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| Rev 910 | Rev 1036 | ||
|---|---|---|---|
| Line 156... | Line 156... | ||
| 156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
156 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
| 157 | { |
157 | { |
| 158 | static unsigned char postPulse = 0x80; |
158 | static unsigned char postPulse = 0x80; |
| 159 | static int filterServo = 100; |
159 | static int filterServo = 100; |
| 160 | #define MULTIPLIER 4 |
160 | #define MULTIPLIER 4 |
| - | 161 | if(PlatinenVersion < 20) |
|
| - | 162 | { |
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| 161 | if(ServoState == 4) |
163 | if(ServoState == 4) |
| 162 | { |
164 | { |
| 163 | ServoValue = 0x0030; // Offset Part1 |
165 | ServoValue = 0x0030; // Offset Part1 |
| 164 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
166 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
| 165 | ServoValue += filterServo; |
167 | ServoValue += filterServo; |
| Line 192... | Line 194... | ||
| 192 | ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
194 | ServoState = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER; |
| 193 | PORTD&=~0x80; |
195 | PORTD&=~0x80; |
| 194 | TCCR2A = 3; |
196 | TCCR2A = 3; |
| 195 | } |
197 | } |
| 196 | ServoState--; |
198 | ServoState--; |
| - | 199 | } |
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| - | 200 | else // 4017 |
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| - | 201 | { |
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| - | 202 | /* switch(ServoState) |
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| - | 203 | { |
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| - | 204 | case 0: |
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| - | 205 | PORTD |= 0x80; |
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| Line -... | Line 206... | ||
| - | 206 | ||
| - | 207 | ServoValue = 0x0030; // Offset Part1 |
|
| - | 208 | filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4; |
|
| - | 209 | ServoValue += filterServo; |
|
| - | 210 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER); |
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| - | 211 | else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER); |
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| - | 212 | if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3; |
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| - | 213 | else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3; |
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| - | 214 | DebugOut.Analog[20] = ServoValue; |
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| - | 215 | if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60; |
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| - | 216 | OCR2A = 255-(ServoValue % 256); |
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| - | 217 | PORTD &= ~0x80; |
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| - | 218 | TCCR2A = 3; // Portfunktion aus |
|
| - | 219 | ServoState++; |
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| - | 220 | break; |
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| - | 221 | case 1: |
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| - | 222 | if(ServoValue > 255) |
|
| - | 223 | { |
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| - | 224 | ServoValue -= 255; |
|
| - | 225 | } |
|
| - | 226 | else |
|
| - | 227 | { |
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| - | 228 | TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; // Set on match |
|
| - | 229 | OCR2A = postPulse; // Offset Part2 |
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| - | 230 | ServoState++; |
|
| - | 231 | } |
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| - | 232 | break; |
|
| - | 233 | case 2: |
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| - | 234 | TCCR2A = 3; // Portfunktion aus |
|
| - | 235 | OCR2A = 100; |
|
| - | 236 | ServoState++; |
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| - | 237 | PORTD &= ~0x80; |
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| - | 238 | break; |
|
| - | 239 | case 3: |
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| - | 240 | PORTD &= ~0x80; |
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| - | 241 | HEF4017R_ON; |
|
| - | 242 | // TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; // Set on match |
|
| - | 243 | OCR2A = 100; |
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| - | 244 | PORTD &= ~0x80; |
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| - | 245 | ServoState = 0; |
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| - | 246 | HEF4017R_OFF; |
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| - | 247 | break; |
|
| - | 248 | default: |
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| - | 249 | ServoState = 0; |
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| - | 250 | break; |
|
| - | 251 | } */ |
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| 197 | 252 | } |
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