Rev 1503 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1503 | Rev 1504 | ||
|---|---|---|---|
| Line 11... | Line 11... | ||
| 11 | unsigned int BeepMuster = 0xffff; |
11 | unsigned int BeepMuster = 0xffff; |
| Line 12... | Line 12... | ||
| 12 | 12 | ||
| 13 | volatile int16_t ServoNickValue = 0; |
13 | volatile int16_t ServoNickValue = 0; |
| Line -... | Line 14... | ||
| - | 14 | volatile int16_t ServoRollValue = 0; |
|
| - | 15 | ||
| - | 16 | // Arthur P: Added two variables for control of the shutter servo cycle. |
|
| - | 17 | // 091114 Inserted same changes into v.0.76g code. |
|
| - | 18 | // 091114 Inactivated the following two lines as the shutter interval funtion is not |
|
| - | 19 | // used at the moment. |
|
| - | 20 | // volatile static unsigned int CameraShutterCycleCounter = 0; |
|
| - | 21 | // volatile static unsigned int CameraShutterCycle = 0; |
|
| Line 14... | Line 22... | ||
| 14 | volatile int16_t ServoRollValue = 0; |
22 | |
| 15 | 23 | ||
| 16 | 24 | ||
| 17 | enum { |
25 | enum { |
| Line 26... | Line 34... | ||
| 26 | }; |
34 | }; |
| Line 27... | Line 35... | ||
| 27 | 35 | ||
| 28 | 36 | ||
| 29 | SIGNAL (SIG_OVERFLOW0) // 9,7kHz |
37 | SIGNAL (SIG_OVERFLOW0) // 9,7kHz |
| 30 | { |
38 | { |
| 31 | static unsigned char cnt_1ms = 1,cnt = 0; |
39 | static unsigned char cnt_1ms = 1,cnt = 0; |
| 32 | unsigned char pieper_ein = 0; |
40 | unsigned char pieper_ein = 0; |
| Line 33... | Line 41... | ||
| 33 | if(SendSPI) SendSPI--; |
41 | if(SendSPI) SendSPI--; |
| 34 | if(SpektrumTimer) SpektrumTimer--; |
42 | if(SpektrumTimer) SpektrumTimer--; |
| 35 | 43 | ||
| 36 | if(!cnt--) |
44 | if(!cnt--) |
| 37 | { |
45 | { |
| 38 | cnt = 9; |
46 | cnt = 9; |
| 39 | cnt_1ms++; |
47 | cnt_1ms++; |
| 40 | cnt_1ms %= 2; |
48 | cnt_1ms %= 2; |
| Line 41... | Line 49... | ||
| 41 | if(!cnt_1ms) UpdateMotor = 1; |
49 | if(!cnt_1ms) UpdateMotor = 1; |
| 42 | CountMilliseconds++; |
50 | CountMilliseconds++; |
| 43 | } |
51 | } |
| 44 | 52 | ||
| 45 | if(beeptime >= 1) |
- | |
| 46 | { |
- | |
| 47 | beeptime--; |
- | |
| 48 | if(beeptime & BeepMuster) |
- | |
| 49 | { |
- | |
| 50 | pieper_ein = 1; |
- | |
| 51 | } |
53 | if(beeptime >= 1) |
| 52 | else pieper_ein = 0; |
54 | { |
| 53 | } |
- | |
| 54 | else |
- | |
| 55 | { |
- | |
| 56 | pieper_ein = 0; |
- | |
| 57 | BeepMuster = 0xffff; |
- | |
| 58 | } |
- | |
| 59 | - | ||
| 60 | if(pieper_ein) |
55 | beeptime--; |
| 61 | { |
56 | if(beeptime & BeepMuster) |
| 62 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
57 | { |
| 63 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
58 | pieper_ein = 1; |
| 64 | } |
- | |
| 65 | else |
59 | } |
| - | 60 | else |
|
| - | 61 | { |
|
| - | 62 | pieper_ein = 0; |
|
| - | 63 | } |
|
| - | 64 | } |
|
| - | 65 | else |
|
| Line 66... | Line -... | ||
| 66 | { |
- | |
| 67 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
- | |
| 68 | else PORTC &= ~(1<<7); |
- | |
| 69 | } |
- | |
| 70 | 66 | { |
|
| 71 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
- | |
| 72 | { |
- | |
| 73 | if(PINC & 0x10) |
- | |
| 74 | { |
- | |
| 75 | cntKompass++; |
67 | pieper_ein = 0; |
| - | 68 | BeepMuster = 0xffff; |
|
| - | 69 | } |
|
| 76 | } |
70 | |
| - | 71 | if(pieper_ein) |
|
| - | 72 | { |
|
| - | 73 | if(PlatinenVersion == 10) |
|
| 77 | else |
74 | { |
| - | 75 | PORTD |= (1<<2); // Speaker an PORTD.2 |
|
| - | 76 | } |
|
| - | 77 | else |
|
| - | 78 | { |
|
| - | 79 | PORTC |= (1<<7); // Speaker an PORTC.7 |
|
| - | 80 | } |
|
| - | 81 | } |
|
| - | 82 | else |
|
| - | 83 | { |
|
| - | 84 | if(PlatinenVersion == 10) |
|
| - | 85 | { |
|
| - | 86 | PORTD &= ~(1<<2); |
|
| 78 | { |
87 | } |
| - | 88 | else |
|
| - | 89 | { |
|
| - | 90 | PORTC &= ~(1<<7); |
|
| - | 91 | } |
|
| - | 92 | } |
|
| - | 93 | ||
| - | 94 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
|
| - | 95 | { |
|
| - | 96 | if(PINC & 0x10) |
|
| - | 97 | { |
|
| - | 98 | cntKompass++; |
|
| - | 99 | } |
|
| - | 100 | else |
|
| - | 101 | { |
|
| - | 102 | if((cntKompass) && (cntKompass < 362)) |
|
| - | 103 | { |
|
| - | 104 | cntKompass += cntKompass / 41; |
|
| - | 105 | if(cntKompass > 10) |
|
| - | 106 | { |
|
| - | 107 | KompassValue = cntKompass - 10; |
|
| - | 108 | } |
|
| - | 109 | else |
|
| 79 | if((cntKompass) && (cntKompass < 362)) |
110 | { |
| 80 | { |
111 | KompassValue = 0; |
| - | 112 | } |
|
| 81 | cntKompass += cntKompass / 41; |
113 | } |
| 82 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
114 | |
| 83 | } |
115 | // if(cntKompass < 10) cntKompass =r 10; |
| 84 | // if(cntKompass < 10) cntKompass =r 10; |
116 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| Line 85... | Line 117... | ||
| 85 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
117 | |
| Line 86... | Line 118... | ||
