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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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 |
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 |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | 53 | ||
54 | #include "main.h" |
54 | #include "main.h" |
55 | #define MULTIPLYER 4 |
55 | #define MULTIPLYER 4 |
56 | 56 | ||
57 | volatile unsigned int CountMilliseconds = 0; |
57 | volatile unsigned int CountMilliseconds = 0; |
58 | volatile unsigned int tim_main; |
58 | volatile unsigned int tim_main; |
59 | volatile unsigned char UpdateMotor = 0; |
59 | volatile unsigned char UpdateMotor = 0; |
60 | volatile unsigned int cntKompass = 0; |
60 | volatile unsigned int cntKompass = 0; |
61 | volatile unsigned int beeptime = 0; |
61 | volatile unsigned int beeptime = 0; |
62 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
62 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
63 | unsigned char JustMK3MagConnected = 0; |
63 | unsigned char JustMK3MagConnected = 0; |
64 | uint16_t RemainingPulse = 0; |
64 | uint16_t RemainingPulse = 0; |
65 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
65 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
66 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
66 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
67 | 67 | ||
68 | unsigned int BeepMuster = 0xffff; |
68 | unsigned int BeepMuster = 0xffff; |
69 | signed int NickServoValue = 128 * MULTIPLYER * 16; |
69 | signed int NickServoValue = 128 * MULTIPLYER * 16; |
70 | 70 | ||
71 | volatile int16_t ServoNickValue = 0; |
71 | volatile int16_t ServoNickValue = 0; |
72 | volatile int16_t ServoRollValue = 0; |
72 | volatile int16_t ServoRollValue = 0; |
73 | 73 | ||
74 | 74 | ||
75 | enum { |
75 | enum { |
76 | STOP = 0, |
76 | STOP = 0, |
77 | CK = 1, |
77 | CK = 1, |
78 | CK8 = 2, |
78 | CK8 = 2, |
79 | CK64 = 3, |
79 | CK64 = 3, |
80 | CK256 = 4, |
80 | CK256 = 4, |
81 | CK1024 = 5, |
81 | CK1024 = 5, |
82 | T0_FALLING_EDGE = 6, |
82 | T0_FALLING_EDGE = 6, |
83 | T0_RISING_EDGE = 7 |
83 | T0_RISING_EDGE = 7 |
84 | }; |
84 | }; |
85 | 85 | ||
86 | 86 | ||
87 | ISR(TIMER0_OVF_vect) // 9,7kHz |
87 | ISR(TIMER0_OVF_vect) // 9,7kHz |
88 | { |
88 | { |
89 | static unsigned char cnt_1ms = 1,cnt = 0; |
89 | static unsigned char cnt_1ms = 1,cnt = 0; |
90 | unsigned char pieper_ein = 0; |
90 | unsigned char pieper_ein = 0; |
91 | if(SendSPI) SendSPI--; |
91 | if(SendSPI) SendSPI--; |
92 | if(SpektrumTimer) SpektrumTimer--; |
92 | if(SpektrumTimer) SpektrumTimer--; |
93 | if(!cnt--) |
93 | if(!cnt--) |
94 | { |
94 | { |
95 | cnt = 9; |
95 | cnt = 9; |
96 | CountMilliseconds++; |
96 | CountMilliseconds++; |
97 | cnt_1ms++; |
97 | cnt_1ms++; |
98 | cnt_1ms %= 2; |
98 | cnt_1ms %= 2; |
99 | 99 | ||
100 | if(!cnt_1ms) UpdateMotor = 1; |
100 | if(!cnt_1ms) UpdateMotor = 1; |
101 | if(!(PINC & 0x10)) JustMK3MagConnected = 1; |
101 | if(!(PINC & 0x10)) JustMK3MagConnected = 1; |
102 | 102 | ||
103 | if(beeptime) |
103 | if(beeptime) |
104 | { |
104 | { |
105 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
105 | if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
106 | if(beeptime & BeepMuster) |
106 | if(beeptime & BeepMuster) |
107 | { |
107 | { |
108 | pieper_ein = 1; |
108 | pieper_ein = 1; |
109 | } |
109 | } |
110 | else pieper_ein = 0; |
110 | else pieper_ein = 0; |
111 | } |
111 | } |
112 | else |
112 | else |
113 | { |
113 | { |
114 | pieper_ein = 0; |
114 | pieper_ein = 0; |
115 | BeepMuster = 0xffff; |
115 | BeepMuster = 0xffff; |
116 | } |
116 | } |
117 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
117 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
119 | else PORTC &= ~(1<<7); |
119 | else PORTC &= ~(1<<7); |
120 | #else |
120 | #else |
121 | if(pieper_ein) |
121 | if(pieper_ein) |
122 | { |
122 | { |
123 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
123 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
124 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
124 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
125 | } |
125 | } |
126 | else |
126 | else |
127 | { |
127 | { |
128 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
128 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
129 | else PORTC &= ~(1<<7); |
129 | else PORTC &= ~(1<<7); |
130 | } |
130 | } |
131 | #endif |
131 | #endif |
132 | } |
132 | } |
133 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
133 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
134 | { |
134 | { |
135 | if(PINC & 0x10) |
135 | if(PINC & 0x10) |
136 | { |
136 | { |
137 | if(++cntKompass > 1000) JustMK3MagConnected = 0; |
