Rev 2093 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2093 | Rev 2174 | ||
|---|---|---|---|
| Line 58... | Line 58... | ||
| 58 | volatile static unsigned int tim_main; |
58 | volatile static unsigned int tim_main; |
| 59 | volatile unsigned char UpdateMotor = 0; |
59 | volatile unsigned char UpdateMotor = 0; |
| 60 | volatile unsigned int cntKompass = 0; |
60 | volatile unsigned int cntKompass = 0; |
| 61 | volatile unsigned int beeptime = 0; |
61 | volatile unsigned int beeptime = 0; |
| 62 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
62 | volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
| 63 | uint16_t RemainingPulse = 0; |
63 | uint16_t RemainingPulse = 255; // MartinR zur Sicherheit bei Interrupts |
| 64 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
64 | volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| 65 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
65 | volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| 66 | volatile int16_t ServoPanOffset = (255 / 2) * MULTIPLYER * 16; // MartinR: für Pan-Funktion |
66 | volatile int16_t ServoPanOffset = (255 / 2) * MULTIPLYER * 16; // MartinR: für Pan-Funktion |
| Line 67... | Line 67... | ||
| 67 | 67 | ||
| Line 359... | Line 359... | ||
| 359 | static uint8_t ServoIndex = 0; |
359 | static uint8_t ServoIndex = 0; |
| Line 360... | Line 360... | ||
| 360 | 360 | ||
| 361 | 361 | ||
| 362 | if(PlatinenVersion < 20) |
- | |
| 363 | { |
362 | if(PlatinenVersion < 20) |
| 364 | /* // MartinR : deaktiviert wegen Platzbedarf |
363 | { |
| 365 | //--------------------------- |
364 | //--------------------------- |
| 366 | // Nick servo state machine |
365 | // Nick servo state machine |
| 367 | //--------------------------- |
366 | //--------------------------- |
| Line 385... | Line 384... | ||
| 385 | CalculateServoSignals = 1; |
384 | CalculateServoSignals = 1; |
| 386 | } |
385 | } |
| 387 | // set pulse output active |
386 | // set pulse output active |
| 388 | PulseOutput = 1; |
387 | PulseOutput = 1; |
| 389 | } |
388 | } |
| 390 | */ |
- | |
| 391 | } // EOF Nick servo state machine |
389 | } // EOF Nick servo state machine |
| 392 | else |
390 | else |
| 393 | { |
391 | { |
| 394 | //----------------------------------------------------- |
392 | //----------------------------------------------------- |
| 395 | // PPM state machine, onboard demultiplexed by HEF4017 |
393 | // PPM state machine, onboard demultiplexed by HEF4017 |