Rev 1127 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1112 | thjac | 1 | |
| 2 | #include "main.h" |
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| 3 | #include "parameter.h" |
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| 4 | |||
| 5 | volatile unsigned int CountMilliseconds = 0; |
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| 6 | volatile static unsigned int tim_main; |
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| 7 | volatile unsigned char UpdateMotor = 0; |
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| 8 | volatile unsigned int cntKompass = 0; |
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| 9 | volatile unsigned int beeptime = 0; |
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| 10 | volatile unsigned char SendSPI = 0; |
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| 11 | volatile unsigned int ServoState = 40; |
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| 12 | |||
| 13 | unsigned int BeepMuster = 0xffff; |
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| 14 | unsigned int ServoValue = 0; |
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| 15 | |||
| 16 | enum { |
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| 17 | STOP = 0, |
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| 18 | CK = 1, |
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| 19 | CK8 = 2, |
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| 20 | CK64 = 3, |
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| 21 | CK256 = 4, |
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| 22 | CK1024 = 5, |
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| 23 | T0_FALLING_EDGE = 6, |
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| 24 | T0_RISING_EDGE = 7 |
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| 25 | }; |
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| 26 | |||
| 27 | |||
| 28 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
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| 29 | { |
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| 30 | static unsigned char cnt_1ms = 1,cnt = 0; |
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| 31 | unsigned char pieper_ein = 0; |
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| 32 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
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| 33 | if(SendSPI) SendSPI--; |
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| 34 | if(!cnt--) |
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| 35 | { |
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| 36 | cnt = 9; |
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| 37 | cnt_1ms++; |
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| 38 | cnt_1ms %= 2; |
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| 39 | if(!cnt_1ms) UpdateMotor = 1; |
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| 40 | CountMilliseconds++; |
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| 41 | } |
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| 42 | |||
| 43 | if(beeptime > 1) |
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| 44 | { |
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| 45 | beeptime--; |
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| 46 | if(beeptime & BeepMuster) |
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| 47 | { |
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| 48 | pieper_ein = 1; |
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| 49 | } |
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| 50 | else pieper_ein = 0; |
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| 51 | } |
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| 52 | else |
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| 53 | { |
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| 54 | pieper_ein = 0; |
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| 55 | BeepMuster = 0xffff; |
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| 56 | } |
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| 57 | |||
| 58 | |||
| 59 | if(pieper_ein) |
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| 60 | { |
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| 61 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
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| 62 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
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| 63 | } |
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| 64 | else |
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| 65 | { |
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| 66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
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| 67 | else PORTC &= ~(1<<7); |
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| 68 | } |
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| 69 | |||
| 70 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
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| 71 | { |
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| 72 | if(PINC & 0x10) |
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| 73 | { |
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| 74 | cntKompass++; |
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| 75 | } |
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| 76 | else |
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| 77 | { |
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| 78 | if((cntKompass) && (cntKompass < 362)) |
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| 79 | { |
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| 80 | cntKompass += cntKompass / 41; |
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| 81 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
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| 82 | } |
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| 83 | // if(cntKompass < 10) cntKompass = 10; |
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| 84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
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| 85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 86 | cntKompass = 0; |
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| 87 | } |
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| 88 | } |
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| 89 | } |
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| 90 | |||
| 91 | //---------------------------- |
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| 92 | void Timer_Init(void) |
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| 93 | { |
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| 94 | tim_main = SetDelay(10); |
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| 95 | TCCR0B = CK8; |
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| 96 | TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
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| 97 | OCR0A = 0; |
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| 98 | OCR0B = 120; |
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| 99 | TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
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| 100 | //OCR1 = 0x00; |
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| 101 | |||
| 102 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
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| 103 | // TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
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| 104 | TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
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| 105 | |||
| 106 | |||
| 107 | TIMSK2 |= _BV(OCIE2A); |
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| 108 | |||
| 109 | TIMSK0 |= _BV(TOIE0); |
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| 110 | OCR2A = 10; |
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| 111 | TCNT2 = 0; |
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| 112 | |||
| 113 | } |
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| 114 | |||
