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1 | #ifndef _TIMER2_H |
1 | #ifndef _TIMER2_H |
2 | #define _TIMER2_H |
2 | #define _TIMER2_H |
3 | 3 | ||
4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
- | 5 | #include <math.h> |
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- | 6 | #include "configuration.h" |
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- | 7 | ||
- | 8 | extern volatile uint16_t pwmChannels[MAX_PWMCHANNELS]; |
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- | 9 | ||
- | 10 | #define SERVO_RESOLUTION FINE |
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- | 11 | ||
- | 12 | #if (SERVO_RESOLUTION == COARSE) |
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- | 13 | #define F_TIMER2 (F_CPU/32) |
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- | 14 | #define CS2 ((1<<CS21)|(1<<CS20)) |
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- | 15 | #else |
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- | 16 | #define F_TIMER2(F_CPU/8) |
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- | 17 | #define CS2 (1<<CS21) |
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- | 18 | #endif |
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- | 19 | ||
- | 20 | //#define ABSOLUTE_MIN ((float)F_TIMER2*0.00075 + 0.5) |
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- | 21 | //#define ABSOLUTE_MAX ((float)F_TIMER2*0.00225 + 0.5) |
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- | 22 | ||
- | 23 | #define PULSELENGTH_800 ((float)F_TIMER2*0.0008) |
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- | 24 | #define PULSELENGTH_1000 ((float)F_TIMER2*0.0010) |
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- | 25 | #define PULSELENGTH_1500 ((float)F_TIMER2*0.0015) |
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- | 26 | #define PULSELENGTH_2000 ((float)F_TIMER2*0.0020) |
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- | 27 | #define PULSELENGTH_2200 ((float)F_TIMER2*0.0022) |
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- | 28 | ||
- | 29 | #define PWM_CONTROL_SCALE_FACTOR (PULSELENGTH_1000/(float)CONTROL_RANGE) |
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- | 30 | #define PWM_BYTE_SCALE_FACTOR (PULSELENGTH_1000/256.0) |
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- | 31 | ||
- | 32 | // Prevent damage even if grossly misconfigured: |
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- | 33 | // Multiply this by angle in int16-degrees and again by 100 to get servo deflection to same angle |
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- | 34 | // (assuming 90 degrees over 1 ms, which is the norm): |
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5 | 35 | ||
6 | void timer2_init(void); |
36 | void timer2_init(void); |
7 | void calculateServoValues(void); |
37 | //void calculateServoValues(void); |
8 | #endif //_TIMER2_H |
- | |
9 | 38 | #endif //_TIMER2_H |
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10 | 39 |