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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <avr/io.h>
#include <avr/interrupt.h>
#include "fc.h"
#include "eeprom.h"
#include "uart0.h"
#include "main.h"
#include "rc.h"
volatile int16_t ServoNickValue = 0;
volatile int16_t ServoRollValue = 0;
volatile uint8_t ServoActive = 0;
#define HEF4017R_ON PORTC |= (1<<PORTC6)
#define HEF4017R_OFF PORTC &= ~(1<<PORTC6)
/*****************************************************/
/* Initialize Timer 2 */
/*****************************************************/
// The timer 2 is used to generate the PWM at PD7 (J7)
// to control a camera servo for nick compensation.
void TIMER2_Init(void)
{
uint8_t sreg = SREG;
// disable all interrupts before reconfiguration
cli();
DDRD &= ~(1<<DDD7); // set PD7 as input of the PWM for servo
//DDRD |= (1<<DDD7); // set PD7 as output of the PWM for servo
PORTD &= ~(1<<PORTD7); // set PD7 to low
DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
//PORTC &= ~(1<<PORTC6); // set PC6 to low
HEF4017R_ON; // enable reset
// Timer/Counter 2 Control Register A
// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));
TCCR2A |= (1<<WGM21)|(1<<WGM20);
// Timer/Counter 2 Control Register B
// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));
TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);
// Initialize the Timer/Counter 2 Register
TCNT2 = 0;
// Initialize the Output Compare Register A used for PWM generation on port PD7.
OCR2A = 255;
TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
// Timer/Counter 2 Interrupt Mask Register
// Enable timer output compare match A Interrupt only
TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));
TIMSK2 |= (1<<OCIE2A);
SREG = sreg;
}
void Servo_On(void)
{
ServoActive = 1;
DDRD |= (1<<DDD7); // set PD7 as output of the PWM for servo
}
void Servo_Off(void)
{
ServoActive = 0;
DDRD &= ~(1<<DDD7); // set PD7 as input
HEF4017R_ON; // enable reset
}
/*****************************************************/
/* Control Servo Position */
/*****************************************************/
ISR(TIMER2_COMPA_vect)
{
// frame len 22.5 ms = 14063 * 1.6 us
// stop pulse: 0.3 ms = 188 * 1.6 us
// min servo pulse: 0.6 ms = 375 * 1.6 us
// max servo pulse: 2.4 ms = 1500 * 1.6 us
// resolution: 1500 - 375 = 1125 steps
#define IRS_RUNTIME 127
#define PPM_STOPPULSE 188
//#define PPM_FRAMELEN 14063
#define PPM_FRAMELEN (1757 * ParamSet.ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel
#define MINSERVOPULSE 375
#define MAXSERVOPULSE 1500
#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
static uint8_t PulseOutput = 0;
static uint16_t RemainingPulse = 0;
static uint16_t ServoFrameTime = 0;
static uint8_t ServoIndex = 0;
#define MULTIPLYER 4
static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position
static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position
if(BoardRelease < 20)
{
//---------------------------
// Nick servo state machine
//---------------------------
if(!PulseOutput) // pulse output complete
{
if(TCCR2A & (1<<COM2A0)) // we had a low pulse
{
TCCR2A &= ~(1<<COM2A0);// make a high pulse
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
ServoNickOffset = (ServoNickOffset * 3 + (int16_t)FCParam.ServoNickControl * MULTIPLYER) / 4; // lowpass offset
ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
if(ParamSet.ServoCompInvert & 0x01)
{ // inverting movement of servo
ServoNickValue += (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) );
}
else
{ // non inverting movement of servo
ServoNickValue -= (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) );
}
// limit servo value to its parameter range definition
if(ServoNickValue < ((int16_t)ParamSet.ServoNickMin * MULTIPLYER) )
{
ServoNickValue = (int16_t)ParamSet.ServoNickMin * MULTIPLYER;
}
else
if(ServoNickValue > ((int16_t)ParamSet.ServoNickMax * MULTIPLYER) )
{
ServoNickValue = (int16_t)ParamSet.ServoNickMax * MULTIPLYER;
}
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
ServoNickValue /= MULTIPLYER;
// range servo pulse width
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
