WebSVN - FlightCtrl - Blame - Rev 1265 - /branches/V0.74d-Arthur P/timer0.c

Rev	Author	Line No.	Line
1	ingob	1	#include "main.h"
		2
		3	volatile unsigned int CountMilliseconds = 0;
		4	volatile static unsigned int tim_main;
		5	volatile unsigned char UpdateMotor = 0;
		6	volatile unsigned int cntKompass = 0;
		7	volatile unsigned int beeptime = 0;
1171	hbuss	8	volatile unsigned char SendSPI = 0, ServoActive = 0;
723	hbuss	9
173	holgerb	10	unsigned int BeepMuster = 0xffff;
1105	killagreg	11	int ServoValue = 0;
1	ingob	12
1156	hbuss	13	volatile int16_t ServoNickValue = 0;
		14	volatile int16_t ServoRollValue = 0;
		15
1242	Arthur	16	// Arthur P: Added two variables for control of the shutter servo cycle.
1156	hbuss	17
1242	Arthur	18	volatile static unsigned int CameraShutterCycleCounter = 0;
		19	volatile static unsigned int CameraShutterCycle = 0;
		20
		21
1	ingob	22	enum {
		23	STOP = 0,
		24	CK = 1,
		25	CK8 = 2,
		26	CK64 = 3,
		27	CK256 = 4,
		28	CK1024 = 5,
		29	T0_FALLING_EDGE = 6,
		30	T0_RISING_EDGE = 7
		31	};
		32
		33
		34	SIGNAL (SIG_OVERFLOW0) // 8kHz
		35	{
		36	static unsigned char cnt_1ms = 1,cnt = 0;
173	holgerb	37	unsigned char pieper_ein = 0;
1	ingob	38	// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
723	hbuss	39	if(SendSPI) SendSPI--;
1	ingob	40	if(!cnt--)
		41	{
1105	killagreg	42	cnt = 9;
1	ingob	43	cnt_1ms++;
		44	cnt_1ms %= 2;
		45	if(!cnt_1ms) UpdateMotor = 1;
		46	CountMilliseconds++;
1105	killagreg	47	}
1	ingob	48
		49	if(beeptime > 1)
		50	{
1105	killagreg	51	beeptime--;
		52	if(beeptime & BeepMuster)
173	holgerb	53	{
		54	pieper_ein = 1;
		55	}
		56	else pieper_ein = 0;
1	ingob	57	}
1105	killagreg	58	else
173	holgerb	59	{
		60	pieper_ein = 0;
		61	BeepMuster = 0xffff;
1105	killagreg	62	}
173	holgerb	63
		64
		65	if(pieper_ein)
		66	{
		67	if(PlatinenVersion == 10) PORTD \|= (1<<2); // Speaker an PORTD.2
		68	else PORTC \|= (1<<7); // Speaker an PORTC.7
		69	}
1105	killagreg	70	else
173	holgerb	71	{
		72	if(PlatinenVersion == 10) PORTD &= ~(1<<2);
		73	else PORTC &= ~(1<<7);
1105	killagreg	74	}
		75
1	ingob	76	if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
		77	{
		78	if(PINC & 0x10)
		79	{
1105	killagreg	80	cntKompass++;
1	ingob	81	}
		82	else
		83	{
1105	killagreg	84	if((cntKompass) && (cntKompass < 362))
		85	{
693	hbuss	86	cntKompass += cntKompass / 41;
		87	if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
1105	killagreg	88	}
1	ingob	89	// if(cntKompass < 10) cntKompass = 10;
		90	// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
		91	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
		92	cntKompass = 0;
1105	killagreg	93	}
1	ingob	94	}
		95	}
		96
		97
		98	// -----------------------------------------------------------------------
		99
		100	unsigned int SetDelay (unsigned int t)
		101	{
		102	// TIMSK0 &= ~_BV(TOIE0);
1105	killagreg	103	return(CountMilliseconds + t + 1);
1	ingob	104	// TIMSK0 \|= _BV(TOIE0);
		105	}
		106
		107	// -----------------------------------------------------------------------
		108	char CheckDelay(unsigned int t)
		109	{
		110	// TIMSK0 &= ~_BV(TOIE0);
		111	return(((t - CountMilliseconds) & 0x8000) >> 9);
		112	// TIMSK0 \|= _BV(TOIE0);
		113	}
		114
		115	// -----------------------------------------------------------------------
		116	void Delay_ms(unsigned int w)
		117	{
		118	unsigned int akt;
		119	akt = SetDelay(w);
		120	while (!CheckDelay(akt));
		121	}
		122
395	hbuss	123	void Delay_ms_Mess(unsigned int w)
		124	{
		125	unsigned int akt;
		126	akt = SetDelay(w);
1166	hbuss	127	while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
395	hbuss	128	}
		129
1156	hbuss	130	/*****************************************************/
		131	/* Initialize Timer 2 */
		132	/*****************************************************/
		133	// The timer 2 is used to generate the PWM at PD7 (J7)
		134	// to control a camera servo for nick compensation.
