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| Rev 1713 | Rev 1760 | ||
|---|---|---|---|
| 1 | #include "main.h" |
1 | #include "main.h" |
| 2 | - | ||
| - | 2 | #define MULTIPLYER 4 |
|
| 3 | 3 | ||
| 4 | volatile unsigned int CountMilliseconds = 0; |
4 | volatile unsigned int CountMilliseconds = 0; |
| 5 | volatile static unsigned int tim_main; |
5 | volatile static unsigned int tim_main; |
| 6 | volatile unsigned char UpdateMotor = 0; |
6 | volatile unsigned char UpdateMotor = 0; |
| 7 | volatile unsigned int cntKompass = 0; |
7 | volatile unsigned int cntKompass = 0; |
| 8 | volatile unsigned int beeptime = 0; |
8 | volatile unsigned int beeptime = 0; |
| 9 | volatile unsigned char SendSPI = 0, ServoActive = 0; |
9 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
| - | 10 | uint16_t RemainingPulse = 0; |
|
| - | 11 | 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 |
|
| 10 | 13 | ||
| 11 | unsigned int BeepMuster = 0xffff; |
14 | unsigned int BeepMuster = 0xffff; |
| 12 | 15 | ||
| 13 | volatile int16_t ServoNickValue = 0; |
16 | volatile int16_t ServoNickValue = 0; |
| 14 | volatile int16_t ServoRollValue = 0; |
17 | volatile int16_t ServoRollValue = 0; |
| 15 | 18 | ||
| 16 | 19 | ||
| 17 | enum { |
20 | enum { |
| 18 | STOP = 0, |
21 | STOP = 0, |
| 19 | CK = 1, |
22 | CK = 1, |
| 20 | CK8 = 2, |
23 | CK8 = 2, |
| 21 | CK64 = 3, |
24 | CK64 = 3, |
| 22 | CK256 = 4, |
25 | CK256 = 4, |
| 23 | CK1024 = 5, |
26 | CK1024 = 5, |
| 24 | T0_FALLING_EDGE = 6, |
27 | T0_FALLING_EDGE = 6, |
| 25 | T0_RISING_EDGE = 7 |
28 | T0_RISING_EDGE = 7 |
| 26 | }; |
29 | }; |
| 27 | 30 | ||
| 28 | 31 | ||
| 29 | ISR(TIMER0_OVF_vect) // 9,7kHz |
32 | ISR(TIMER0_OVF_vect) // 9,7kHz |
| 30 | { |
33 | { |
| 31 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
34 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
| 32 | unsigned char pieper_ein = 0; |
35 | unsigned char pieper_ein = 0; |
| 33 | if(SendSPI) SendSPI--; |
36 | if(SendSPI) SendSPI--; |
| 34 | if(SpektrumTimer) SpektrumTimer--; |
37 | if(SpektrumTimer) SpektrumTimer--; |
| 35 | if(!cnt--) |
38 | if(!cnt--) |
| 36 | { |
39 | { |
| 37 | cnt = 9; |
40 | cnt = 9; |
| 38 | CountMilliseconds++; |
41 | CountMilliseconds++; |
| 39 | cnt_1ms++; |
42 | cnt_1ms++; |
| 40 | cnt_1ms %= 2; |
43 | cnt_1ms %= 2; |
| 41 | 44 | ||
| 42 | if(!cnt_1ms) UpdateMotor = 1; |
45 | if(!cnt_1ms) UpdateMotor = 1; |
| 43 | if(!(PINC & 0x10)) compass_active = 1; |
46 | if(!(PINC & 0x10)) compass_active = 1; |
| 44 | 47 | ||
| 45 | if(beeptime) |
48 | if(beeptime) |
| 46 | { |
49 | { |
| 47 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
50 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
| 48 | if(beeptime & BeepMuster) |
51 | if(beeptime & BeepMuster) |
| 49 | { |
52 | { |
| 50 | pieper_ein = 1; |
53 | pieper_ein = 1; |
| 51 | } |
54 | } |
| 52 | else pieper_ein = 0; |
55 | else pieper_ein = 0; |
| 53 | } |
56 | } |
| 54 | else |
57 | else |
| 55 | { |
58 | { |
| 56 | pieper_ein = 0; |
59 | pieper_ein = 0; |
| 57 | BeepMuster = 0xffff; |
60 | BeepMuster = 0xffff; |
| 58 | } |
61 | } |
| 59 | if(pieper_ein) |
62 | if(pieper_ein) |
| 60 | { |
63 | { |
| 61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
64 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| 62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
65 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
| 63 | } |
66 | } |
| 64 | else |
67 | else |
| 65 | { |
68 | { |
| 66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
69 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| 67 | else PORTC &= ~(1<<7); |
70 | else PORTC &= ~(1<<7); |
| 68 | } |
71 | } |
| 69 | } |
72 | } |
| 70 | if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
73 | if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| 71 | { |
74 | { |
| 72 | if(PINC & 0x10) |
75 | if(PINC & 0x10) |
| 73 | { |
76 | { |
| 74 | if(++cntKompass > 1000) compass_active = 0; |
