WebSVN - FlightCtrl - Diff - Rev 2052 and 2062 - /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 "rc.h"
 #include "attitude.h"
-#define COARSERESOLUTION 1
+//#define COARSERESOLUTION 1
 #ifdef COARSERESOLUTION
 #define NEUTRAL_PULSELENGTH 938
 #define SERVOLIMIT 500
 #define SCALE_FACTOR 4
 #define CS2 ((1<<CS21)|(1<<CS20))
 #else
 #define NEUTRAL_PULSELENGTH 3750
 #define SERVOLIMIT 2000
 #define SCALE_FACTOR 16
-#define CS2 (<<CS21)
+#define CS2 (1<<CS21)
 #endif
 #define MAX_SERVOS 8
 #define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128)
 #define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT)
 #define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT)
 //volatile uint8_t servoActive = 0;
 volatile uint8_t recalculateServoTimes = 0;
 volatile uint16_t servoValues[MAX_SERVOS];
 volatile uint16_t previousManualValues[2];
 #define HEF4017R_ON     PORTC |=  (1<<PORTC6)
 #define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
 /*****************************************************
  *              Initialize Timer 2
  *****************************************************/
 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)
         HEF4017R_ON; // enable reset
         // Timer/Counter 2 Control Register A
         // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0)
         // PD7: Output OCR2 match, (Bits: COM2A1 = 1, COM2A0 = 0)
         // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
         TCCR2A &= ~((1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20) | (1 << WGM22));
         TCCR2A |= (1 << COM2A1) | (1 << WGM21);
         // Timer/Counter 2 Control Register B
         // Set clock divider for timer 2 to 20MHz / 8 = 2.5 MHz
         // The timer increments from 0x00 to 0xFF with an update rate of 2.5 kHz or 0.4 us
         // hence the timer overflow interrupt frequency is 625 kHz / 256 = 9.765 kHz or 0.1024ms
         TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS20) | (1 << CS21) | (1 << CS22));
         TCCR2B |= CS2;
         // Initialize the Timer/Counter 2 Register
         TCNT2 = 0;
         // Initialize the Output Compare Register A used for signal generation on port PD7.
         OCR2A = 255;
         // Timer/Counter 2 Interrupt Mask Register
         // Enable timer output compare match A Interrupt only
         TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2));
         TIMSK2 |= (1 << OCIE2A);
         for (uint8_t axis=0; axis<2; axis++)
           previousManualValues[axis] = dynamicParams.servoManualControl[axis] * SCALE_FACTOR;
         SREG = sreg;
+}
 /*
 void servo_On(void) {
         servoActive = 1;
+}
 void servo_Off(void) {
         servoActive = 0;
         HEF4017R_ON; // enable reset
+}
 */
 /*****************************************************
  * Control Servo Position
  *****************************************************/
 /*typedef struct {
   uint8_t manualControl;
   uint8_t compensationFactor;
   uint8_t minValue;
   uint8_t maxValue;
   uint8_t flags;
 } servo_t;*/
 int16_t calculateStabilizedServoAxis(uint8_t axis) {
   int32_t value = attitude[axis] / 64L; // between -500000 to 500000 extreme limits. Just about
   // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000.
   // That is a divisor of about 1<<14. Same conclusion as H&I.
   value *= staticParams.servoConfigurations[axis].stabilizationFactor;
   value /= 256L;
   if (staticParams.servoConfigurations[axis].flags & SERVO_STABILIZATION_REVERSE)
         return -value;
   return value;
+}
 // With constant-speed limitation.
 uint16_t calculateManualServoAxis(uint8_t axis, uint16_t manualValue) {
   int16_t diff = manualValue - previousManualValues[axis];
   uint8_t maxSpeed = staticParams.servoManualMaxSpeed;
   if (diff > maxSpeed) diff = maxSpeed;
   else if (diff < -maxSpeed) diff = -maxSpeed;
   manualValue = previousManualValues[axis] + diff;
   previousManualValues[axis] = manualValue;
   return manualValue;
+}
 // add stabilization and manual, apply soft position limits.
 // All in a [0..255*SCALE_FACTOR] space (despite signed types used internally)
 int16_t featuredServoValue(uint8_t axis) {
   int16_t value = calculateManualServoAxis(axis, dynamicParams.servoManualControl[axis] * SCALE_FACTOR);
   value += calculateStabilizedServoAxis(axis);
   int16_t limit = staticParams.servoConfigurations[axis].minValue * SCALE_FACTOR;
   if (value < limit) value = limit;
   limit = staticParams.servoConfigurations[axis].maxValue * SCALE_FACTOR;
   if (value > limit) value = limit;
   return value;
+}
 uint16_t servoValue(uint8_t axis) {
   int16_t value;
   if (axis<2) value = featuredServoValue(axis);
   else value = 128 * SCALE_FACTOR; // dummy. Replace by something useful for servos 3..8.
   // Shift out of the [0..255*SCALE_FACTOR] space
   value -= (128 * SCALE_FACTOR);
   if (value < -SERVOLIMIT) value = -SERVOLIMIT;
   else if (value > SERVOLIMIT) value = SERVOLIMIT;
   // Shift into the [NEUTRAL_PULSELENGTH-SERVOLIMIT..NEUTRAL_PULSELENGTH+SERVOLIMIT] space.
   return value + NEUTRAL_PULSELENGTH;
+}
 void calculateServoValues(void) {
   if (!recalculateServoTimes) return;
   for (uint8_t axis=0; axis<MAX_SERVOS; axis++) {
         servoValues[axis] = servoValue(axis);
+  }
   recalculateServoTimes = 0;
+}
 ISR(TIMER2_COMPA_vect) {
   static uint16_t remainingPulseTime;
   static uint8_t servoIndex = 0;
   static uint16_t sumOfPulseTimes = 0;
   if (!remainingPulseTime) {
     // Pulse is over, and the next pulse has already just started. Calculate length of next pulse.
     if (servoIndex < staticParams.servoCount) {
       // There are more signals to output.
       sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]);
       servoIndex++;
     } else {
       // There are no more signals. Reset the counter and make this pulse cover the missing frame time.
       remainingPulseTime = FRAMELEN - sumOfPulseTimes;
       sumOfPulseTimes = servoIndex = 0;
       recalculateServoTimes = 1;
       HEF4017R_ON;
+    }
+  }
   // Schedule the next OCR2A event. The counter is already reset at this time.
   if (remainingPulseTime > 256+128) {
     // Set output to reset to zero at next OCR match. It does not really matter when the output is set low again,
     // as long as it happens once per pulse. This will, because all pulses are > 255+128 long.
     OCR2A = 255;
     TCCR2A &= ~(1<<COM2A0);
     remainingPulseTime-=256;
   } else if (remainingPulseTime > 256) {
     // Remaining pulse lengths in the range [256..256+128] might cause trouble if handled the standard
     // way, which is in chunks of 256. The remainder would be very small, possibly causing an interrupt on interrupt
     // condition. Instead we now make a chunk of 128. The remaining chunk will then be in [128..255] which is OK.
     remainingPulseTime-=128;
     OCR2A=127;
   } else {
     // Set output to high at next OCR match. This is when the 4017 counter will advance by one. Also set reset low
     TCCR2A |= (1<<COM2A0);
     OCR2A = remainingPulseTime-1;
     remainingPulseTime=0;
     HEF4017R_OFF; // implement servo-disable here, by only removing the reset signal if ServoEnabled!=0.
+  }
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/timer2.c @ 2090 - Rev 2052 → 2062