		135	void TIMER2_Init(void)
910	hbuss	136	{
1242	Arthur	137
1156	hbuss	138	uint8_t sreg = SREG;
		139
		140	// disable all interrupts before reconfiguration
		141	cli();
		142
		143	// set PD7 as output of the PWM for nick servo
		144	DDRD \|= (1<<DDD7);
		145	PORTD &= ~(1<<PORTD7); // set PD7 to low
		146
		147	DDRC \|= (1<<DDC6); // set PC6 as output (Reset for HEF4017)
1171	hbuss	148	HEF4017R_ON;
1156	hbuss	149	// Timer/Counter 2 Control Register A
		150
		151	// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
		152	// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
		153	// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
		154	TCCR2A &= ~((1<<COM2A1)\|(1<<COM2A0)\|(1<<COM2B1)\|(1<<COM2B0));
		155	TCCR2A \|= (1<<WGM21)\|(1<<WGM20);
		156
		157	// Timer/Counter 2 Control Register B
		158
		159	// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
		160	// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
		161	// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
		162
		163	// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
		164	TCCR2B &= ~((1<<FOC2A)\|(1<<FOC2B)\|(1<<CS22));
		165	TCCR2B \|= (1<<CS21)\|(1<<CS20)\|(1<<WGM22);
		166
		167	// Initialize the Timer/Counter 2 Register
		168	TCNT2 = 0;
		169
		170	// Initialize the Output Compare Register A used for PWM generation on port PD7.
		171	OCR2A = 255;
		172	TCCR2A \|= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
		173
		174	// Timer/Counter 2 Interrupt Mask Register
		175	// Enable timer output compare match A Interrupt only
		176	TIMSK2 &= ~((1<<OCIE2B)\|(1<<TOIE2));
		177	TIMSK2 \|= (1<<OCIE2A);
		178
		179	SREG = sreg;
910	hbuss	180	}
		181
1156	hbuss	182	//----------------------------
		183	void Timer_Init(void)
1	ingob	184	{
1242	Arthur	185
1156	hbuss	186	tim_main = SetDelay(10);
		187	TCCR0B = CK8;
		188	TCCR0A = (1<<COM0A1)\|(1<<COM0B1)\|3;//fast PWM
		189	OCR0A = 0;
		190	OCR0B = 120;
		191	TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload
		192	//OCR1 = 0x00;
1105	killagreg	193
1156	hbuss	194	TIMSK0 \|= _BV(TOIE0);
		195	}
		196
		197
		198	/*****************************************************/
		199	/* Control Servo Position */
		200	/*****************************************************/
		201
		202	ISR(TIMER2_COMPA_vect)
		203	{
		204
		205	// frame len 22.5 ms = 14063 * 1.6 us
		206	// stop pulse: 0.3 ms = 188 * 1.6 us
		207	// min servo pulse: 0.6 ms = 375 * 1.6 us
		208	// max servo pulse: 2.4 ms = 1500 * 1.6 us
		209	// resolution: 1500 - 375 = 1125 steps
		210
		211	#define IRS_RUNTIME 127
		212	#define PPM_STOPPULSE 188
		213	// #define PPM_FRAMELEN (14063
1171	hbuss	214	#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
1156	hbuss	215	#define MINSERVOPULSE 375
		216	#define MAXSERVOPULSE 1500
		217	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
		218
		219	static uint8_t PulseOutput = 0;
		220	static uint16_t RemainingPulse = 0;
		221	static uint16_t ServoFrameTime = 0;
		222	static uint8_t ServoIndex = 0;
		223
		224	#define MULTIPLYER 4
		225	static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1224	hbuss	226	static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
1156	hbuss	227
1242	Arthur	228	// Arthur P: Added initialization of the CameraShutterCycle value here as this routine is only
		229	// called once. This retains all code changes in timer0.c. If parameter 6 > 0 then the user
		230	// has set a value for the cycle. CameraShuytterCycle == 5x Para6 to get approx 0.1sec increments.
1265	Arthur	231	// 090807: Arthur P.: Removed the shutter cycle parts as they may be impacting timing loops.
1242	Arthur	232	// CameraShutterCycle = 5 * Parameter_UserParam6;
1265	Arthur	233	// CameraShutterCycle = Parameter_UserParam6;
1242	Arthur	234
		235	// Arthur P: Modified the code to scheck the value of parameter 8. If 128 or higher then a HEF4017 is
		236	// expected and will be used. Else J7 and J9 are seen as separate normal outputs.
