| 33,9 → 33,9 |
|---|
| |
| // Timer/Counter 2 Control Register B |
| |
| // Set clock divider for timer 2 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz. |
| // Set clock divider for timer 2 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz, |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz or 0.1024 ms |
| |
| // divider 8 (Bits: CS022 = 0, CS21 = 1, CS20 = 0) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<WGM22)); |
| 65,33 → 65,33 |
|---|
| |
| if(!timer--) |
| { |
| // enable PWM on PD7 in non inverting mode |
| TCCR2A = (TCCR2A & 0x3F)|(1<<COM2A1)|(0<<COM2A0); |
| // enable PWM on PD7 in non inverting mode |
| TCCR2A = (TCCR2A & 0x3F)|(1<<COM2A1)|(0<<COM2A0); |
| |
| ServoValue = Parameter_ServoNickControl; |
| // inverting movment of servo |
| if(ParamSet.ServoNickCompInvert & 0x01) |
| { |
| ServoValue += ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| } |
| else // non inverting movement of servo |
| { |
| ServoValue -= ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| } |
| ServoValue = Parameter_ServoNickControl; |
| // inverting movment of servo |
| if(ParamSet.ServoNickCompInvert & 0x01) |
| { |
| ServoValue += ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| } |
| else // non inverting movement of servo |
| { |
| ServoValue -= ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| } |
| |
| // limit servo value to its parameter range definition |
| if(ServoValue < ParamSet.ServoNickMin) |
| { |
| ServoValue = ParamSet.ServoNickMin; |
| } |
| else if(ServoValue > ParamSet.ServoNickMax) |
| { |
| ServoValue = ParamSet.ServoNickMax; |
| } |
| // limit servo value to its parameter range definition |
| if(ServoValue < ParamSet.ServoNickMin) |
| { |
| ServoValue = ParamSet.ServoNickMin; |
| } |
| else if(ServoValue > ParamSet.ServoNickMax) |
| { |
| ServoValue = ParamSet.ServoNickMax; |
| } |
| |
| // update PWM |
| OCR2A = ServoValue; |
| timer = ParamSet.ServoNickRefresh; |
| // update PWM |
| OCR2A = ServoValue; |
| timer = ParamSet.ServoNickRefresh; |
| } |
| else |
| { |