Rev 2090 | Rev 2166 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2090 | Rev 2146 | ||
|---|---|---|---|
| Line 187... | Line 187... | ||
| 187 | cli(); |
187 | cli(); |
| Line 188... | Line 188... | ||
| 188 | 188 | ||
| Line 189... | Line 189... | ||
| 189 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
189 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
| 190 | 190 | ||
| 191 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
191 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| Line 192... | Line 192... | ||
| 192 | HEF4017R_ON; |
192 | HEF4017Reset_ON; |
| 193 | // Timer/Counter 2 Control Register A |
193 | // Timer/Counter 2 Control Register A |
| 194 | 194 | ||
| Line 369... | Line 369... | ||
| 369 | 369 | ||
| 370 | if(ServoIndex == 0) // if we are at the sync gap |
370 | if(ServoIndex == 0) // if we are at the sync gap |
| 371 | { |
371 | { |
| 372 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
372 | RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| 373 | ServoFrameTime = 0; // reset servo frame time |
373 | ServoFrameTime = 0; // reset servo frame time |
| 374 | HEF4017R_ON; // enable HEF4017 reset |
374 | HEF4017Reset_ON; // enable HEF4017 reset |
| 375 | } |
375 | } |
| 376 | else // servo channels |
376 | else // servo channels |
| 377 | { |
377 | { |
| 378 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
378 | RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| Line 411... | Line 411... | ||
| 411 | TCCR2A |= (1<<COM2A0); // make a low pulse |
411 | TCCR2A |= (1<<COM2A0); // make a low pulse |
| 412 | // set pulsewidth to stop pulse width |
412 | // set pulsewidth to stop pulse width |
| 413 | RemainingPulse = PPM_STOPPULSE; |
413 | RemainingPulse = PPM_STOPPULSE; |
| 414 | // accumulate time for correct sync gap |
414 | // accumulate time for correct sync gap |
| 415 | ServoFrameTime += RemainingPulse; |
415 | ServoFrameTime += RemainingPulse; |
| 416 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
416 | if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
| 417 | else HEF4017R_ON; |
417 | else HEF4017Reset_ON; |
| 418 | ServoIndex++; // change to next servo channel |
418 | ServoIndex++; // change to next servo channel |
| 419 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
419 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
| 420 | { |
420 | { |
| 421 | CalculateServoSignals = 1; |
421 | CalculateServoSignals = 1; |
| 422 | ServoIndex = 0; // reset to the sync gap |
422 | ServoIndex = 0; // reset to the sync gap |