1229	Arthur	237	// if((PlatinenVersion < 20)
1242	Arthur	238
1229	Arthur	239	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
1156	hbuss	240	{
		241	//---------------------------
		242	// Nick servo state machine
		243	//---------------------------
		244	if(!PulseOutput) // pulse output complete
		245	{
		246	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		247	{
		248	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		249	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		250
		251	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		252	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		253	if(EE_Parameter.ServoNickCompInvert & 0x01)
		254	{ // inverting movement of servo
		255	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		256	}
		257	else
		258	{ // non inverting movement of servo
		259	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		260	}
		261	// limit servo value to its parameter range definition
		262	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		263	{
		264	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		265	}
		266	else
		267	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		268	{
		269	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		270	}
		271
		272	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		273
		274	ServoNickValue /= MULTIPLYER;
		275	DebugOut.Analog[20] = ServoNickValue;
		276
		277	// range servo pulse width
		278	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		279	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		280	// accumulate time for correct update rate
		281	ServoFrameTime = RemainingPulse;
		282	}
		283	else // we had a high pulse
		284	{
		285	TCCR2A \|= (1<<COM2A0); // make a low pulse
		286	RemainingPulse = PPM_FRAMELEN - ServoFrameTime;
		287	}
		288	// set pulse output active
		289	PulseOutput = 1;
		290	}
		291	} // EOF Nick servo state machine
		292	else
		293	{
		294	//-----------------------------------------------------
		295	// PPM state machine, onboard demultiplexed by HEF4017
		296	//-----------------------------------------------------
		297	if(!PulseOutput) // pulse output complete
		298	{
		299	if(TCCR2A & (1<<COM2A0)) // we had a low pulse
		300	{
		301	TCCR2A &= ~(1<<COM2A0);// make a high pulse
		302
		303	if(ServoIndex == 0) // if we are at the sync gap
		304	{
		305	RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
		306	ServoFrameTime = 0; // reset servo frame time
		307	HEF4017R_ON; // enable HEF4017 reset
		308	}
		309	else // servo channels
		310	{
		311	RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
		312	switch(ServoIndex) // map servo channels
		313	{
		314	case 1: // Nick Compensation Servo
		315	ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset
		316	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
		317	if(EE_Parameter.ServoNickCompInvert & 0x01)
		318	{ // inverting movement of servo
		319	ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		320	}
		321	else
		322	{ // non inverting movement of servo
		323	ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		324	}
		325	// limit servo value to its parameter range definition
		326	if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		327	{
		328	ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		329	}
		330	else
		331	if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		332	{
		333	ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		334	}
		335	RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		336	ServoNickValue /= MULTIPLYER;
		337	DebugOut.Analog[20] = ServoNickValue;
		338	break;
1224	hbuss	339	case 2: // Roll Compensation Servo
1242	Arthur	340	// Arthur P: Modified the code here to allow the user to either continue with the default
		341	// offset value of 80, or set a different offset using parameter 7. I.e. if
		342	// parameter 7 == 0 then the default is used, but if a value > 0 is entered then
		343	// that value is used.
		344	if(Parameter_UserParam7==0)
		345	{
		346	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset
		347	}
		348	else
		349	{
		350	ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_UserParam7 * MULTIPLYER) / 4;
		351	}
1224	hbuss	352	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		353	//if(EE_Parameter.ServoRollCompInvert & 0x01)
1229	Arthur	354	if(Parameter_UserParam8 & 0x40)
1242	Arthur	355	{ // Arthur P: Inverting movement of servo if 64 has been added to User Parameter8
1229	Arthur	356	ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
1224	hbuss	357	}
1229	Arthur	358	/**/ else
1224	hbuss	359	{ // non inverting movement of servo
		360	ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) );
		361	}
1229	Arthur	362	/**/ // limit servo value to its parameter range definition
1224	hbuss	363	if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) )
		364	{
		365	ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER;
		366	}
		367	else
		368	if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
		369	{
		370	ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
		371	}
		372	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		373	ServoRollValue /= MULTIPLYER;
		374	//DebugOut.Analog[20] = ServoRollValue;
1156	hbuss	375
1224	hbuss	376	/* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset
		377	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
		378	if(EE_Parameter.ServoRollCompInvert & 0x01)
		379	{ // inverting movement of servo
		380	ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		381	}
		382	else
		383	{ // non inverting movement of servo
		384	ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) );
		385	}
		386	// limit servo value to its parameter range definition
		387	if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) )
		388	{
		389	ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER;
		390	}
		391	else
		392	if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) )
		393	{
		394	ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER;
		395	}
		396	RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
		397	ServoRollValue /= MULTIPLYER;
		398	//DebugOut.Analog[20] = ServoRollValue;
		399	*/ break;
1242	Arthur	400	case 3: // Arthur P: Shutter Servo including interval control over parameter 5 and 6.
1224	hbuss	401
1242	Arthur	402
		403	if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] < -32)
		404	{
		405	// Set servo to null position, turning camera off.