| 115 | // ----------------------------------------------------------------------- |
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| 116 | |||
| 117 | unsigned int SetDelay (unsigned int t) |
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| 118 | { |
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| 119 | // TIMSK0 &= ~_BV(TOIE0); |
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| 120 | return(CountMilliseconds + t + 1); |
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| 121 | // TIMSK0 |= _BV(TOIE0); |
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| 122 | } |
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| 123 | |||
| 124 | // ----------------------------------------------------------------------- |
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| 125 | char CheckDelay(unsigned int t) |
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| 126 | { |
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| 127 | // TIMSK0 &= ~_BV(TOIE0); |
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| 128 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
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| 129 | // TIMSK0 |= _BV(TOIE0); |
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| 130 | } |
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| 131 | |||
| 132 | // ----------------------------------------------------------------------- |
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| 133 | void Delay_ms(unsigned int w) |
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| 134 | { |
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| 135 | unsigned int akt; |
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| 136 | akt = SetDelay(w); |
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| 137 | while (!CheckDelay(akt)); |
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| 138 | } |
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| 139 | |||
| 140 | void Delay_ms_Mess(unsigned int w) |
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| 141 | { |
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| 142 | unsigned int akt; |
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| 143 | akt = SetDelay(w); |
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| 144 | while (!CheckDelay(akt)) ANALOG_ON; |
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| 145 | } |
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| 146 | |||
| 147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 148 | // Servo ansteuern |
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| 149 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 150 | SIGNAL(SIG_OVERFLOW2) { |
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| 151 | |||
| 152 | if (ServoState > 0) |
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| 153 | PORTD |= 0x80; |
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| 154 | else |
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| 155 | PORTD &= ~0x80; |
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| 156 | |||
| 157 | TCCR2A = 3; |
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| 158 | TIMSK2 &= ~_BV( TOIE2 ); |
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| 159 | } |
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| 160 | |||
| 161 | SIGNAL(SIG_OUTPUT_COMPARE2A) { |
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| 162 | |||
| 163 | static unsigned char postPulse = 0x80; |
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| 164 | static int filterServo = 100; |
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| 165 | |||
| 166 | if( ServoState == 4 ) { |
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| 167 | |||
| 168 | ServoValue = 0x0030; // Offset Part1 |
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| 169 | filterServo = ( filterServo * 3 + (int) Parameter_ServoNickControl * 2 ) >> DIV_4; |
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| 170 | ServoValue += filterServo; |
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| 171 | |||
| 172 | // Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden |
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| 173 | if( ServoValue < ( (int) EE_Parameter.ServoNickMin * 3 ) ) |
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| 174 | ServoValue = (int) EE_Parameter.ServoNickMin * 3; |
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| 175 | else if( ServoValue > ( (int) EE_Parameter.ServoNickMax * 3 ) ) |
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| 176 | ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
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| 177 | |||
| 178 | long integral; |
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| 179 | |||
| 180 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
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| 181 | * umschalten (sh. parameter.h) |
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| 182 | */ |
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| 183 | if( PARAM_X_FORMATION ) { |
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| 184 | integral = IntegralNick - IntegralRoll; |
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| 185 | } else { |
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| 186 | integral = IntegralNick; |
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| 187 | } |
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| 188 | |||
| 189 | if( EE_Parameter.ServoNickCompInvert & 0x01 ) |
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| 190 | ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
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| 191 | else |
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| 192 | ServoValue -= ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
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| 193 | |||
| 194 | DebugOut.Analog[20] = ServoValue; |
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| 195 | |||
| 196 | if ( ( ServoValue % 255 ) < 45 ) { |
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| 197 | ServoValue += 77; |
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| 198 | postPulse = 0x60 - 77; |
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| 199 | } else { |
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| 200 | postPulse = 0x60; |
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| 201 | } |
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| 202 | |||
| 203 | OCR2A = 255 - ( ServoValue % 256 ); |
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| 204 | TCCR2A = (1 << COM2A1 ) | ( 1 << COM2A0 ) | 3; |
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| 205 | |||
| 206 | } else if( ( ServoState > 0 ) && ( ServoState < 4 ) ) { |
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| 207 | |||
| 208 | if( ServoValue > 255 ) { |
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| 209 | PORTD |= 0x80; |
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| 210 | TCCR2A = 3; |
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| 211 | ServoValue -= 255; |
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| 212 | } else { |
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| 213 | TCCR2A = ( 1 << COM2A1 ) | ( 0 << COM2A0 ) | 3; |
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| 214 | OCR2A = postPulse; // Offset Part2 |
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| 215 | ServoState = 1; |
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| 216 | } |
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| 217 | |||
| 218 | } else if( ServoState == 0 ) { |
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| 219 | ServoState = (int) EE_Parameter.ServoNickRefresh << MUL_4; |
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| 220 | PORTD &= ~0x80; |
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| 221 | TCCR2A = 3; |
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| 222 | } |
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| 223 | |||
| 224 | ServoState--; |
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| 225 | } |