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1400 acid 2
#include "main.h"
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#include "spectrum.h"
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#include "heli.h"
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volatile unsigned int CountMilliseconds = 0;
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volatile static unsigned int tim_main;
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volatile unsigned char UpdateMotor = 0;
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volatile unsigned int cntKompass = 0;
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volatile unsigned int beeptime = 0;
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volatile unsigned char SendSPI = 0;
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unsigned int BeepMuster = 0xffff;
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volatile int16_t        ServoNickValue = 0;
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volatile int16_t        ServoRollValue = 0;
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enum {
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  STOP             = 0,
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  CK               = 1,
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  CK8              = 2,
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  CK64             = 3,
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  CK256            = 4,
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  CK1024           = 5,
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  T0_FALLING_EDGE  = 6,
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  T0_RISING_EDGE   = 7
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};
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SIGNAL (SIG_OVERFLOW0)    // 9,7kHz
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{
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    unsigned char pieper_ein = 0;
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   if(SendSPI) SendSPI--;
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   if(SpektrumTimer) SpektrumTimer--;
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   if(!cnt--)
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    {
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     cnt = 9;
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     cnt_1ms++;
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     cnt_1ms %= 2;
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     if(!cnt_1ms) UpdateMotor = 1;
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     CountMilliseconds++;
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    }
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     if(beeptime >= 1)
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        {
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        beeptime--;
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        if(beeptime & BeepMuster)
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         {
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          pieper_ein = 1;
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         }
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         else pieper_ein = 0;
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        }
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     else
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      {
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       pieper_ein = 0;
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       BeepMuster = 0xffff;
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      }
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     if(pieper_ein)
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        {
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          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
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          else                      PORTC |= (1<<7); // Speaker an PORTC.7
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        }
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     else
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        {
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         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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         else                      PORTC &= ~(1<<7);
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        }
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 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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 {
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  if(PINC & 0x10)
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   {
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    cntKompass++;
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   }
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  else
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   {
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    if((cntKompass) && (cntKompass < 362))
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    {
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     cntKompass += cntKompass / 41;
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     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
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    }
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//     if(cntKompass < 10) cntKompass =r 10;
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//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
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     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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    cntKompass = 0;
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   }
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 }
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}
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// -----------------------------------------------------------------------
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unsigned int SetDelay (unsigned int t)
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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  return(CountMilliseconds + t + 1);
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//  TIMSK0 |= _BV(TOIE0);
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}
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// -----------------------------------------------------------------------
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char CheckDelay(unsigned int t)
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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  return(((t - CountMilliseconds) & 0x8000) >> 9);
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//  TIMSK0 |= _BV(TOIE0);
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}
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// -----------------------------------------------------------------------
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void Delay_ms(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt));
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}
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void Delay_ms_Mess(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;}
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}
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/*****************************************************/
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/*              Initialize Timer 2                   */
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/*****************************************************/
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// The timer 2 is used to generate the PWM at PD7 (J7)
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// to control a camera servo for nick compensation.
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void TIMER2_Init(void)
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{
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        uint8_t sreg = SREG;
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        // disable all interrupts before reconfiguration
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        cli();
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        PORTD &= ~(1<<PORTD7);  // set PD7 to low
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        DDRC  |= (1<<DDC6);     // set PC6 as output (Reset for HEF4017)
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    HEF4017R_ON;
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        // Timer/Counter 2 Control Register A
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        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)
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    // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
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    // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
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        TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0));
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    TCCR2A |= (1<<WGM21)|(1<<WGM20);
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    // Timer/Counter 2 Control Register B
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        // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz
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        // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us
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        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms
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    // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1)
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        TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22));
160
    TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22);
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        // Initialize the Timer/Counter 2 Register
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    TCNT2 = 0;
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        // Initialize the Output Compare Register A used for PWM generation on port PD7.