77 | if(++cntKompass > 1000) compass_active = 0; |
| 75 | } |
78 | } |
| 76 | else |
79 | else |
| 77 | { |
80 | { |
| 78 | if((cntKompass) && (cntKompass < 362)) |
81 | if((cntKompass) && (cntKompass < 362)) |
| 79 | { |
82 | { |
| 80 | cntKompass += cntKompass / 41; |
83 | cntKompass += cntKompass / 41; |
| 81 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
84 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| 82 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 83 | } |
86 | } |
| 84 | cntKompass = 0; |
87 | cntKompass = 0; |
| 85 | } |
88 | } |
| 86 | } |
89 | } |
| 87 | } |
90 | } |
| 88 | 91 | ||
| 89 | 92 | ||
| 90 | // ----------------------------------------------------------------------- |
93 | // ----------------------------------------------------------------------- |
| 91 | unsigned int SetDelay (unsigned int t) |
94 | unsigned int SetDelay (unsigned int t) |
| 92 | { |
95 | { |
| 93 | // TIMSK0 &= ~_BV(TOIE0); |
96 | // TIMSK0 &= ~_BV(TOIE0); |
| 94 | return(CountMilliseconds + t + 1); |
97 | return(CountMilliseconds + t + 1); |
| 95 | // TIMSK0 |= _BV(TOIE0); |
98 | // TIMSK0 |= _BV(TOIE0); |
| 96 | } |
99 | } |
| 97 | 100 | ||
| 98 | // ----------------------------------------------------------------------- |
101 | // ----------------------------------------------------------------------- |
| 99 | char CheckDelay(unsigned int t) |
102 | char CheckDelay(unsigned int t) |
| 100 | { |
103 | { |
| 101 | // TIMSK0 &= ~_BV(TOIE0); |
104 | // TIMSK0 &= ~_BV(TOIE0); |
| 102 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
105 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
| 103 | // TIMSK0 |= _BV(TOIE0); |
106 | // TIMSK0 |= _BV(TOIE0); |
| 104 | } |
107 | } |
| 105 | 108 | ||
| 106 | // ----------------------------------------------------------------------- |
109 | // ----------------------------------------------------------------------- |
| 107 | void Delay_ms(unsigned int w) |
110 | void Delay_ms(unsigned int w) |
| 108 | { |
111 | { |
| 109 | unsigned int akt; |
112 | unsigned int akt; |
| 110 | akt = SetDelay(w); |
113 | akt = SetDelay(w); |
| 111 | while (!CheckDelay(akt)); |
114 | while (!CheckDelay(akt)); |
| 112 | } |
115 | } |
| 113 | 116 | ||
| 114 | void Delay_ms_Mess(unsigned int w) |
117 | void Delay_ms_Mess(unsigned int w) |
| 115 | { |
118 | { |
| 116 | unsigned int akt; |
119 | unsigned int akt; |
| 117 | akt = SetDelay(w); |
120 | akt = SetDelay(w); |
| 118 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
121 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
| 119 | } |
122 | } |
| 120 | 123 | ||
| 121 | /*****************************************************/ |
124 | /*****************************************************/ |
| 122 | /* Initialize Timer 2 */ |
125 | /* Initialize Timer 2 */ |
| 123 | /*****************************************************/ |
126 | /*****************************************************/ |
| 124 | // The timer 2 is used to generate the PWM at PD7 (J7) |
127 | // The timer 2 is used to generate the PWM at PD7 (J7) |
| 125 | // to control a camera servo for nick compensation. |
128 | // to control a camera servo for nick compensation. |
| 126 | void TIMER2_Init(void) |
129 | void TIMER2_Init(void) |
| 127 | { |
130 | { |
| 128 | uint8_t sreg = SREG; |
131 | uint8_t sreg = SREG; |
| 129 | 132 | ||
| 130 | // disable all interrupts before reconfiguration |
133 | // disable all interrupts before reconfiguration |
| 131 | cli(); |
134 | cli(); |
| 132 | 135 | ||
| 133 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
136 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
| 134 | 137 | ||
| 135 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
138 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| 136 | HEF4017R_ON; |
139 | HEF4017R_ON; |
| 137 | // Timer/Counter 2 Control Register A |
140 | // Timer/Counter 2 Control Register A |
| 138 | 141 | ||
| 139 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