137 | if(++cntKompass > 1000) JustMK3MagConnected = 0; |
138 | } |
138 | } |
139 | else |
139 | else |
140 | { |
140 | { |
141 | if((cntKompass) && (cntKompass < 362)) |
141 | if((cntKompass) && (cntKompass < 362)) |
142 | { |
142 | { |
143 | cntKompass += cntKompass / 41; |
143 | cntKompass += cntKompass / 41; |
144 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
144 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
145 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
145 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
146 | } |
146 | } |
147 | cntKompass = 0; |
147 | cntKompass = 0; |
148 | } |
148 | } |
149 | } |
149 | } |
150 | } |
150 | } |
151 | 151 | ||
152 | 152 | ||
153 | // ----------------------------------------------------------------------- |
153 | // ----------------------------------------------------------------------- |
154 | unsigned int SetDelay(unsigned int t) |
154 | unsigned int SetDelay(unsigned int t) |
155 | { |
155 | { |
156 | // TIMSK0 &= ~_BV(TOIE0); |
156 | // TIMSK0 &= ~_BV(TOIE0); |
157 | return(CountMilliseconds + t + 1); |
157 | return(CountMilliseconds + t + 1); |
158 | // TIMSK0 |= _BV(TOIE0); |
158 | // TIMSK0 |= _BV(TOIE0); |
159 | } |
159 | } |
160 | 160 | ||
161 | // ----------------------------------------------------------------------- |
161 | // ----------------------------------------------------------------------- |
162 | char CheckDelay(unsigned int t) |
162 | char CheckDelay(unsigned int t) |
163 | { |
163 | { |
164 | // TIMSK0 &= ~_BV(TOIE0); |
164 | // TIMSK0 &= ~_BV(TOIE0); |
165 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
165 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
166 | // TIMSK0 |= _BV(TOIE0); |
166 | // TIMSK0 |= _BV(TOIE0); |
167 | } |
167 | } |
168 | 168 | ||
169 | // ----------------------------------------------------------------------- |
169 | // ----------------------------------------------------------------------- |
170 | void Delay_ms(unsigned int w) |
170 | void Delay_ms(unsigned int w) |
171 | { |
171 | { |
172 | unsigned int akt; |
172 | unsigned int akt; |
173 | akt = SetDelay(w); |
173 | akt = SetDelay(w); |
174 | while (!CheckDelay(akt)); |
174 | while (!CheckDelay(akt)); |
175 | } |
175 | } |
176 | 176 | ||
177 | void Delay_ms_Mess(unsigned int w) |
177 | void Delay_ms_Mess(unsigned int w) |
178 | { |
178 | { |
179 | unsigned int akt; |
179 | unsigned int akt; |
180 | akt = SetDelay(w); |
180 | akt = SetDelay(w); |
181 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
181 | while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
182 | } |
182 | } |
183 | 183 | ||
184 | /*****************************************************/ |
184 | /*****************************************************/ |
185 | /* Initialize Timer 2 */ |
185 | /* Initialize Timer 2 */ |
186 | /*****************************************************/ |
186 | /*****************************************************/ |
187 | // The timer 2 is used to generate the PWM at PD7 (J7) |
187 | // The timer 2 is used to generate the PWM at PD7 (J7) |
188 | // to control a camera servo for nick compensation. |
188 | // to control a camera servo for nick compensation. |
189 | void TIMER2_Init(void) |
189 | void TIMER2_Init(void) |
190 | { |
190 | { |
191 | uint8_t sreg = SREG; |
191 | uint8_t sreg = SREG; |
192 | 192 | ||
193 | // disable all interrupts before reconfiguration |
193 | // disable all interrupts before reconfiguration |
194 | cli(); |
194 | cli(); |
195 | 195 | ||
196 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
196 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
197 | 197 | ||
198 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
198 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
199 | HEF4017Reset_ON; |
199 | HEF4017Reset_ON; |
200 | // Timer/Counter 2 Control Register A |
200 | // Timer/Counter 2 Control Register A |
201 | 201 | ||
202 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
202 | // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
203 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
203 | // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
204 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
204 | // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
205 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
205 | TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
206 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
206 | TCCR2A |= (1<<WGM21)|(1<<WGM20); |
207 | 207 | ||
208 | // Timer/Counter 2 Control Register B |
208 | // Timer/Counter 2 Control Register B |
209 | 209 | ||
210 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
210 | // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
