Subversion Repositories FlightCtrl

#include "timer2.h"

#include "timer2.h"

// #define COARSERESOLUTION 1

// #define COARSERESOLUTION 1

#ifdef COARSERESOLUTION

#ifdef COARSERESOLUTION

#define STABILIZATION_LOG_DIVIDER 6

#define STABILIZATION_LOG_DIVIDER 6

#define SERVOLIMIT 500

#define SERVOLIMIT ((int16_t)(F_CPU/32000*0.8f + 0.5f))

#define SCALE_FACTOR 4

#define SCALE_FACTOR 4

#define NEUTRAL_PULSELENGTH 3750

#define NEUTRAL_PULSELENGTH ((int16_t)(F_CPU/8000.0f * 1.5f + 0.5f))

#define STABILIZATION_LOG_DIVIDER 4

#define STABILIZATION_LOG_DIVIDER 4

#define SERVOLIMIT 2000

#define SERVOLIMIT ((int16_t)(F_CPU/8000.0f * 0.8f + 0.5f))

#define CS2 (1<<CS21)

#define CS2 (1<<CS21)

#endif

#endif

#define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128)

#define FRAMELENGTH ((uint16_t)(NEUTRAL_PULSELENGTH + SERVOLIMIT) * (uint16_t)staticParams.servoCount + 128)

#define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT)

#define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT)

#define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT)

#define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT)

volatile uint8_t recalculateServoTimes = 0;

#define HEF4017R_ON     PORTC |=  (1<<PORTC6)

volatile uint16_t servoValues[MAX_SERVOS];

#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)

volatile uint16_t previousManualValues[2];

//#define HEF4017R_ON ;

#define HEF4017R_ON     PORTC |=  (1<<PORTC6)

      // There are more signals to output.

      // There are more signals to output.

      sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]);

      sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]);

      servoIndex++;

      servoIndex++;

    } else {

    } else {

      // There are no more signals. Reset the counter and make this pulse cover the missing frame time.

      // There are no more signals. Reset the counter and make this pulse cover the missing frame time.

      sumOfPulseTimes = servoIndex = 0;

      sumOfPulseTimes = servoIndex = 0;

      recalculateServoTimes = 1;

      recalculateServoTimes = 1;

      HEF4017R_ON;

      HEF4017R_ON;

    }

    }

  }

  }