142 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| 140 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
143 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| 141 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
144 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| 142 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
145 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
| 143 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
146 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
| 144 | 147 | ||
| 145 | // Timer/Counter 2 Control Register B |
148 | // Timer/Counter 2 Control Register B |
| 146 | 149 | ||
| 147 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
150 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| 148 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
151 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| 149 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
152 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| 150 | 153 | ||
| 151 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
154 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| 152 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
155 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
| 153 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
156 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
| 154 | 157 | ||
| 155 | // Initialize the Timer/Counter 2 Register |
158 | // Initialize the Timer/Counter 2 Register |
| 156 | TCNT2 = 0; |
159 | TCNT2 = 0; |
| 157 | 160 | ||
| 158 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
161 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| 159 | OCR2A = 255; |
162 | OCR2A = 255; |
| 160 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
163 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
| 161 | 164 | ||
| 162 | // Timer/Counter 2 Interrupt Mask Register |
165 | // Timer/Counter 2 Interrupt Mask Register |
| 163 | // Enable timer output compare match A Interrupt only |
166 | // Enable timer output compare match A Interrupt only |
| 164 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
167 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| 165 | TIMSK2 |= (1<<OCIE2A); |
168 | TIMSK2 |= (1<<OCIE2A); |
| 166 | 169 | ||
| 167 | SREG = sreg; |
170 | SREG = sreg; |
| 168 | } |
171 | } |
| 169 | 172 | ||
| 170 | //---------------------------- |
173 | //---------------------------- |
| 171 | void Timer_Init(void) |
174 | void Timer_Init(void) |
| 172 | { |
175 | { |
| 173 | tim_main = SetDelay(10); |
176 | tim_main = SetDelay(10); |
| 174 | TCCR0B = CK8; |
177 | TCCR0B = CK8; |
| 175 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
178 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| 176 | OCR0A = 0; |
179 | OCR0A = 0; |
| 177 | OCR0B = 180; |
180 | OCR0B = 180; |
| 178 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
181 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| 179 | //OCR1 = 0x00; |
182 | //OCR1 = 0x00; |
| 180 | TIMSK0 |= _BV(TOIE0); |
183 | TIMSK0 |= _BV(TOIE0); |
| 181 | } |
184 | } |
| 182 | 185 | ||
| 183 | 186 | ||
| 184 | /*****************************************************/ |
187 | /*****************************************************/ |
| 185 | /* Control Servo Position */ |
188 | /* Control Servo Position */ |
| 186 | /*****************************************************/ |
189 | /*****************************************************/ |
| - | 190 | ||
| - | 191 | ||
| - | 192 | void CalculateServo(void) |
|
| - | 193 | { |
|
| - | 194 | long cosinus, sinus; |
|
| - | 195 | long nick, roll; |
|
| - | 196 | ||
| - | 197 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
|
| - | 198 | sinus = sintab[EE_Parameter.CamOrientation]; |
|
| - | 199 | ||
| - | 200 | if(CalculateServoSignals == 1) |
|
| - | 201 | { |
|
| - | 202 | nick = ((cosinus * (IntegralNick / (8 * 128L))) - (sinus * (IntegralRoll / (8 * 128L)))); |