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        OCR2A = 255;
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        TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0
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        // Timer/Counter 2 Interrupt Mask Register
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        // Enable timer output compare match A Interrupt only
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        TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2));
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        TIMSK2 |= (1<<OCIE2A);
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174
    SREG = sreg;
175
}
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//----------------------------
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void Timer_Init(void)
179
{
180
    tim_main = SetDelay(10);
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    TCCR0B = CK8;
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    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
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    OCR0A =  0;
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    OCR0B = 120;
185
    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
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    //OCR1  = 0x00;
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    TIMSK0 |= _BV(TOIE0);
189
}
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/*****************************************************/
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/*              Control Servo Position               */
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/*****************************************************/
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ISR(TIMER2_COMPA_vect)
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{
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        // frame len 22.5 ms = 14063 * 1.6 us
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        // stop pulse: 0.3 ms = 188 * 1.6 us
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        // min servo pulse: 0.6 ms =  375 * 1.6 us
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        // max servo pulse: 2.4 ms = 1500 * 1.6 us
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        // resolution: 1500 - 375 = 1125 steps
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        #define IRS_RUNTIME 127
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        #define PPM_STOPPULSE 188
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//      #define PPM_FRAMELEN (14063
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    #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)
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        #define MINSERVOPULSE 375
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        #define MAXSERVOPULSE 1500
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        #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
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        static uint8_t  PulseOutput = 0;
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        static uint16_t RemainingPulse = 0;
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        static uint16_t ServoFrameTime = 0;
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        static uint8_t  ServoIndex = 0;
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        #define MULTIPLYER 4
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        static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
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        static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon
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        //-----------------------------------------------------
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        // PPM state machine, onboard demultiplexed by HEF4017
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        //-----------------------------------------------------
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        if(!PulseOutput) // pulse output complete
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        {
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                if(TCCR2A & (1<<COM2A0)) // we had a low pulse
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                {
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                        TCCR2A &= ~(1<<COM2A0);// make a high pulse
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                        if(ServoIndex == 0) // if we are at the sync gap
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                        {
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                                RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time
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                                ServoFrameTime = 0; // reset servo frame time
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                                HEF4017R_ON; // enable HEF4017 reset
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                        }
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                        else // servo channels
237
                        {
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                                RemainingPulse  = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms
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                                RemainingPulse += 2 * servoValues[ServoIndex - 1]; // add channel value, factor of 2 because timer 1 increments 3.2µs
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                                // range servo pulse width
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                                if(RemainingPulse > MAXSERVOPULSE )                     RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit
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                                else if(RemainingPulse < MINSERVOPULSE )        RemainingPulse = MINSERVOPULSE; // lower servo pulse limit
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                                // substract stop pulse width
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                                RemainingPulse -= PPM_STOPPULSE;
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                                // accumulate time for correct sync gap
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                                ServoFrameTime += RemainingPulse;
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                        }
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                }
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                else // we had a high pulse
251
                {
252
                        TCCR2A |= (1<<COM2A0); // make a low pulse
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                        // set pulsewidth to stop pulse width
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                        RemainingPulse = PPM_STOPPULSE;
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                        // accumulate time for correct sync gap
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                        ServoFrameTime += RemainingPulse;
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                        HEF4017R_OFF; // disable HEF4017 reset
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                        ServoIndex++; // change to next servo channel
259
                        if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap
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                }
261
                // set pulse output active
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                PulseOutput = 1;
263
        }
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265
        // General pulse output generator
266
        if(RemainingPulse > (255 + IRS_RUNTIME))
267
        {
268
                OCR2A = 255;
269
                RemainingPulse -= 255;
270
        }
271
        else
272
        {
273
                if(RemainingPulse > 255) // this is the 2nd last part
274
                {
275
                        if((RemainingPulse - 255) < IRS_RUNTIME)
276
                        {
277
                                OCR2A = 255 - IRS_RUNTIME;
278
                                RemainingPulse -= 255 - IRS_RUNTIME;
279
 
280
                        }
281
                        else // last part > ISR_RUNTIME
282
                        {
283
                                OCR2A = 255;
284
                                RemainingPulse -= 255;
285
                        }
286
                }
287
                else // this is the last part
288
                {
289
                        OCR2A = RemainingPulse;
290
                        RemainingPulse = 0;
291
                        PulseOutput = 0; // trigger to stop pulse
292
                }
293
        } // EOF general pulse output generator
294
}