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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
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// +  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
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// +  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 "eeprom.h"
#include "uart0.h"
#include "rc.h"
#include "attitude.h"

volatile int16_t        ServoPitchValue = 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 pitch compensation.
void timer2_init(void) {
  uint8_t sreg = SREG;

  // disable all interrupts before reconfiguration
  cli();

  // set PD7 as output of the PWM for pitch servo
  DDRD  |= (1<<DDD7);
  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;
}

void Servo_Off(void) {
  ServoActive = 0;
  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 PPM_STOPPULSE 188
#define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel
#define MINSERVOPULSE 375
#define MAXSERVOPULSE 1500
#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)
  static uint8_t  isGeneratingPulse = 0;
  static uint16_t remainingPulseLength = 0;
  static uint16_t ServoFrameTime = 0;
  static uint8_t  ServoIndex = 0;
 
#define MULTIPLIER 4
  static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position
  static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position
#endif
#ifdef USE_NON_4017_SERVO_OUTPUTS
  //---------------------------
  // Pitch servo state machine
  //---------------------------
  if (!isGeneratingPulse) {    // pulse output complete on _next_ interrupt
    if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse
      TCCR2A &= ~(1<<COM2A0);  // make a low pulse on _next_ interrupt, and now
      remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms
      ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset
      if(staticParams.ServoPitchCompInvert & 0x01) {
        // inverting movement of servo
        // todo: function.
        ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));
      } else {
        // todo: function.
        // non inverting movement of servo
        ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L));
      }
      // limit servo value to its parameter range definition
      if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) {
        ServoPitchValue = (int16_t)staticParams.ServoPitchMin;
      } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) {
        ServoPitchValue = (int16_t)staticParams.ServoPitchMax;
      }
     
      remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position
     
      // range servo pulse width
      if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit
      else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit

      // accumulate time for correct update rate
      ServoFrameTime = remainingPulseLength;
    } else { // we had a high pulse
      TCCR2A |= (1<<COM2A0); // make a low pulse
      remainingPulseLength = PPM_FRAMELEN - ServoFrameTime;
    }
    // set pulse output active
    isGeneratingPulse = 1;
  } // EOF Pitch servo state machine

#elseif defined(USE_4017_SERVOS)
  //-----------------------------------------------------
  // PPM state machine, onboard demultiplexed by HEF4017
  //-----------------------------------------------------
  if(!isGeneratingPulse) { // 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
      remainingPulseLength = 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
      remainingPulseLength  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
      switch(ServoIndex) { // map servo channels
      case 1: // Pitch Compensation Servo
        ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset
        ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765)
        if(staticParams.ServoPitchCompInvert & 0x01) {
          // inverting movement of servo
          ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );
        } else {        // non inverting movement of servo
          ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) );
        }
        // limit servo value to its parameter range definition
        if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {
          ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;
        } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {
          ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;
        }
        remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position
        ServoPitchValue /= MULTIPLIER;
        break;
       
      case 2: // Roll Compensation Servo
        ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset
        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
        //if(staticParams.ServoRollCompInvert & 0x01)
        {       // inverting movement of servo
          ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) );
        }
        /*                                                      else
                                                                {       // non inverting movement of servo
                                                                ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) );
                                                                }
        */                                                      // limit servo value to its parameter range definition
        if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) {
          ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER;
        } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) {
          ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER;
        }
        remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position
        ServoRollValue /= MULTIPLIER;
        break;
       
      default: // other servo channels
        remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs
        break;
      }
      // range servo pulse width
      if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit
      else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit
      // substract stop pulse width
      remainingPulseLength -= PPM_STOPPULSE;
      // accumulate time for correct sync gap
      ServoFrameTime += remainingPulseLength;
    }
  } else { // we had a high pulse
    TCCR2A |= (1<<COM2A0); // make a low pulse
    // set pulsewidth to stop pulse width
    remainingPulseLength = PPM_STOPPULSE;
    // accumulate time for correct sync gap
    ServoFrameTime += remainingPulseLength;
    if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset
    ServoIndex++; // change to next servo channel
    if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap
  }
  // set pulse output active
  isGeneratingPulse = 1;
 }
#endif

/*
 * Cases:
 * 1) 255 + 128 <= remainingPulseLength --> delta = 255
 * 2) 255 <= remainingPulseLength < 255 + 128 --> delta = 255 - 128  
 *    this is to avoid a too short delta on the last cycle, which would cause
 *    an interupt-on-interrupt condition and the loss of the last interrupt.
 * 3) remainingPulseLength < 255 --> delta = remainingPulseLength
 */
#if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS)
  uint8_t delta;
  if (remainingPulseLength >= (255 + 128)) {
    delta = 255;
  } else if (remainingPulseLength >= 255) {
    delta = 255- 128;
  } else {
    delta = remainingPulseLength;
    isGeneratingPulse = 0; // trigger to stop pulse
  }
  OCR2A = delta;
  remainingPulseLength -= delta;
#endif
}