|
| - | 203 | //nick = (IntegralNick / 128L); |
|
| - | 204 | ||
| - | 205 | ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
|
| - | 206 | ServoNickValue = ServoNickOffset / 16; // offset (Range from 0 to 255 * 3 = 765) |
|
| - | 207 | if(EE_Parameter.ServoCompInvert & 0x01) |
|
| - | 208 | { // inverting movement of servo |
|
| - | 209 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * nick) / (256L) ); |
|
| - | 210 | } |
|
| - | 211 | else |
|
| - | 212 | { // non inverting movement of servo |
|
| - | 213 | ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * nick) / (256L) ); |
|
| - | 214 | } |
|
| - | 215 | // limit servo value to its parameter range definition |
|
| - | 216 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
|
| - | 217 | { |
|
| - | 218 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
|
| - | 219 | } |
|
| - | 220 | else |
|
| - | 221 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
|
| - | 222 | { |
|
| - | 223 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
|
| - | 224 | } |
|
| - | 225 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
|
| - | 226 | } |
|
| - | 227 | else |
|
| - | 228 | { |
|
| - | 229 | roll = ((cosinus * (IntegralRoll / (8 * 128L))) + (sinus * (IntegralNick / (8 * 128L)))); |
|
| - | 230 | ||
| - | 231 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
|
| - | 232 | ServoRollValue = ServoRollOffset/16; // offset (Range from 0 to 255 * 3 = 765) |
|
| - | 233 | if(EE_Parameter.ServoCompInvert & 0x02) |
|
| - | 234 | { // inverting movement of servo |
|
| - | 235 | ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * roll ) / (256L) ); |
|
| - | 236 | } |
|
| - | 237 | else |
|
| - | 238 | { // non inverting movement of servo |
|
| - | 239 | ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * roll ) / (256L) ); |
|
| - | 240 | } |
|
| - | 241 | // limit servo value to its parameter range definition |
|
| - | 242 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
|
| - | 243 | { |
|
| - | 244 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
|
| - | 245 | } |
|
| - | 246 | else |
|
| - | 247 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
|
| - | 248 | { |
|
| - | 249 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
|
| - | 250 | } |
|
| - | 251 | CalculateServoSignals = 0; |
|
| - | 252 | } |
|
| - | 253 | } |
|
| 187 | 254 | ||
| 188 | ISR(TIMER2_COMPA_vect) |
255 | ISR(TIMER2_COMPA_vect) |
| 189 | { |
256 | { |
| 190 | // frame len 22.5 ms = 14063 * 1.6 us |
257 | // frame len 22.5 ms = 14063 * 1.6 us |
| 191 | // stop pulse: 0.3 ms = 188 * 1.6 us |
258 | // stop pulse: 0.3 ms = 188 * 1.6 us |
| 192 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
259 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
| 193 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
260 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| 194 | // resolution: 1500 - 375 = 1125 steps |
261 | // resolution: 1500 - 375 = 1125 steps |
| 195 | 262 | ||
| 196 | #define IRS_RUNTIME 127 |
263 | #define IRS_RUNTIME 127 |
| 197 | #define PPM_STOPPULSE 188 |
264 | #define PPM_STOPPULSE 188 |
| 198 | // #define PPM_FRAMELEN (14063 |
- | |
| 199 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
265 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
| 200 | #define MINSERVOPULSE 375 |
266 | #define MINSERVOPULSE 375 |
| 201 | #define MAXSERVOPULSE 1500 |
267 | #define MAXSERVOPULSE 1500 |
| 202 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
268 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| 203 | 269 | ||
| 204 | static uint8_t PulseOutput = 0; |
270 | static uint8_t PulseOutput = 0; |
| 205 | static uint16_t RemainingPulse = 0; |
- | |
| 206 | static uint16_t ServoFrameTime = 0; |
271 | static uint16_t ServoFrameTime = 0; |
| 207 | static uint8_t ServoIndex = 0; |
272 | static uint8_t ServoIndex = 0; |
| 208 | - | ||
| 209 | #define MULTIPLYER 4 |
- | |
