Rev 1464 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1464 | Rev 1465 | ||
|---|---|---|---|
| Line 9... | Line 9... | ||
| 9 | 9 | ||
| 10 | 10 | ||
| Line 11... | Line 11... | ||
| 11 | uint8_t eeprom_neutral_pos[6] EEMEM; |
11 | uint8_t eeprom_neutral_pos[6] EEMEM; |
| 12 | uint16_t eeprom_pwm_limit[6] EEMEM; |
12 | uint16_t eeprom_pwm_limit[6] EEMEM; |
| 13 | 13 | ||
| 14 | volatile uint8_t pwm_signal[6]; |
14 | uint8_t pwm_signal[6]; |
| 15 | volatile uint8_t pwm_neutral_position[6]; |
15 | uint8_t pwm_neutral_position[6]; |
| - | 16 | uint8_t pwm_position[6]; |
|
| Line 16... | Line 17... | ||
| 16 | volatile uint8_t pwm_position[6]; |
17 | uint16_t pwm_limit[6]; |
| Line 17... | Line 18... | ||
| 17 | volatile uint16_t pwm_limit[6]; |
18 | uint8_t pwm_active; |
| Line 59... | Line 60... | ||
| 59 | 60 | ||
| Line 60... | Line 61... | ||
| 60 | void pwm_check_active() { |
61 | void pwm_check_active() { |
| 61 | 62 | ||
| 62 | // check if pwm is configured |
63 | // check if pwm is configured |
| 63 | pwm_active = (pwm_limit[0] != 0xffff) ? (1 << SERVO1) : 0; |
64 | pwm_active = (pwm_limit[0] != 0xffff) ? (1 << SERVO1) : 0; |
| 64 | pwm_active |= (pwm_limit[1] != 0xffff) ? (2 << SERVO1) : 0; |
65 | pwm_active |= (pwm_limit[1] != 0xffff) ? (1 << SERVO2) : 0; |
| 65 | pwm_active |= (pwm_limit[2] != 0xffff) ? (3 << SERVO1) : 0; |
66 | pwm_active |= (pwm_limit[2] != 0xffff) ? (1 << SERVO3) : 0; |
| 66 | pwm_active |= (pwm_limit[3] != 0xffff) ? (4 << SERVO1) : 0; |
67 | pwm_active |= (pwm_limit[3] != 0xffff) ? (1 << SERVO4) : 0; |
| Line 67... | Line 68... | ||
| 67 | pwm_active |= (pwm_limit[4] != 0xffff) ? (5 << SERVO1) : 0; |
68 | pwm_active |= (pwm_limit[4] != 0xffff) ? (1 << SERVO5) : 0; |
| Line 68... | Line 69... | ||
| 68 | pwm_active |= (pwm_limit[5] != 0xffff) ? (6 << SERVO1) : 0; |
69 | pwm_active |= (pwm_limit[5] != 0xffff) ? (1 << SERVO6) : 0; |
| Line 128... | Line 129... | ||
| 128 | blink_counter++; |
129 | blink_counter++; |
| Line 129... | Line 130... | ||
| 129 | 130 | ||
| Line 130... | Line 131... | ||
| 130 | if (pwm_active == 0) { // not configured |
131 | if (pwm_active == 0) { // not configured |
| - | 132 | ||
| Line 131... | Line 133... | ||
| 131 | 133 | blink = 50; |
|
| Line 132... | Line 134... | ||
| 132 | blink = 50; |
134 | pwm_status = 1; |
| 133 | 135 | ||
| - | 136 | } else { |
|
| 134 | } else { |
137 | |
| 135 | 138 | if (I2C_timeout == 0) { // no i2c signal |
|
| - | 139 | blink = 0; |
|
| - | 140 | pwm_status = 2; |
|
| - | 141 | } else { |
|
| - | 142 | I2C_timeout--; |
|
| 136 | if (I2C_timeout == 0) { // no i2c signal |
143 | if (I2C_timeout == 0) { |
| - | 144 | set_pwm_neutral(); |
|
| 137 | blink = 0; |
145 | set_pwm(); |
| Line 138... | Line 146... | ||
| 138 | } else { |
146 | } |
| Line 139... | Line 147... | ||
| 139 | I2C_timeout--; |
147 | blink = 5; |