211 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
211 | // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
212 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
212 | // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
213 | 213 | ||
214 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
214 | // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
215 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
215 | TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
216 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
216 | TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
217 | 217 | ||
218 | // Initialize the Timer/Counter 2 Register |
218 | // Initialize the Timer/Counter 2 Register |
219 | TCNT2 = 0; |
219 | TCNT2 = 0; |
220 | 220 | ||
221 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
221 | // Initialize the Output Compare Register A used for PWM generation on port PD7. |
222 | OCR2A = 255; |
222 | OCR2A = 255; |
223 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
223 | TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
224 | 224 | ||
225 | // Timer/Counter 2 Interrupt Mask Register |
225 | // Timer/Counter 2 Interrupt Mask Register |
226 | // Enable timer output compare match A Interrupt only |
226 | // Enable timer output compare match A Interrupt only |
227 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
227 | TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
228 | TIMSK2 |= (1<<OCIE2A); |
228 | TIMSK2 |= (1<<OCIE2A); |
229 | 229 | ||
230 | SREG = sreg; |
230 | SREG = sreg; |
231 | } |
231 | } |
232 | 232 | ||
233 | //---------------------------- |
233 | //---------------------------- |
234 | void Timer_Init(void) |
234 | void Timer_Init(void) |
235 | { |
235 | { |
236 | tim_main = SetDelay(10); |
236 | tim_main = SetDelay(10); |
237 | TCCR0B = CK8; |
237 | TCCR0B = CK8; |
238 | // TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
238 | // TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
239 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM |
239 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM |
240 | OCR0B = 255; |
240 | OCR0B = 255; |
241 | OCR0A = 180; |
241 | OCR0A = 180; |
242 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
242 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
243 | //OCR1 = 0x00; |
243 | //OCR1 = 0x00; |
244 | TIMSK0 |= _BV(TOIE0); |
244 | TIMSK0 |= _BV(TOIE0); |
245 | } |
245 | } |
246 | 246 | ||
247 | 247 | ||
248 | /*****************************************************/ |
248 | /*****************************************************/ |
249 | /* Control Servo Position */ |
249 | /* Control Servo Position */ |
250 | /*****************************************************/ |
250 | /*****************************************************/ |
251 | void CalcNickServoValue(void) |
251 | void CalcNickServoValue(void) |
252 | { |
252 | { |
253 | signed int max, min; |
253 | signed int max, min; |
254 | 254 | ||
255 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
255 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
256 | { |
256 | { |
257 | max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
257 | max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
258 | min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
258 | min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
259 | NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
259 | NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
260 | LIMIT_MIN_MAX(NickServoValue,min, max); |
260 | LIMIT_MIN_MAX(NickServoValue,min, max); |
261 | } |
261 | } |
262 | else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
262 | else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
263 | } |
263 | } |
264 | 264 | ||
265 | void CalculateServo(void) |
265 | void CalculateServo(void) |
266 | { |
266 | { |
267 | signed char cosinus, sinus; |
267 | signed char cosinus, sinus; |
268 | signed long nick, roll; |
268 | signed long nick, roll; |
269 | 269 | ||
270 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
270 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
271 | sinus = sintab[EE_Parameter.CamOrientation]; |
271 | sinus = sintab[EE_Parameter.CamOrientation]; |
272 | 272 | ||
273 | if(CalculateServoSignals == 1) |
273 | if(CalculateServoSignals == 1) |
274 | { |
274 | { |
275 | - | ||
276 | if(Parameter_UserParam1 < 100) // testweise |
275 | if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0; |
277 | { |
- | |
278 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
276 | else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
279 | } |
- | |
280 | else nick = 0; |
- | |
281 | - | ||
