Rev 1763 | Rev 1837 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1763 | Rev 1771 | ||
|---|---|---|---|
| Line 189... | Line 189... | ||
| 189 | /*****************************************************/ |
189 | /*****************************************************/ |
| Line 190... | Line 190... | ||
| 190 | 190 | ||
| 191 | 191 | ||
| 192 | void CalculateServo(void) |
192 | void CalculateServo(void) |
| 193 | { |
193 | { |
| Line 194... | Line 194... | ||
| 194 | char cosinus, sinus; |
194 | signed char cosinus, sinus; |
| 195 | long nick, roll; |
195 | signed long nick, roll; |
| Line 196... | Line 196... | ||
| 196 | 196 | ||
| Line 354... | Line 354... | ||
| 354 | TCCR2A |= (1<<COM2A0); // make a low pulse |
354 | TCCR2A |= (1<<COM2A0); // make a low pulse |
| 355 | // set pulsewidth to stop pulse width |
355 | // set pulsewidth to stop pulse width |
| 356 | RemainingPulse = PPM_STOPPULSE; |
356 | RemainingPulse = PPM_STOPPULSE; |
| 357 | // accumulate time for correct sync gap |
357 | // accumulate time for correct sync gap |
| 358 | ServoFrameTime += RemainingPulse; |
358 | ServoFrameTime += RemainingPulse; |
| 359 | if((ServoActive && SenderOkay > 180) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
359 | if((ServoActive && SenderOkay > 50) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
| 360 | else HEF4017R_ON; |
360 | else HEF4017R_ON; |
| 361 | ServoIndex++; // change to next servo channel |
361 | ServoIndex++; // change to next servo channel |
| 362 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
362 | if(ServoIndex > EE_Parameter.ServoNickRefresh) |
| 363 | { |
363 | { |
| 364 | CalculateServoSignals = 1; |
364 | CalculateServoSignals = 1; |