| 2,8 → 2,37 |
|---|
| #define _TIMER2_H |
| |
| #include <inttypes.h> |
| #include <math.h> |
| #include "configuration.h" |
| |
| extern volatile uint16_t pwmChannels[MAX_PWMCHANNELS]; |
| |
| #define SERVO_RESOLUTION FINE |
| |
| #if (SERVO_RESOLUTION == COARSE) |
| #define F_TIMER2 (F_CPU/32) |
| #define CS2 ((1<<CS21)|(1<<CS20)) |
| #else |
| #define F_TIMER2(F_CPU/8) |
| #define CS2 (1<<CS21) |
| #endif |
| |
| //#define ABSOLUTE_MIN ((float)F_TIMER2*0.00075 + 0.5) |
| //#define ABSOLUTE_MAX ((float)F_TIMER2*0.00225 + 0.5) |
| |
| #define PULSELENGTH_800 ((float)F_TIMER2*0.0008) |
| #define PULSELENGTH_1000 ((float)F_TIMER2*0.0010) |
| #define PULSELENGTH_1500 ((float)F_TIMER2*0.0015) |
| #define PULSELENGTH_2000 ((float)F_TIMER2*0.0020) |
| #define PULSELENGTH_2200 ((float)F_TIMER2*0.0022) |
| |
| #define PWM_CONTROL_SCALE_FACTOR (PULSELENGTH_1000/(float)CONTROL_RANGE) |
| #define PWM_BYTE_SCALE_FACTOR (PULSELENGTH_1000/256.0) |
| |
| // Prevent damage even if grossly misconfigured: |
| // Multiply this by angle in int16-degrees and again by 100 to get servo deflection to same angle |
| // (assuming 90 degrees over 1 ms, which is the norm): |
| |
| void timer2_init(void); |
| void calculateServoValues(void); |
| //void calculateServoValues(void); |
| #endif //_TIMER2_H |
| |