Rev 728 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 728 | Rev 749 | ||
|---|---|---|---|
| Line 132... | Line 132... | ||
| 132 | { |
132 | { |
| 133 | static unsigned char timer = 10; |
133 | static unsigned char timer = 10; |
| Line 134... | Line 134... | ||
| 134 | 134 | ||
| 135 | if(!timer--) |
135 | if(!timer--) |
| - | 136 | { |
|
| 136 | { |
137 | // enable PWM on PD7 in non inverting mode |
| - | 138 | TCCR2A= (1<<COM2A1)|(0<<COM2A0)|3; |
|
| 137 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
139 | |
| 138 | ServoValue = Parameter_ServoNickControl; |
140 | ServoValue = Parameter_ServoNickControl; |
| 139 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
141 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| Line 140... | Line 142... | ||
| 140 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
142 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| 141 | 143 | ||
| Line 142... | Line 144... | ||
| 142 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
144 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| 143 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
145 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| 144 | 146 | ||
| 145 | OCR2A = ServoValue;// + 75; |
147 | OCR2A = ServoValue; |
| 146 | timer = EE_Parameter.ServoNickRefresh; |
148 | timer = EE_Parameter.ServoNickRefresh; |
| - | 149 | } |
|
| 147 | } |
150 | else |
| - | 151 | { |
|
| 148 | else |
152 | // disable PWM at PD7 |
| 149 | { |
153 | TCCR2A = 3; |
| 150 | TCCR2A =3; |
154 | // set PD7 to low |