseLength
         */
#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)
        uint8_t delta;
        if (remainingPulseLength >= (255 + 128)) {
                delta = 255;
        } else if (remainingPulseLength >= 255) {
                delta = 255- 128;
        } else {
                delta = remainingPulseLength;
                isGeneratingPulse = 0; // trigger to stop pulse
        }
        OCR2A = delta;
        remainingPulseLength -= delta;
#endif
}
 
Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/timer2.c - Rev 1821 → 1868
