Rev 2386 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2386 | Rev 2426 | ||
|---|---|---|---|
| Line 118... | Line 118... | ||
| 118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
| 119 | else PORTC &= ~(1<<7); |
119 | else PORTC &= ~(1<<7); |
| 120 | #else |
120 | #else |
| 121 | if(pieper_ein) |
121 | if(pieper_ein) |
| 122 | { |
122 | { |
| 123 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
123 | // if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| - | 124 | // else |
|
| 124 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
125 | PORTC |= (1<<7); // Speaker an PORTC.7 |
| 125 | } |
126 | } |
| 126 | else |
127 | else |
| 127 | { |
128 | { |
| 128 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
129 | // if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| - | 130 | // else |
|
| 129 | else PORTC &= ~(1<<7); |
131 | PORTC &= ~(1<<7); |
| 130 | } |
132 | } |
| 131 | #endif |
133 | #endif |
| 132 | } |
134 | } |
| 133 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
135 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
| 134 | { |
136 | { |
| Line 298... | Line 300... | ||
| 298 | else |
300 | else |
| 299 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
301 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
| 300 | { |
302 | { |
| 301 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
303 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| 302 | } |
304 | } |
| 303 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
305 | // if(PlatinenVersion < 20) CalculateServoSignals = 0; else |
| - | 306 | CalculateServoSignals++; |
|
| 304 | } |
307 | } |
| 305 | else |
308 | else |
| 306 | { |
309 | { |
| 307 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
310 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
| 308 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
311 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
| Line 348... | Line 351... | ||
| 348 | 351 | ||
| 349 | static uint8_t PulseOutput = 0; |
352 | static uint8_t PulseOutput = 0; |
| 350 | static uint16_t ServoFrameTime = 0; |
353 | static uint16_t ServoFrameTime = 0; |
| Line 351... | Line 354... | ||
| 351 | static uint8_t ServoIndex = 0; |
354 | static uint8_t ServoIndex = 0; |
| 352 | 355 | ||
| 353 | 356 | /* |
|
| 354 | if(PlatinenVersion < 20) |
357 | if(PlatinenVersion < 20) |
| 355 | { |
358 | { |
| 356 | //--------------------------- |
359 | //--------------------------- |
| Line 378... | Line 381... | ||
| 378 | // set pulse output active |
381 | // set pulse output active |
| 379 | PulseOutput = 1; |
382 | PulseOutput = 1; |
| 380 | } |
383 | } |
| 381 | } // EOF Nick servo state machine |
384 | } // EOF Nick servo state machine |
| 382 | else |
385 | else |
| - | 386 | */ |
|
| 383 | { |
387 | { |
| 384 | //----------------------------------------------------- |
388 | //----------------------------------------------------- |
| 385 | // PPM state machine, onboard demultiplexed by HEF4017 |
389 | // PPM state machine, onboard demultiplexed by HEF4017 |
| 386 | //----------------------------------------------------- |
390 | //----------------------------------------------------- |
| 387 | if(!PulseOutput) // pulse output complete |
391 | if(!PulseOutput) // pulse output complete |