85,7 → 85,7 |
} |
} |
|
//---------------------------- |
|
void Timer_Init(void) |
{ |
tim_main = SetDelay(10); |
97,10 → 97,9 |
//OCR1 = 0x00; |
|
TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
// TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); // clk/256 |
TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22); // clk/64 |
TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
|
|
// TIMSK2 |= _BV(TOIE2); |
TIMSK2 |= _BV(OCIE2A); |
|
TIMSK0 |= _BV(TOIE0); |
144,60 → 143,10 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Servo ansteuern |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
SIGNAL(SIG_OVERFLOW2) |
{ |
PORTD |= 0x80; |
TCCR2A =3; |
TIMSK2 &= ~_BV(TOIE2); |
} |
|
SIGNAL(SIG_OUTPUT_COMPARE2A) |
{ |
#define MULTIPLIER 4 |
#define PPM_OFFSET 256 // 820us |
static unsigned int timer = 10 * MULTIPLIER; |
static unsigned char timer = 10; |
|
if(timer == 3) |
{ |
ServoValue = PPM_OFFSET; |
ServoValue += (int) Parameter_ServoNickControl * 2; |
|
if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128 )/ (512/MULTIPLIER); |
else ServoValue -= ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128) / (512/MULTIPLIER); |
|
if((ServoValue) < ((int)EE_Parameter.ServoNickMin*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMin*MULTIPLIER; |
else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMax*MULTIPLIER; |
|
ServoValue = 500; |
DebugOut.Analog[23] = ServoValue; |
|
TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
OCR2A = ServoValue % 256; |
TIMSK2 |= _BV(TOIE2); |
} |
else if (timer < 3) |
{ |
|
if (ServoValue > 255) |
{ PORTD |= 0x80; |
TCCR2A =3; |
ServoValue -= 255; |
} |
else |
{ |
TCCR2A =3; |
PORTD&=~0x80; |
OCR2A = 0xff; |
} |
|
if (timer == 0) timer = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
} |
|
|
timer--; |
|
/* static unsigned char timer = 10; |
|
if(!timer--) |
{ |
TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
215,6 → 164,5 |
{ |
TCCR2A =3; |
PORTD&=~0x80; |
} */ |
|
} |
} |