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| Rev 2133 | Rev 2135 | ||
|---|---|---|---|
| Line 7... | Line 7... | ||
| 7 | #include "timer2.h" |
7 | #include "timer2.h" |
| Line 8... | Line 8... | ||
| 8 | 8 | ||
| Line 9... | Line 9... | ||
| 9 | // #define COARSERESOLUTION 1 |
9 | // #define COARSERESOLUTION 1 |
| 10 | 10 | ||
| 11 | #ifdef COARSERESOLUTION |
11 | #ifdef COARSERESOLUTION |
| 12 | #define NEUTRAL_PULSELENGTH 938 |
12 | #define NEUTRAL_PULSELENGTH ((int16_t)(F_CPU/32000*1.5f + 0.5f)) |
| 13 | #define STABILIZATION_LOG_DIVIDER 6 |
13 | #define STABILIZATION_LOG_DIVIDER 6 |
| 14 | #define SERVOLIMIT 500 |
14 | #define SERVOLIMIT ((int16_t)(F_CPU/32000*0.8f + 0.5f)) |
| Line 15... | Line 15... | ||
| 15 | #define SCALE_FACTOR 4 |
15 | #define SCALE_FACTOR 4 |
| 16 | #define CS2 ((1<<CS21)|(1<<CS20)) |
16 | #define CS2 ((1<<CS21)|(1<<CS20)) |
| 17 | 17 | ||
| 18 | #else |
18 | #else |
| 19 | #define NEUTRAL_PULSELENGTH 3750 |
19 | #define NEUTRAL_PULSELENGTH ((int16_t)(F_CPU/8000.0f * 1.5f + 0.5f)) |
| 20 | #define STABILIZATION_LOG_DIVIDER 4 |
20 | #define STABILIZATION_LOG_DIVIDER 4 |
| 21 | #define SERVOLIMIT 2000 |
21 | #define SERVOLIMIT ((int16_t)(F_CPU/8000.0f * 0.8f + 0.5f)) |
| Line 22... | Line 22... | ||
| 22 | #define SCALE_FACTOR 16 |
22 | #define SCALE_FACTOR 16 |
| 23 | #define CS2 (1<<CS21) |
23 | #define CS2 (1<<CS21) |
| 24 | #endif |
24 | #endif |
| Line 25... | Line 25... | ||
| 25 | 25 | ||
| 26 | #define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128) |
26 | #define FRAMELENGTH ((uint16_t)(NEUTRAL_PULSELENGTH + SERVOLIMIT) * (uint16_t)staticParams.servoCount + 128) |
| Line 41... | Line 41... | ||
| 41 | uint8_t sreg = SREG; |
41 | uint8_t sreg = SREG; |
| Line 42... | Line 42... | ||
| 42 | 42 | ||
| 43 | // disable all interrupts before reconfiguration |
43 | // disable all interrupts before reconfiguration |
| Line 44... | Line 44... | ||
| 44 | cli(); |
44 | cli(); |
| 45 | 45 | ||
| 46 | // set PD7 as output of the PWM for pitch servo |
46 | // set PD7 as output of the 4017 clk |
| Line 47... | Line 47... | ||
| 47 | DDRB |= (1 << DDB3); |
47 | DDRB |= (1 << DDB3); |
| 48 | PORTB &= ~(1 << PORTB3); // set PD7 to low |
48 | PORTB &= ~(1 << PORTB3); // set PD7 to low |
| Line 167... | Line 167... | ||
| 167 | // There are more signals to output. |
167 | // There are more signals to output. |
| 168 | sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]); |
168 | sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]); |
| 169 | servoIndex++; |
169 | servoIndex++; |
| 170 | } else { |
170 | } else { |
| 171 | // There are no more signals. Reset the counter and make this pulse cover the missing frame time. |
171 | // There are no more signals. Reset the counter and make this pulse cover the missing frame time. |
| 172 | remainingPulseTime = FRAMELEN - sumOfPulseTimes; |
172 | remainingPulseTime = FRAMELENGTH - sumOfPulseTimes; |
| 173 | sumOfPulseTimes = servoIndex = 0; |
173 | sumOfPulseTimes = servoIndex = 0; |
| 174 | recalculateServoTimes = 1; |
174 | recalculateServoTimes = 1; |
| 175 | HEF4017R_ON; |
175 | HEF4017R_ON; |
| 176 | } |
176 | } |
| 177 | } |
177 | } |