| 210 | static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
- | |
| 211 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
273 | |
| 212 | 274 | ||
| 213 | if(PlatinenVersion < 20) |
275 | if(PlatinenVersion < 20) |
| 214 | { |
276 | { |
| 215 | //--------------------------- |
277 | //--------------------------- |
| 216 | // Nick servo state machine |
278 | // Nick servo state machine |
| 217 | //--------------------------- |
279 | //--------------------------- |
| 218 | if(!PulseOutput) // pulse output complete |
280 | if(!PulseOutput) // pulse output complete |
| 219 | { |
281 | { |
| 220 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
282 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| 221 | { |
283 | { |
| 222 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
284 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| 223 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
285 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| 224 | - | ||
| 225 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
- | |
| 226 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
- | |
| 227 | if(EE_Parameter.ServoCompInvert & 0x01) |
- | |
| 228 | { // inverting movement of servo |
- | |
| 229 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
- | |
| 230 | } |
- | |
| 231 | else |
- | |
| 232 | { // non inverting movement of servo |
- | |
| 233 | ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
- | |
| 234 | } |
- | |
| 235 | // limit servo value to its parameter range definition |
- | |
| 236 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
- | |
| 237 | { |
- | |
| 238 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
- | |
| 239 | } |
- | |
| 240 | else |
- | |
| 241 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
- | |
| 242 | { |
- | |
| 243 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
- | |
| 244 | } |
- | |
| 245 | - | ||
| 246 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
286 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| 247 | - | ||
| 248 | ServoNickValue /= MULTIPLYER; |
- | |
| 249 | - | ||
| 250 | // range servo pulse width |
287 | // range servo pulse width |
| 251 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
288 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| 252 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
289 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| 253 | // accumulate time for correct update rate |
290 | // accumulate time for correct update rate |
| 254 | ServoFrameTime = RemainingPulse; |
291 | ServoFrameTime = RemainingPulse; |
| 255 | } |
292 | } |
| 256 | else // we had a high pulse |
293 | else // we had a high pulse |
| 257 | { |
294 | { |
| 258 | TCCR2A |= (1<<COM2A0); // make a low pulse |
295 | TCCR2A |= (1<<COM2A0); // make a low pulse |
| 259 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
296 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
| 260 | } |
297 | } |
| 261 | // set pulse output active |
298 | // set pulse output active |
| 262 | PulseOutput = 1; |
299 | PulseOutput = 1; |
| 263 | } |
300 | } |
| 264 | } // EOF Nick servo state machine |
301 | } // EOF Nick servo state machine |
| 265 | else |
302 | else |
| 266 | { |
303 | { |
| 267 | //----------------------------------------------------- |
304 | //----------------------------------------------------- |
| 268 | // PPM state machine, onboard demultiplexed by HEF4017 |
305 | // PPM state machine, onboard demultiplexed by HEF4017 |
| 269 | //----------------------------------------------------- |
306 | //----------------------------------------------------- |
| 270 | if(!PulseOutput) // pulse output complete |
307 | if(!PulseOutput) // pulse output complete |
| 271 | { |
308 | { |
| 272 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
309 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| 273 | { |
310 | { |
| 274 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
