Mercurial > d1-mini-20ch-servo

changeset 3:0afff2c18af7 draft

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20ch code
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Mon, 19 Dec 2016 00:42:33 +0100
parents eebf26b86400
children ef8ab100eb8c
files firmware/main.c
diffstat 1 files changed, 18 insertions(+), 18 deletions(-) [+]
line wrap: on
line diff
--- a/firmware/main.c	Mon Dec 19 00:40:57 2016 +0100
+++ b/firmware/main.c	Mon Dec 19 00:42:33 2016 +0100
@@ -33,27 +33,27 @@
 // 3 = PB3
 // 4 = PB4
 // 5 = PB5
-// 6 = PC0
-// 7 = PC1
-// 8 = PC2
-// 9 = PC3
-// 10 = PD0
-// 11 = PD1
-// 12 = PD2
-// 13 = PD3
-// 14 = PD4
-// 15 = PD5
-// 16 = PD6
-// 17 = PD7
-// 18 unused
-// 19 unused
+// 6 = PB6
+// 7 = PB7
+// 8 = PC0
+// 9 = PC1
+// 10 = PC2
+// 11 = PC3
+// 12 = PD0
+// 13 = PD1
+// 14 = PD2
+// 15 = PD3
+// 16 = PD4
+// 17 = PD5
+// 18 = PD6
+// 19 = PD7
 const static uint8_t servo_map[MAX_SERVO] = {
     0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19
 };
 
 ISR(TIMER1_COMPA_vect) {
     event = 0;
-    PORTB = 0b00111111; // leave out XTAL pins
+    PORTB = 0b11111111;
     PORTC = 0b00001111; // leave out RESET, SDA and SCL
     PORTD = 0b11111111;
     TCNT1 = 0;
@@ -82,20 +82,20 @@
         }
         servo_delay[event] = smallest_pulse;
         servo_mask_b[event] = 0xff;
-        for (uint8_t servo = 0; servo < 6; ++servo) {
+        for (uint8_t servo = 0; servo < 8; ++servo) {
             if (servo_pulse[servo] <= smallest_pulse) {
                 servo_mask_b[event] &= ~(1 << servo);
             }
         }
         servo_mask_c[event] = 0xff;
         for (uint8_t servo = 0; servo < 4; ++servo) {
-            if (servo_pulse[6 + servo] <= smallest_pulse) {
+            if (servo_pulse[8 + servo] <= smallest_pulse) {
                 servo_mask_c[event] &= ~(1 << servo);
             }
         }
         servo_mask_d[event] = 0xff;
         for (uint8_t servo = 0; servo < 8; ++servo) {
-            if (servo_pulse[10 + servo] <= smallest_pulse) {
+            if (servo_pulse[12 + servo] <= smallest_pulse) {
                 servo_mask_d[event] &= ~(1 << servo);
             }
         }