Rev 2386 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2386 | Rev 2426 | ||
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Line 118... | Line 118... | ||
118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
118 | if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
119 | else PORTC &= ~(1<<7); |
119 | else PORTC &= ~(1<<7); |
120 | #else |
120 | #else |
121 | if(pieper_ein) |
121 | if(pieper_ein) |
122 | { |
122 | { |
123 | if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
123 | // if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
- | 124 | // else |
|
124 | else PORTC |= (1<<7); // Speaker an PORTC.7 |
125 | PORTC |= (1<<7); // Speaker an PORTC.7 |
125 | } |
126 | } |
126 | else |
127 | else |
127 | { |
128 | { |
128 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
129 | // if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
- | 130 | // else |
|
129 | else PORTC &= ~(1<<7); |
131 | PORTC &= ~(1<<7); |
130 | } |
132 | } |
131 | #endif |
133 | #endif |
132 | } |
134 | } |
133 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
135 | if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
134 | { |
136 | { |
Line 298... | Line 300... | ||
298 | else |
300 | else |
299 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
301 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
300 | { |
302 | { |
301 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
303 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
302 | } |
304 | } |
303 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
305 | // if(PlatinenVersion < 20) CalculateServoSignals = 0; else |
- | 306 | CalculateServoSignals++; |
|
304 | } |
307 | } |
305 | else |
308 | else |
306 | { |
309 | { |
307 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
310 | roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
308 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
311 | roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
Line 348... | Line 351... | ||
348 | 351 | ||
349 | static uint8_t PulseOutput = 0; |
352 | static uint8_t PulseOutput = 0; |
350 | static uint16_t ServoFrameTime = 0; |
353 | static uint16_t ServoFrameTime = 0; |
Line 351... | Line 354... | ||
351 | static uint8_t ServoIndex = 0; |
354 | static uint8_t ServoIndex = 0; |
352 | 355 | ||
353 | 356 | /* |
|
354 | if(PlatinenVersion < 20) |
357 | if(PlatinenVersion < 20) |
355 | { |
358 | { |
356 | //--------------------------- |
359 | //--------------------------- |
Line 378... | Line 381... | ||
378 | // set pulse output active |
381 | // set pulse output active |
379 | PulseOutput = 1; |
382 | PulseOutput = 1; |
380 | } |
383 | } |
381 | } // EOF Nick servo state machine |
384 | } // EOF Nick servo state machine |
382 | else |
385 | else |
- | 386 | */ |
|
383 | { |
387 | { |
384 | //----------------------------------------------------- |
388 | //----------------------------------------------------- |
385 | // PPM state machine, onboard demultiplexed by HEF4017 |
389 | // PPM state machine, onboard demultiplexed by HEF4017 |
386 | //----------------------------------------------------- |
390 | //----------------------------------------------------- |
387 | if(!PulseOutput) // pulse output complete |
391 | if(!PulseOutput) // pulse output complete |