Subversion Repositories FlightCtrl

volatile unsigned int CountMilliseconds = 0;

volatile unsigned int CountMilliseconds = 0;

volatile static unsigned int tim_main;

volatile static unsigned int tim_main;

volatile unsigned char UpdateMotor = 0;

volatile unsigned char UpdateMotor = 0;

volatile unsigned int cntKompass = 0;

volatile unsigned int cntKompass = 0;

volatile unsigned int beeptime = 0;

volatile unsigned int beeptime = 0;

unsigned int BeepMuster = 0xffff;

unsigned int BeepMuster = 0xffff;

int ServoValue = 0;

int ServoValue = 0;

#define HEF4017R_ON     PORTC |=  (1<<PORTC6)

volatile int16_t        ServoNickValue = 0;

#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)

volatile int16_t        ServoRollValue = 0;

        // set PD7 as output of the PWM for nick servo

        // set PD7 as output of the PWM for nick servo

        DDRD  |= (1<<DDD7);

        DDRD  |= (1<<DDD7);

        PORTD &= ~(1<<PORTD7);  // set PD7 to low

        PORTD &= ~(1<<PORTD7);  // set PD7 to low

    HEF4017R_ON;

        // Timer/Counter 2 Control Register A

        // Timer/Counter 2 Control Register A

        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)

        // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1)

        // resolution: 1500 - 375 = 1125 steps

        // resolution: 1500 - 375 = 1125 steps

        #define IRS_RUNTIME 127

        #define IRS_RUNTIME 127

        #define PPM_STOPPULSE 188

        #define PPM_STOPPULSE 188

#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)

    #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh)

        #define MINSERVOPULSE 375

        #define MINSERVOPULSE 375

        #define MAXSERVOPULSE 1500

        #define MAXSERVOPULSE 1500

        #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

        #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

        static uint8_t  ServoIndex = 0;

        static uint8_t  ServoIndex = 0;

        #define MULTIPLYER 4

        #define MULTIPLYER 4

        static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon

        if(PlatinenVersion < 20)

        if(PlatinenVersion < 20)

        {

        {

                //---------------------------

                //---------------------------

                                TCCR2A |= (1<<COM2A0); // make a low pulse

                                TCCR2A |= (1<<COM2A0); // make a low pulse

                                // set pulsewidth to stop pulse width

                                // set pulsewidth to stop pulse width

                                RemainingPulse = PPM_STOPPULSE;

                                RemainingPulse = PPM_STOPPULSE;

                                // accumulate time for correct sync gap

                                // accumulate time for correct sync gap

                                ServoFrameTime += RemainingPulse;

                                ServoFrameTime += RemainingPulse;

                                ServoIndex++; // change to next servo channel

                                ServoIndex++; // change to next servo channel

                                if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap

                                if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap

                        }

                        }

                        // set pulse output active

                        // set pulse output active

                        PulseOutput = 1;

                        PulseOutput = 1;