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29 | 29 | ||
30 | volatile uint8_t recalculateServoTimes = 0; |
30 | volatile uint8_t recalculateServoTimes = 0; |
31 | volatile uint16_t servoValues[MAX_SERVOS]; |
31 | volatile uint16_t servoValues[MAX_SERVOS]; |
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32 | volatile uint16_t previousManualValues[2]; |
32 | volatile uint16_t previousManualValues[2]; |
33 | 33 | ||
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34 | #define HEF4017R_ON PORTD |= (1<<PORTD4) |
34 | #define HEF4017R_ON PORTD |= (1<<PORTD3) |
35 | #define HEF4017R_OFF PORTD &= ~(1<<PORTD4) |
35 | #define HEF4017R_OFF PORTD &= ~(1<<PORTD3) |
36 | 36 | ||
37 | /***************************************************** |
37 | /***************************************************** |
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46 | // set PD7 as output of the PWM for pitch servo |
46 | // set PD7 as output of the PWM for pitch servo |
47 | DDRB |= (1 << DDB3); |
47 | DDRB |= (1 << DDB3); |
48 | PORTB &= ~(1 << PORTB3); // set PD7 to low |
48 | PORTB &= ~(1 << PORTB3); // set PD7 to low |
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49 | 49 | ||
50 | // oc2b DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
50 | // oc2b DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
51 | DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
51 | DDRD |= (1 << DDD3); // set PC6 as output (Reset for HEF4017) |
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52 | HEF4017R_ON; // enable reset |
52 | HEF4017R_ON; // reset |
53 | 53 | ||
54 | // Timer/Counter 2 Control Register A |
54 | // Timer/Counter 2 Control Register A |
55 | // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0) |
55 | // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0) |