311 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| 275 | 312 | ||
| 276 | if(ServoIndex == 0) // if we are at the sync gap |
313 | if(ServoIndex == 0) // if we are at the sync gap |
| 277 | { |
314 | { |
| 278 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
315 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| 279 | ServoFrameTime = 0; // reset servo frame time |
316 | ServoFrameTime = 0; // reset servo frame time |
| 280 | HEF4017R_ON; // enable HEF4017 reset |
317 | HEF4017R_ON; // enable HEF4017 reset |
| 281 | } |
318 | } |
| 282 | else // servo channels |
319 | else // servo channels |
| 283 | { |
320 | { |
| 284 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
321 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| 285 | switch(ServoIndex) // map servo channels |
322 | switch(ServoIndex) // map servo channels |
| 286 | { |
323 | { |
| 287 | case 1: // Nick Compensation Servo |
324 | case 1: // Nick Compensation Servo |
| 288 | ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
- | |
| 289 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
- | |
| 290 | if(EE_Parameter.ServoCompInvert & 0x01) |
- | |
| 291 | { // inverting movement of servo |
- | |
| 292 | ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
- | |
| 293 | } |
- | |
| 294 | else |
- | |
| 295 | { // non inverting movement of servo |
- | |
| 296 | ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
- | |
| 297 | } |
- | |
| 298 | // limit servo value to its parameter range definition |
- | |
| 299 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
- | |
| 300 | { |
- | |
| 301 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
- | |
| 302 | } |
- | |
| 303 | else |
- | |
| 304 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
- | |
| 305 | { |
- | |
| 306 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
- | |
| 307 | } |
- | |
| 308 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
325 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| 309 | ServoNickValue /= MULTIPLYER; |
- | |
| 310 | break; |
326 | break; |
| 311 | case 2: // Roll Compensation Servo |
327 | case 2: // Roll Compensation Servo |
| 312 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
- | |
| 313 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
- | |
| 314 | if(EE_Parameter.ServoCompInvert & 0x02) |
- | |
| 315 | { // inverting movement of servo |
- | |
| 316 | ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
- | |
| 317 | } |
- | |
| 318 | else |
- | |
| 319 | { // non inverting movement of servo |
- | |
| 320 | ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
- | |
| 321 | } |
- | |
| 322 | // limit servo value to its parameter range definition |
- | |
| 323 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
- | |
| 324 | { |
- | |
| 325 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
- | |
| 326 | } |
- | |
| 327 | else |
- | |
| 328 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
- | |
| 329 | { |
- | |
| 330 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
- | |
| 331 | } |
- | |
| 332 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
328 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| 333 | ServoRollValue /= MULTIPLYER; |
- | |
| 334 | //DebugOut.Analog[20] = ServoRollValue; |
- | |
| 335 | break; |
329 | break; |
| 336 | case 3: |
330 | case 3: |
| 337 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
331 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| 338 | break; |
332 | break; |
| 339 | case 4: |
333 | case 4: |
| 340 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
334 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| 341 | break; |
335 | break; |
| 342 | case 5: |
336 | case 5: |
| 343 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
337 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| 344 | break; |
338 | break; |
| 345 | default: // other servo channels |
