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