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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
// + * 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 "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
}