| 86 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
118 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| Line 214... | Line 246... | ||
| 214 | 246 | ||
| 215 | #define MULTIPLYER 4 |
247 | #define MULTIPLYER 4 |
| 216 | static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
248 | static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| Line 217... | Line 249... | ||
| 217 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
249 | static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| - | 250 | ||
| - | 251 | // Arthur P: Added initialization of the CameraShutterCycle value here as this routine is only |
|
| - | 252 | // called once. This retains all code changes in timer0.c. If parameter 6 > 0 then the user |
|
| - | 253 | // has set a value for the cycle. CameraShuytterCycle == 5x Para6 to get approx 0.1sec increments. |
|
| - | 254 | // 090807: Arthur P.: Removed the shutter cycle parts as they may be impacting timing loops. |
|
| - | 255 | // CameraShutterCycle = 5 * Parameter_UserParam6; |
|
| - | 256 | // CameraShutterCycle = Parameter_UserParam6; |
|
| - | 257 | ||
| - | 258 | // Arthur P: Modified the code to scheck the value of parameter 8. If 128 or higher then a HEF4017 is |
|
| - | 259 | // expected and will be used. Else J7 and J9 are seen as separate normal outputs. |
|
| - | 260 | // if((PlatinenVersion < 20) |
|
| 218 | 261 | // 091114. Inserted same changes into v.0.76g code. |
|
| 219 | // replace below line with if(PlatinenVersion < 20) to revert to original (WKN-change) |
262 | |
| 220 | if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 )) |
263 | if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 )) |
| 221 | { |
264 | { |
| 222 | //--------------------------- |
265 | //--------------------------- |
| Line 313... | Line 356... | ||
| 313 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
356 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| 314 | } |
357 | } |
| 315 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
358 | RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| 316 | ServoNickValue /= MULTIPLYER; |
359 | ServoNickValue /= MULTIPLYER; |
| 317 | break; |
360 | break; |
| 318 | case 2: // Roll Compensation Servo |
361 | case 2: // Roll Compensation Servo |
| 319 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
362 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
| 320 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
363 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| 321 | if(EE_Parameter.ServoCompInvert & 0x02) |
364 | if(EE_Parameter.ServoCompInvert & 0x02) |
| 322 | { // inverting movement of servo |
365 | { // inverting movement of servo |
| 323 | ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
366 | ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| Line 338... | Line 381... | ||
| 338 | } |
381 | } |
| 339 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
382 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| 340 | ServoRollValue /= MULTIPLYER; |
383 | ServoRollValue /= MULTIPLYER; |
| 341 | //DebugOut.Analog[20] = ServoRollValue; |
384 | //DebugOut.Analog[20] = ServoRollValue; |
| 342 | break; |
385 | break; |
| - | 386 | case 3: // Arthur P: Shutter Servo including interval control over parameter 5 and 6. |
|
| - | 387 | // 091114 Inserted same modification into v.0.76g code, removing previously REM-ed out modified parts. |
|
| 343 | 388 | ||
| - | 389 | if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] < -32) |
|
| - | 390 | { |
|
| - | 391 | // Set servo to null position, turning camera off. |
|
| 344 | default: // other servo channels |
392 | RemainingPulse = MINSERVOPULSE; |
| - | 393 | } |
|
| - | 394 | else |
|
| - | 395 | { |
|
| 345 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
396 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; |
| - | 397 | } |
|
| 346 | break; |
398 | break; |
| - | 399 | ||
| - | 400 | // 090807 Arthur P: Removed the output of the remaining channels as this just eats time and probably |
|
| - | 401 | // does not have much of a function. Better to add specific outputs as needed. |
|
| - | 402 | // default: // other servo channels |
|
| - | 403 | // RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
|
| - | 404 | // break; |
|
| 347 | } |
405 | } |
| - | 406 | ||
| 348 | // range servo pulse width |
407 | // range servo pulse width |
| 349 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
408 | if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| 350 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
409 | else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| 351 | // substract stop pulse width |
410 | // substract stop pulse width |
| 352 | RemainingPulse -= PPM_STOPPULSE; |
411 | RemainingPulse -= PPM_STOPPULSE; |