282 | nick -= POI_KameraNick * 7; |
277 | nick -= POI_KameraNick * 7; |
283 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
278 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
284 | // offset (Range from 0 to 255 * 3 = 765) |
279 | // offset (Range from 0 to 255 * 3 = 765) |
285 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
280 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
286 | else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
281 | else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
287 | 282 | ||
288 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
283 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
289 | { |
284 | { |
290 | nick = ServoNickOffset / 16 + nick; |
285 | nick = ServoNickOffset / 16 + nick; |
291 | } |
286 | } |
292 | else |
287 | else |
293 | { // inverting movement of servo |
288 | { // inverting movement of servo |
294 | nick = ServoNickOffset / 16 - nick; |
289 | nick = ServoNickOffset / 16 - nick; |
295 | } |
290 | } |
296 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
291 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
297 | else ServoNickValue = nick; |
292 | else ServoNickValue = nick; |
298 | // limit servo value to its parameter range definition |
293 | // limit servo value to its parameter range definition |
299 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
294 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
300 | { |
295 | { |
301 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
296 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
302 | } |
297 | } |
303 | else |
298 | else |
304 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
299 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
305 | { |
300 | { |
306 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
301 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
307 | } |
302 | } |
308 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
303 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
309 | } |
304 | } |
310 | else |
305 | else |
311 | { |
306 | { |
312 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
307 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
313 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
308 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
314 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
309 | ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
315 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
310 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
316 | { // inverting movement of servo |
311 | { // inverting movement of servo |
317 | roll = ServoRollOffset / 16 + roll; |
312 | roll = ServoRollOffset / 16 + roll; |
318 | } |
313 | } |
319 | else |
314 | else |
320 | { // inverting movement of servo |
315 | { // inverting movement of servo |
321 | roll = ServoRollOffset / 16 - roll; |
316 | roll = ServoRollOffset / 16 - roll; |
322 | } |
317 | } |
323 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
318 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
324 | else ServoRollValue = roll; |
319 | else ServoRollValue = roll; |
325 | // limit servo value to its parameter range definition |
320 | // limit servo value to its parameter range definition |
326 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
321 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
327 | { |
322 | { |
328 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
323 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
329 | } |
324 | } |
330 | else |
325 | else |
331 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
326 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
332 | { |
327 | { |
333 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
328 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
334 | } |
329 | } |
335 | CalculateServoSignals = 0; |
330 | CalculateServoSignals = 0; |
336 | } |
331 | } |
337 | } |
332 | } |
338 | 333 | ||
339 | ISR(TIMER2_COMPA_vect) |
334 | ISR(TIMER2_COMPA_vect) |
340 | { |
335 | { |
341 | // frame len 22.5 ms = 14063 * 1.6 us |
336 | // frame len 22.5 ms = 14063 * 1.6 us |
342 | // stop pulse: 0.3 ms = 188 * 1.6 us |
337 | // stop pulse: 0.3 ms = 188 * 1.6 us |
343 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
338 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
344 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
339 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
345 | // resolution: 1500 - 375 = 1125 steps |
340 | // resolution: 1500 - 375 = 1125 steps |
346 | 341 | ||
347 | #define IRS_RUNTIME 127 |
342 | #define IRS_RUNTIME 127 |
348 | #define PPM_STOPPULSE 188 |
343 | #define PPM_STOPPULSE 188 |
