Rev 886 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 886 | Rev 911 | ||
|---|---|---|---|
| Line 8... | Line 8... | ||
| 8 | 8 | ||
| 9 | /*****************************************************/ |
9 | /*****************************************************/ |
| 10 | /* Initialize Timer 2 */ |
10 | /* Initialize Timer 2 */ |
| 11 | /*****************************************************/ |
11 | /*****************************************************/ |
| 12 | // The timer 2 is used to generate the PWM at PD7 (J7) |
12 | // The timer 2 is used to generate the PWM at PD7 (J7) |
| 13 | // to control a camera servo for pitch compensation. |
13 | // to control a camera servo for nick compensation. |
| 14 | void TIMER2_Init(void) |
14 | void TIMER2_Init(void) |
| 15 | { |
15 | { |
| Line 16... | Line 16... | ||
| 16 | uint8_t sreg = SREG; |
16 | uint8_t sreg = SREG; |
| 17 | 17 | ||
| Line 18... | Line 18... | ||
| 18 | // disable all interrupts before reconfiguration |
18 | // disable all interrupts before reconfiguration |
| 19 | cli(); |
19 | cli(); |
| 20 | 20 | ||
| Line 21... | Line 21... | ||
| 21 | // set PD7 as output of the PWM for pitch servo |
21 | // set PD7 as output of the PWM for nick servo |
| Line 67... | Line 67... | ||
| 67 | { |
67 | { |
| 68 | // enable PWM on PD7 in non inverting mode |
68 | // enable PWM on PD7 in non inverting mode |
| 69 | TCCR2A &= ~(0<<COM2A0); |
69 | TCCR2A &= ~(0<<COM2A0); |
| 70 | TCCR2A |= (1<<COM2A1); |
70 | TCCR2A |= (1<<COM2A1); |
| Line 71... | Line 71... | ||
| 71 | 71 | ||
| 72 | ServoValue = FCParam.ServoPitchControl; |
72 | ServoValue = FCParam.ServoNickControl; |
| 73 | // inverting movment of servo |
73 | // inverting movment of servo |
| 74 | if(ParamSet.ServoPitchCompInvert & 0x01) |
74 | if(ParamSet.ServoNickCompInvert & 0x01) |
| 75 | { |
75 | { |
| 76 | ServoValue += ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |
76 | ServoValue += ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| 77 | } |
77 | } |
| 78 | else // non inverting movement of servo |
78 | else // non inverting movement of servo |
| 79 | { |
79 | { |
| 80 | ServoValue -= ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |
80 | ServoValue -= ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| Line 81... | Line 81... | ||
| 81 | } |
81 | } |
| 82 | 82 | ||
| 83 | // limit servo value to its parameter range definition |
83 | // limit servo value to its parameter range definition |
| 84 | if(ServoValue < ParamSet.ServoPitchMin) |
84 | if(ServoValue < ParamSet.ServoNickMin) |
| 85 | { |
85 | { |
| 86 | ServoValue = ParamSet.ServoPitchMin; |
86 | ServoValue = ParamSet.ServoNickMin; |
| 87 | } |
87 | } |
| 88 | else if(ServoValue > ParamSet.ServoPitchMax) |
88 | else if(ServoValue > ParamSet.ServoNickMax) |
| 89 | { |
89 | { |
| Line 90... | Line 90... | ||
| 90 | ServoValue = ParamSet.ServoPitchMax; |
90 | ServoValue = ParamSet.ServoNickMax; |
| 91 | } |
91 | } |
| 92 | 92 | ||
| 93 | // update PWM |
93 | // update PWM |
| 94 | OCR2A = ServoValue; |
94 | OCR2A = ServoValue; |
| 95 | timer = ParamSet.ServoPitchRefresh; |
95 | timer = ParamSet.ServoNickRefresh; |
| 96 | } |
96 | } |
| 97 | else |
97 | else |