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333 | } |
333 | } |
334 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
334 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
335 | ServoRollValue /= MULTIPLYER; |
335 | ServoRollValue /= MULTIPLYER; |
336 | //DebugOut.Analog[20] = ServoRollValue; |
336 | //DebugOut.Analog[20] = ServoRollValue; |
337 | break; |
337 | break; |
338 | case 3: // 2 additions are probably faster than a conversion to u16 and multiplication by 2 |
- | |
339 | RemainingPulse += Parameter_Servo3; |
338 | case 3: |
340 | RemainingPulse += Parameter_Servo3; |
339 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
341 | break; |
340 | break; |
342 | case 4: |
341 | case 4: |
343 | RemainingPulse += Parameter_Servo4; |
- | |
344 | RemainingPulse += Parameter_Servo4; |
342 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
345 | break; |
343 | break; |
346 | case 5: |
344 | case 5: |
347 | RemainingPulse += Parameter_Servo5; |
- | |
348 | RemainingPulse += Parameter_Servo5; |
345 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
349 | break; |
346 | break; |
350 | default: // other servo channels |
347 | default: // other servo channels |
351 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
348 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
352 | break; |
349 | break; |
353 | } |
350 | } |