// accumulate time for correct update rate
ServoFrameTime = RemainingPulse;
}
else // we had a high pulse
{
TCCR2A |= (1<<COM2A0); // make a low pulse
RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
}
// set pulse output active
PulseOutput = 1;
}
} // EOF Nick servo state machine
else
{
//-----------------------------------------------------
// PPM state machine, onboard demultiplexed by HEF4017
//-----------------------------------------------------
if(!PulseOutput) // pulse output complete
{
if(TCCR2A & (1<<COM2A0)) // we had a low pulse
{
TCCR2A &= ~(1<<COM2A0);// make a high pulse
if(ServoIndex == 0) // if we are at the sync gap
{
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
ServoFrameTime = 0; // reset servo frame time
HEF4017R_ON; // enable HEF4017 reset
}
else // servo channels
{
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
switch(ServoIndex) // map servo channels
{
case 1: // Nick Compensation Servo
ServoNickOffset = (ServoNickOffset * 3 + (int16_t)FCParam.ServoNickControl * MULTIPLYER) / 4; // lowpass offset
ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
if(ParamSet.ServoCompInvert & 0x01)
{ // inverting movement of servo
ServoNickValue += (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) );
}
else
{ // non inverting movement of servo
ServoNickValue -= (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) );
}
// limit servo value to its parameter range definition
if(ServoNickValue < ((int16_t)ParamSet.ServoNickMin * MULTIPLYER) )
{
ServoNickValue = (int16_t)ParamSet.ServoNickMin * MULTIPLYER;
}
else
if(ServoNickValue > ((int16_t)ParamSet.ServoNickMax * MULTIPLYER) )
{
ServoNickValue = (int16_t)ParamSet.ServoNickMax * MULTIPLYER;
}
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
ServoNickValue /= MULTIPLYER;
break;
case 2: // Roll Compensation Servo
ServoRollOffset = (ServoRollOffset * 3 + (int16_t)FCParam.ServoRollControl * MULTIPLYER) / 4; // lowpass offset
ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
if(ParamSet.ServoCompInvert & 0x02)
{ // inverting movement of servo
ServoRollValue += (int16_t)( ( (int32_t)ParamSet.ServoRollComp * MULTIPLYER * (IntegralGyroRoll / 128L ) ) / (256L) );
}
else
{ // non inverting movement of servo
ServoRollValue -= (int16_t)( ( (int32_t)ParamSet.ServoRollComp * MULTIPLYER * (IntegralGyroRoll / 128L ) ) / (256L) );
}
// limit servo value to its parameter range definition
if(ServoRollValue < ((int16_t)ParamSet.ServoRollMin * MULTIPLYER) )
{
ServoRollValue = (int16_t)ParamSet.ServoRollMin * MULTIPLYER;
}
else
if(ServoRollValue > ((int16_t)ParamSet.ServoRollMax * MULTIPLYER) )
{
ServoRollValue = (int16_t)ParamSet.ServoRollMax * MULTIPLYER;
}
RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoRollValue to center position
ServoRollValue /= MULTIPLYER;
break;
default: // other servo channels
RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
break;
}
// range servo pulse width
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
// substract stop pulse width
RemainingPulse -= PPM_STOPPULSE;
// accumulate time for correct sync gap
ServoFrameTime += RemainingPulse;
}
}
else // we had a high pulse
{
TCCR2A |= (1<<COM2A0); // make a low pulse
// set pulsewidth to stop pulse width
RemainingPulse = PPM_STOPPULSE;
// accumulate time for correct sync gap
ServoFrameTime += RemainingPulse;
if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset
else HEF4017R_ON; // enable reset
ServoIndex++; // change to next servo channel
if(ServoIndex > ParamSet.ServoRefresh) ServoIndex = 0; // reset to the sync gap
}
// set pulse output active
PulseOutput = 1;
}
} // EOF PPM state machine
// General pulse output generator
if(RemainingPulse > (255 + IRS_RUNTIME))
{
OCR2A = 255;
RemainingPulse -= 255;
}
else
{
if(RemainingPulse > 255) // this is the 2nd last part
{
if((RemainingPulse - 255) < IRS_RUNTIME)
{
OCR2A = 255 - IRS_RUNTIME;
RemainingPulse -= 255 - IRS_RUNTIME;
}
else // last part > ISR_RUNTIME
{
OCR2A = 255;
RemainingPulse -= 255;
}
}
else // this is the last part
{
OCR2A = RemainingPulse;
RemainingPulse = 0;
PulseOutput = 0; // trigger to stop pulse
}
} // EOF general pulse output generator
}