339 | default: // other servo channels |
| 346 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
340 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| 347 | break; |
341 | break; |
| 348 | } |
342 | } |
| 349 | // range servo pulse width |
343 | // range servo pulse width |
| 350 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
344 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| 351 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
345 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| 352 | // substract stop pulse width |
346 | // substract stop pulse width |
| 353 | RemainingPulse -= PPM_STOPPULSE; |
347 | RemainingPulse -= PPM_STOPPULSE; |
| 354 | // accumulate time for correct sync gap |
348 | // accumulate time for correct sync gap |
| 355 | ServoFrameTime += RemainingPulse; |
349 | ServoFrameTime += RemainingPulse; |
| 356 | } |
350 | } |
| 357 | } |
351 | } |
| 358 | else // we had a high pulse |
352 | else // we had a high pulse |
| 359 | { |
353 | { |
| 360 | TCCR2A |= (1<<COM2A0); // make a low pulse |
354 | TCCR2A |= (1<<COM2A0); // make a low pulse |
| 361 | // set pulsewidth to stop pulse width |
355 | // set pulsewidth to stop pulse width |
| 362 | RemainingPulse = PPM_STOPPULSE; |
356 | RemainingPulse = PPM_STOPPULSE; |
| 363 | // accumulate time for correct sync gap |
357 | // accumulate time for correct sync gap |
| 364 | ServoFrameTime += RemainingPulse; |
358 | ServoFrameTime += RemainingPulse; |
| 365 | if((ServoActive && SenderOkay > 180) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
359 | if((ServoActive && SenderOkay > 180) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
| 366 | else HEF4017R_ON; |
360 | else HEF4017R_ON; |
| 367 | ServoIndex++; // change to next servo channel |
361 | ServoIndex++; // change to next servo channel |
| 368 | if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap |
362 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
| - | 363 | { |
|
| - | 364 | CalculateServoSignals = 1; |
|
| - | 365 | ServoIndex = 0; // reset to the sync gap |
|
| - | 366 | } |
|
| 369 | } |
367 | } |
| 370 | // set pulse output active |
368 | // set pulse output active |
| 371 | PulseOutput = 1; |
369 | PulseOutput = 1; |
| 372 | } |
370 | } |
| 373 | } // EOF PPM state machine |
371 | } // EOF PPM state machine |
| 374 | 372 | ||
| 375 | // General pulse output generator |
373 | // General pulse output generator |
| 376 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
374 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
| 377 | { |
375 | { |
| 378 | OCR2A = 255; |
376 | OCR2A = 255; |
| 379 | RemainingPulse -= 255; |
377 | RemainingPulse -= 255; |
| 380 | } |
378 | } |
| 381 | else |
379 | else |
| 382 | { |
380 | { |
| 383 | if(RemainingPulse > 255) // this is the 2nd last part |
381 | if(RemainingPulse > 255) // this is the 2nd last part |
| 384 | { |
382 | { |
| 385 | if((RemainingPulse - 255) < IRS_RUNTIME) |
383 | if((RemainingPulse - 255) < IRS_RUNTIME) |
| 386 | { |
384 | { |
| 387 | OCR2A = 255 - IRS_RUNTIME; |
385 | OCR2A = 255 - IRS_RUNTIME; |
| 388 | RemainingPulse -= 255 - IRS_RUNTIME; |
386 | RemainingPulse -= 255 - IRS_RUNTIME; |
| 389 | 387 | ||
| 390 | } |
388 | } |
| 391 | else // last part > ISR_RUNTIME |
389 | else // last part > ISR_RUNTIME |
| 392 | { |
390 | { |
| 393 | OCR2A = 255; |
391 | OCR2A = 255; |
| 394 | RemainingPulse -= 255; |
392 | RemainingPulse -= 255; |
| 395 | } |
393 | } |
| 396 | } |
394 | } |
| 397 | else // this is the last part |
395 | else // this is the last part |
| 398 | { |
396 | { |
| 399 | OCR2A = RemainingPulse; |
397 | OCR2A = RemainingPulse; |
| 400 | RemainingPulse = 0; |
398 | RemainingPulse = 0; |
| 401 | PulseOutput = 0; // trigger to stop pulse |
399 | PulseOutput = 0; // trigger to stop pulse |
| 402 | } |
400 | } |
| 403 | } // EOF general pulse output generator |
401 | } // EOF general pulse output generator |
| 404 | } |
402 | } |
| 405 | 403 | ||