		406	RemainingPulse = MINSERVOPULSE;
		407	}
		408	else
		409	{
1265	Arthur	410	// 090807: Arthur P.: Removed the shutter cycle parts as they may be impacting timing loops.
		411	// if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 32)
1242	Arthur	412	// Middle position on a 3 position switch which runs from -127 to +127
1265	Arthur	413	// {
1242	Arthur	414
		415	RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
1265	Arthur	416	// }
		417	// else
		418	// {
		419	// Cycle shutter servo between on and off depending upon CameraShutterCycleCounter
1242	Arthur	420	// If CameraShutterCylce < 50 then default to continuous shoot.
1265	Arthur	421	//if(CameraShutterCycle < 50 )
		422	// {
1242	Arthur	423	RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
1265	Arthur	424	// }
		425	// else
		426	// {
		427	// if(CameraShutterCycleCounter == CameraShutterCycle)
		428	// {
1242	Arthur	429	// Shutter on
1265	Arthur	430	// CameraShutterCycleCounter = 0;
		431	// RemainingPulse = MINSERVOPULSE + SERVORANGE/2;
		432	// }
		433	// else
		434	// {
1242	Arthur	435	// Leave on for at least 24 cycles or 0.25 seconds to allow
		436	// the camera to properly trigger, turn off if past 0.25 sec.
		437	// For now this is actually set via para5 to allow for a long enough
		438	// shutter pulse for different cameras. Once it is clear what value
		439	// works, this can be changed to a hardcoded value.
1265	Arthur	440	// if(CameraShutterCycleCounter>Parameter_UserParam5)
		441	// {
1242	Arthur	442
1265	Arthur	443	// RemainingPulse = MINSERVOPULSE;
		444	// }
		445	// CameraShutterCycleCounter++;
		446	// }
		447	// }
		448	// }
1242	Arthur	449	}
		450	break;
1265	Arthur	451	// 090807 Arthur P: Removed the output of the remaining channels as this just eats time and probably
		452	// does not have much of a function. Better to add specific outputs as needed.
		453	// default: // other servo channels
		454	// RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2�s
		455	// break;
1156	hbuss	456	}
		457	// range servo pulse width
		458	if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
		459	else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
		460	// substract stop pulse width
1242	Arthur	461	// Arthur P: I think the following line, correcting for the PPM sTOPPULSE does not apply for the
		462	// calculated pulses, or maybe not at all. Therefore I-m commenting it out to see what happens....
		463	// 090624 reactivated as rollservo correction can now be done over para7.
1156	hbuss	464	RemainingPulse -= PPM_STOPPULSE;
		465	// accumulate time for correct sync gap
		466	ServoFrameTime += RemainingPulse;
		467	}
		468	}
		469	else // we had a high pulse
		470	{
		471	TCCR2A \|= (1<<COM2A0); // make a low pulse
		472	// set pulsewidth to stop pulse width
		473	RemainingPulse = PPM_STOPPULSE;
		474	// accumulate time for correct sync gap
		475	ServoFrameTime += RemainingPulse;
1171	hbuss	476	if(ServoActive && SenderOkay > 180) HEF4017R_OFF; // disable HEF4017 reset
1156	hbuss	477	ServoIndex++; // change to next servo channel
		478	if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
		479	}
		480	// set pulse output active
		481	PulseOutput = 1;
		482	}
		483	} // EOF PPM state machine
		484
		485	// General pulse output generator
		486	if(RemainingPulse > (255 + IRS_RUNTIME))
		487	{
		488	OCR2A = 255;
		489	RemainingPulse -= 255;
910	hbuss	490	}
1156	hbuss	491	else
		492	{
		493	if(RemainingPulse > 255) // this is the 2nd last part
		494	{
		495	if((RemainingPulse - 255) < IRS_RUNTIME)
		496	{
		497	OCR2A = 255 - IRS_RUNTIME;
		498	RemainingPulse -= 255 - IRS_RUNTIME;
		499
		500	}
		501	else // last part > ISR_RUNTIME
		502	{
		503	OCR2A = 255;
		504	RemainingPulse -= 255;
		505	}
		506	}
		507	else // this is the last part
		508	{
		509	OCR2A = RemainingPulse;
		510	RemainingPulse = 0;
		511	PulseOutput = 0; // trigger to stop pulse
		512	}
		513	} // EOF general pulse output generator
1111	hbuss	514	}

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(root)/branches/V0.74d-Arthur P/timer0.c - Rev 1265