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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _TIMER2_H |
| 2 | #define _TIMER2_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 2189 | - | 5 | #include <math.h> |
| 6 | #include "configuration.h" |
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| 1612 | dongfang | 7 | |
| 2189 | - | 8 | extern volatile uint16_t pwmChannels[MAX_PWMCHANNELS]; |
| 9 | |||
| 10 | #define SERVO_RESOLUTION FINE |
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| 11 | |||
| 12 | #if (SERVO_RESOLUTION == COARSE) |
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| 13 | #define F_TIMER2 (F_CPU/32) |
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| 14 | #define CS2 ((1<<CS21)|(1<<CS20)) |
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| 15 | #else |
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| 16 | #define F_TIMER2(F_CPU/8) |
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| 17 | #define CS2 (1<<CS21) |
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| 18 | #endif |
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| 19 | |||
| 20 | //#define ABSOLUTE_MIN ((float)F_TIMER2*0.00075 + 0.5) |
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| 21 | //#define ABSOLUTE_MAX ((float)F_TIMER2*0.00225 + 0.5) |
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| 22 | |||
| 23 | #define PULSELENGTH_800 ((float)F_TIMER2*0.0008) |
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| 24 | #define PULSELENGTH_1000 ((float)F_TIMER2*0.0010) |
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| 25 | #define PULSELENGTH_1500 ((float)F_TIMER2*0.0015) |
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| 26 | #define PULSELENGTH_2000 ((float)F_TIMER2*0.0020) |
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| 27 | #define PULSELENGTH_2200 ((float)F_TIMER2*0.0022) |
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| 28 | |||
| 29 | #define PWM_CONTROL_SCALE_FACTOR (PULSELENGTH_1000/(float)CONTROL_RANGE) |
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| 30 | #define PWM_BYTE_SCALE_FACTOR (PULSELENGTH_1000/256.0) |
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| 31 | |||
| 32 | // Prevent damage even if grossly misconfigured: |
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| 33 | // Multiply this by angle in int16-degrees and again by 100 to get servo deflection to same angle |
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| 34 | // (assuming 90 degrees over 1 ms, which is the norm): |
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| 35 | |||
| 1612 | dongfang | 36 | void timer2_init(void); |
| 2189 | - | 37 | //void calculateServoValues(void); |
| 1612 | dongfang | 38 | #endif //_TIMER2_H |