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Rev 2125 Rev 2135
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#include "timer2.h"
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#include "timer2.h"
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// #define COARSERESOLUTION 1
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// #define COARSERESOLUTION 1
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#ifdef COARSERESOLUTION
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#ifdef COARSERESOLUTION
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#define NEUTRAL_PULSELENGTH 938
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#define NEUTRAL_PULSELENGTH ((int16_t)(F_CPU/32000*1.5f + 0.5f))
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#define STABILIZATION_LOG_DIVIDER 6
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#define STABILIZATION_LOG_DIVIDER 6
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#define SERVOLIMIT 500
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#define SERVOLIMIT ((int16_t)(F_CPU/32000*0.8f + 0.5f))
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#define SCALE_FACTOR 4
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#define SCALE_FACTOR 4
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#define CS2 ((1<<CS21)|(1<<CS20))
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#define CS2 ((1<<CS21)|(1<<CS20))
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#else
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#else
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#define NEUTRAL_PULSELENGTH 3750
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#define NEUTRAL_PULSELENGTH ((int16_t)(F_CPU/8000.0f * 1.5f + 0.5f))
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#define STABILIZATION_LOG_DIVIDER 4
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#define STABILIZATION_LOG_DIVIDER 4
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#define SERVOLIMIT 2000
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#define SERVOLIMIT ((int16_t)(F_CPU/8000.0f * 0.8f + 0.5f))
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#define SCALE_FACTOR 16
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#define SCALE_FACTOR 16
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#define CS2 (1<<CS21)
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#define CS2 (1<<CS21)
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#endif
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#endif
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#define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128)
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#define FRAMELENGTH ((uint16_t)(NEUTRAL_PULSELENGTH + SERVOLIMIT) * (uint16_t)staticParams.servoCount + 128)
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#define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT)
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#define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT)
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#define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT)
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#define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT)
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volatile uint8_t recalculateServoTimes = 0;
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volatile uint16_t servoValues[MAX_SERVOS];
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volatile uint16_t previousManualValues[2];
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volatile uint8_t recalculateServoTimes = 0;
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#define HEF4017R_ON     PORTC |=  (1<<PORTC6)
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volatile uint16_t servoValues[MAX_SERVOS];
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#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
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volatile uint16_t previousManualValues[2];
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//#define HEF4017R_ON ;
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#define HEF4017R_ON     PORTC |=  (1<<PORTC6)
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      // There are more signals to output.
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      // There are more signals to output.
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      sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]);
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      sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]);
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      servoIndex++;
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      servoIndex++;
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    } else {
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    } else {
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      // There are no more signals. Reset the counter and make this pulse cover the missing frame time.
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      // There are no more signals. Reset the counter and make this pulse cover the missing frame time.
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      remainingPulseTime = FRAMELEN - sumOfPulseTimes;
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      remainingPulseTime = FRAMELENGTH - sumOfPulseTimes;
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      sumOfPulseTimes = servoIndex = 0;
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      sumOfPulseTimes = servoIndex = 0;
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      recalculateServoTimes = 1;
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      recalculateServoTimes = 1;
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      HEF4017R_ON;
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      HEF4017R_ON;
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    }
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    }
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  }
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  }