33,9 → 33,9 |
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// Timer/Counter 2 Control Register B |
|
// Set clock divider for timer 2 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz. |
// Set clock divider for timer 2 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
// The timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz, |
// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz or 0.1024 ms |
|
// divider 8 (Bits: CS022 = 0, CS21 = 1, CS20 = 0) |
TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<WGM22)); |
65,33 → 65,33 |
|
if(!timer--) |
{ |
// enable PWM on PD7 in non inverting mode |
TCCR2A = (TCCR2A & 0x3F)|(1<<COM2A1)|(0<<COM2A0); |
// enable PWM on PD7 in non inverting mode |
TCCR2A = (TCCR2A & 0x3F)|(1<<COM2A1)|(0<<COM2A0); |
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ServoValue = Parameter_ServoNickControl; |
// inverting movment of servo |
if(ParamSet.ServoNickCompInvert & 0x01) |
{ |
ServoValue += ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
} |
else // non inverting movement of servo |
{ |
ServoValue -= ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
} |
ServoValue = Parameter_ServoNickControl; |
// inverting movment of servo |
if(ParamSet.ServoNickCompInvert & 0x01) |
{ |
ServoValue += ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
} |
else // non inverting movement of servo |
{ |
ServoValue -= ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
} |
|
// limit servo value to its parameter range definition |
if(ServoValue < ParamSet.ServoNickMin) |
{ |
ServoValue = ParamSet.ServoNickMin; |
} |
else if(ServoValue > ParamSet.ServoNickMax) |
{ |
ServoValue = ParamSet.ServoNickMax; |
} |
// limit servo value to its parameter range definition |
if(ServoValue < ParamSet.ServoNickMin) |
{ |
ServoValue = ParamSet.ServoNickMin; |
} |
else if(ServoValue > ParamSet.ServoNickMax) |
{ |
ServoValue = ParamSet.ServoNickMax; |
} |
|
// update PWM |
OCR2A = ServoValue; |
timer = ParamSet.ServoNickRefresh; |
// update PWM |
OCR2A = ServoValue; |
timer = ParamSet.ServoNickRefresh; |
} |
else |
{ |