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| Rev 1425 | Rev 1430 | ||
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| Line 228... | Line 228... | ||
| 228 | } |
228 | } |
| 229 | } |
229 | } |
| 230 | */ |
230 | */ |
| 231 | sendInfo[channel_to_send-1] = 1; |
231 | sendInfo[channel_to_send-1] = 1; |
| 232 | channel_to_send++; |
232 | channel_to_send++; |
| - | 233 | #if act_hwPWM_CH1_COM==0 |
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| - | 234 | if (channel_to_send == 1) |
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| - | 235 | channel_to_send++; |
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| - | 236 | #endif |
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| - | 237 | #if act_hwPWM_CH2_COM==0 |
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| - | 238 | if (channel_to_send == 2) |
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| - | 239 | channel_to_send++; |
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| - | 240 | #endif |
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| - | 241 | #if act_hwPWM_CH3_COM==0 |
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| - | 242 | if (channel_to_send == 3) |
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| - | 243 | channel_to_send++; |
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| - | 244 | #endif |
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| - | 245 | #if act_hwPWM_CH4_COM==0 |
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| - | 246 | if (channel_to_send == 4) |
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| - | 247 | channel_to_send++; |
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| - | 248 | #endif |
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| - | 249 | ||
| - | 250 | ||
| 233 | } |
251 | } |
| 234 | /* Send netinfo packet (if pwmvalue has changed, and periodically) */ |
252 | /* Send netinfo packet (if pwmvalue has changed, and periodically) */ |
| 235 | uint8_t index; |
253 | uint8_t index; |
| 236 | for(index =0;index < 4; index++){ |
254 | for(index =0;index < 4; index++){ |
| 237 | if (pwmValue[index] > 10000) { |
255 | if (pwmValue[index] > 10000) { |
| Line 276... | Line 294... | ||
| 276 | 294 | ||
| 277 | #if act_hwPWM_CH1_COM>0 |
295 | #if act_hwPWM_CH1_COM>0 |
| 278 | if (OCR_1 != (uint16_t)(pwmValue[0]*act_hwPWM_CH1_FACT)>>8) { |
296 | if (OCR_1 != (uint16_t)(pwmValue[0]*act_hwPWM_CH1_FACT)>>8) { |
| 279 | cli(); |
297 | cli(); |
| 280 | OCR_1=(uint16_t)(pwmValue[0]*act_hwPWM_CH1_FACT)>>8; |
298 | OCR_1=(uint16_t)(pwmValue[0]*act_hwPWM_CH1_FACT)>>8; |
| 281 | if ( |
299 | if (OCR_1==0) |
| 282 | { |
300 | { |
| 283 | TCCR1A&=~((1<<COM1B0)|(1<<COM1B1)); |
301 | TCCR1A&=~((1<<COM1B0)|(1<<COM1B1)); |
| 284 | } |
302 | } |
| 285 | else |
303 | else |
| 286 | { |
304 | { |
| Line 292... | Line 310... | ||
| 292 | #endif |
310 | #endif |
| 293 | #if act_hwPWM_CH2_COM>0 |
311 | #if act_hwPWM_CH2_COM>0 |
| 294 | if (OCR_2 != (uint16_t)(pwmValue[1]*act_hwPWM_CH2_FACT)>>8) { |
312 | if (OCR_2 != (uint16_t)(pwmValue[1]*act_hwPWM_CH2_FACT)>>8) { |
| 295 | cli(); |
313 | cli(); |
| 296 | OCR_2=(uint16_t)(pwmValue[1]*act_hwPWM_CH2_FACT)>>8; |
314 | OCR_2=(uint16_t)(pwmValue[1]*act_hwPWM_CH2_FACT)>>8; |
| 297 | if ( |
315 | if (OCR_2==0) |
| 298 | { |
316 | { |
| 299 | TCCR1A&=~((1<<COM1A0)|(1<<COM1A1)); |
317 | TCCR1A&=~((1<<COM1A0)|(1<<COM1A1)); |
| 300 | } |
318 | } |
| 301 | else |
319 | else |
| 302 | { |
320 | { |
| Line 308... | Line 326... | ||
| 308 | #endif |
326 | #endif |
| 309 | #if act_hwPWM_CH3_COM>0 |
327 | #if act_hwPWM_CH3_COM>0 |
| 310 | if (OCR_3 != (uint16_t)(pwmValue[2]*act_hwPWM_CH3_FACT)>>8) { |
328 | if (OCR_3 != (uint16_t)(pwmValue[2]*act_hwPWM_CH3_FACT)>>8) { |
| 311 | cli(); |
329 | cli(); |
| 312 | OCR_3=(uint16_t)(pwmValue[2]*act_hwPWM_CH3_FACT)>>8; |
330 | OCR_3=(uint16_t)(pwmValue[2]*act_hwPWM_CH3_FACT)>>8; |
| 313 | if ( |
331 | if (OCR_3==0) |
| 314 | { |
332 | { |
| 315 | TCCR0A &= ~((1<<COM0A0)|(1<<COM0A1)); |
333 | TCCR0A &= ~((1<<COM0A0)|(1<<COM0A1)); |
| 316 | } |
334 | } |
| 317 | else |
335 | else |
| 318 | { |
336 | { |
| Line 324... | Line 342... | ||
| 324 | #endif |
342 | #endif |
| 325 | #if act_hwPWM_CH4_COM>0 |
343 | #if act_hwPWM_CH4_COM>0 |
| 326 | if (OCR_4 != (uint16_t)(pwmValue[3]*act_hwPWM_CH4_FACT)>>8) { |
344 | if (OCR_4 != (uint16_t)(pwmValue[3]*act_hwPWM_CH4_FACT)>>8) { |
| 327 | cli(); |
345 | cli(); |
| 328 | OCR_4=(uint16_t)(pwmValue[3]*act_hwPWM_CH4_FACT)>>8; |
346 | OCR_4=(uint16_t)(pwmValue[3]*act_hwPWM_CH4_FACT)>>8; |
| 329 | if ( |
347 | if (OCR_4==0) |
| 330 | { |
348 | { |
| 331 | TCCR0A &= ~((1<<COM0B0)|(1<<COM0B1)); |
349 | TCCR0A &= ~((1<<COM0B0)|(1<<COM0B1)); |
| 332 | } |
350 | } |
| 333 | else |
351 | else |
| 334 | { |
352 | { |