349 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
344 | #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
350 | #define MINSERVOPULSE 375 |
345 | #define MINSERVOPULSE 375 |
351 | #define MAXSERVOPULSE 1500 |
346 | #define MAXSERVOPULSE 1500 |
352 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
347 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
353 | 348 | ||
354 | static uint8_t PulseOutput = 0; |
349 | static uint8_t PulseOutput = 0; |
355 | static uint16_t ServoFrameTime = 0; |
350 | static uint16_t ServoFrameTime = 0; |
356 | static uint8_t ServoIndex = 0; |
351 | static uint8_t ServoIndex = 0; |
357 | 352 | ||
358 | 353 | ||
359 | if(PlatinenVersion < 20) |
354 | if(PlatinenVersion < 20) |
360 | { |
355 | { |
361 | //--------------------------- |
356 | //--------------------------- |
362 | // Nick servo state machine |
357 | // Nick servo state machine |
363 | //--------------------------- |
358 | //--------------------------- |
364 | if(!PulseOutput) // pulse output complete |
359 | if(!PulseOutput) // pulse output complete |
365 | { |
360 | { |
366 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
361 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
367 | { |
362 | { |
368 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
363 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
369 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
364 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
370 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
365 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
371 | // range servo pulse width |
366 | // range servo pulse width |
372 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
367 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
373 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
368 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
374 | // accumulate time for correct update rate |
369 | // accumulate time for correct update rate |
375 | ServoFrameTime = RemainingPulse; |
370 | ServoFrameTime = RemainingPulse; |
376 | } |
371 | } |
377 | else // we had a high pulse |
372 | else // we had a high pulse |
378 | { |
373 | { |
379 | TCCR2A |= (1<<COM2A0); // make a low pulse |
374 | TCCR2A |= (1<<COM2A0); // make a low pulse |
380 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
375 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
381 | CalculateServoSignals = 1; |
376 | CalculateServoSignals = 1; |
382 | } |
377 | } |
383 | // set pulse output active |
378 | // set pulse output active |
384 | PulseOutput = 1; |
379 | PulseOutput = 1; |
385 | } |
380 | } |
386 | } // EOF Nick servo state machine |
381 | } // EOF Nick servo state machine |
387 | else |
382 | else |
388 | { |
383 | { |
389 | //----------------------------------------------------- |
384 | //----------------------------------------------------- |
390 | // PPM state machine, onboard demultiplexed by HEF4017 |
385 | // PPM state machine, onboard demultiplexed by HEF4017 |
391 | //----------------------------------------------------- |
386 | //----------------------------------------------------- |
392 | if(!PulseOutput) // pulse output complete |
387 | if(!PulseOutput) // pulse output complete |
393 | { |
388 | { |
394 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
389 | if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
395 | { |
390 | { |
396 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
391 | TCCR2A &= ~(1<<COM2A0);// make a high pulse |
397 | if(ServoIndex == 0) // if we are at the sync gap |
392 | if(ServoIndex == 0) // if we are at the sync gap |
398 | { |
393 | { |
399 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
394 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
400 | ServoFrameTime = 0; // reset servo frame time |
395 | ServoFrameTime = 0; // reset servo frame time |
401 | HEF4017Reset_ON; // enable HEF4017 reset |
396 | HEF4017Reset_ON; // enable HEF4017 reset |
402 | } |
397 | } |
403 | else // servo channels |
398 | else // servo channels |
404 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
399 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
405 | { |
400 | { |
406 | RemainingPulse = 10; // end it here |
401 | RemainingPulse = 10; // end it here |
407 | } |
402 | } |
408 | else |
403 | else |
409 | { |
404 | { |
410 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
405 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
411 | switch(ServoIndex) // map servo channels |
406 | switch(ServoIndex) // map servo channels |
412 | { |
407 | { |
413 | case 1: // Nick Compensation Servo |
408 | case 1: // Nick Compensation Servo |
414 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
409 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
415 | break; |
410 | break; |
416 | case 2: // Roll Compensation Servo |
411 | case 2: // Roll Compensation Servo |
417 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
412 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
418 | break; |
413 | break; |
419 | case 3: |
414 | case 3: |
420 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
415 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
421 | break; |
416 | break; |
422 | case 4: |
417 | case 4: |
423 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
418 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
424 | break; |
419 | break; |
425 | case 5: |
420 | case 5: |
426 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
421 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
427 | break; |
422 | break; |
428 | default: // other servo channels |
423 | default: // other servo channels |
429 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
424 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
430 | break; |
425 | break; |
431 | } |
426 | } |
432 | // range servo pulse width |
427 | // range servo pulse width |
433 | if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
428 | if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
434 | else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
429 | else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
435 | // substract stop pulse width |
430 | // substract stop pulse width |
436 | RemainingPulse -= PPM_STOPPULSE; |
431 | RemainingPulse -= PPM_STOPPULSE; |
437 | // accumulate time for correct sync gap |
432 | // accumulate time for correct sync gap |
438 | ServoFrameTime += RemainingPulse; |
433 | ServoFrameTime += RemainingPulse; |
439 | } |
434 | } |
440 | } |
435 | } |
441 | else // we had a high pulse |
436 | else // we had a high pulse |
442 | { |
437 | { |
443 | TCCR2A |= (1<<COM2A0); // make a low pulse |
438 | TCCR2A |= (1<<COM2A0); // make a low pulse |
444 | // set pulsewidth to stop pulse width |
439 | // set pulsewidth to stop pulse width |
445 | RemainingPulse = PPM_STOPPULSE; |
440 | RemainingPulse = PPM_STOPPULSE; |
446 | // accumulate time for correct sync gap |
441 | // accumulate time for correct sync gap |
447 | ServoFrameTime += RemainingPulse; |
442 | ServoFrameTime += RemainingPulse; |
448 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
443 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
449 | else HEF4017Reset_ON; |
444 | else HEF4017Reset_ON; |
450 | ServoIndex++; |
445 | ServoIndex++; |
451 | if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
446 | if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
452 | { |
447 | { |
453 | CalculateServoSignals = 1; |
448 | CalculateServoSignals = 1; |
454 | ServoIndex = 0; // reset to the sync gap |
449 | ServoIndex = 0; // reset to the sync gap |
455 | } |
450 | } |
456 | } |
451 | } |
457 | // set pulse output active |
452 | // set pulse output active |
458 | PulseOutput = 1; |
453 | PulseOutput = 1; |
459 | } |
454 | } |
460 | } // EOF PPM state machine |
455 | } // EOF PPM state machine |
461 | 456 | ||
462 | // General pulse output generator |
457 | // General pulse output generator |
463 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
458 | if(RemainingPulse > (255 + IRS_RUNTIME)) |
464 | { |
459 | { |
465 | OCR2A = 255; |
460 | OCR2A = 255; |
466 | RemainingPulse -= 255; |
461 | RemainingPulse -= 255; |
467 | } |
462 | } |
468 | else |
463 | else |
469 | { |
464 | { |
470 | if(RemainingPulse > 255) // this is the 2nd last part |
465 | if(RemainingPulse > 255) // this is the 2nd last part |
471 | { |
466 | { |
472 | if((RemainingPulse - 255) < IRS_RUNTIME) |
467 | if((RemainingPulse - 255) < IRS_RUNTIME) |
473 | { |
468 | { |
474 | OCR2A = 255 - IRS_RUNTIME; |
469 | OCR2A = 255 - IRS_RUNTIME; |
475 | RemainingPulse -= 255 - IRS_RUNTIME; |
470 | RemainingPulse -= 255 - IRS_RUNTIME; |
476 | 471 | ||
477 | } |
472 | } |
478 | else // last part > ISR_RUNTIME |
473 | else // last part > ISR_RUNTIME |
479 | { |
474 | { |
480 | OCR2A = 255; |
475 | OCR2A = 255; |
481 | RemainingPulse -= 255; |
476 | RemainingPulse -= 255; |
482 | } |
477 | } |
483 | } |
478 | } |
484 | else // this is the last part |
479 | else // this is the last part |
485 | { |
480 | { |
486 | OCR2A = RemainingPulse; |
481 | OCR2A = RemainingPulse; |
487 | RemainingPulse = 0; |
482 | RemainingPulse = 0; |
488 | PulseOutput = 0; // trigger to stop pulse |
483 | PulseOutput = 0; // trigger to stop pulse |
489 | } |
484 | } |
490 | } // EOF general pulse output generator |
485 | } // EOF general pulse output generator |
491 | } |
486 | } |
492 | 487 |