Diff: outputs_y6.h

Revision:

0:62a1c91a859a

Child:

1:1e3318a30ddd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/outputs_y6.h	Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,60 @@
+// ===============================================================================================
+// =                              UAVXArm Quadrocopter Controller                                =
+// =                           Copyright (c) 2008 by Prof. Greg Egan                             =
+// =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
+// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// ===============================================================================================
+
+//    This is part of UAVXArm.
+
+//    UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
+//    General Public License as published by the Free Software Foundation, either version 3 of the
+//    License, or (at your option) any later version.
+
+//    UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
+//    even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+//    See the GNU General Public License for more details.
+
+//    You should have received a copy of the GNU General Public License along with this program.
+//    If not, see http://www.gnu.org/licenses/
+
+
+void OutSignals(void) {   // The PWM pulses are in two parts these being a 1mS preamble followed by a 0-1mS part.
+    // Interrupts are enabled during the first part which uses TMR0.  TMR0 is monitored until
+    // there is just sufficient time for one remaining interrupt latency before disabling
+    // interrupts.  We do this because there appears to be no atomic method of detecting the
+    // remaining time AND conditionally disabling the interupt.
+    static int8 m;
+    static uint8 r, s;
+    static i16u SaveTimer0;
+    static uint24 SaveClockmS;
+
+    PWM[FrontTC] = TC(PWM[FrontTC]);
+    PWM[LeftTC] = TC(PWM[LeftTC]);
+    PWM[RightTC] = TC(PWM[RightTC]);
+    PWM[FrontBC] = TC(PWM[FrontBC]);
+    PWM[LeftBC] = TC(PWM[LeftBC]);
+    PWM[RightBC] = TC(PWM[RightBC]);
+
+#if !( defined SIMULATE | defined TESTING )
+
+    if ( !F.MotorsArmed )
+        StopMotors();
+    
+    Out0.pulsewidth_us(1000 + (int16)( PWM[FrontTC] * PWMScale ) );
+    Out1.pulsewidth_us(1000 + (int16)( PWM[LeftTC] * PWMScale ) );
+    Out2.pulsewidth_us(1000 + (int16)( PWM[RightTC] * PWMScale ) );
+    Out3.pulsewidth_us(1000 + (int16)( PWM[FrontBC] * PWMScale ) );
+    
+    #ifdef USING_PWM4AND5
+    Out4.pulsewidth_us(1000 + (int16)( PWM[LeftBC] * PWMScale ) );
+    Out5.pulsewidth_us(1000 + (int16)( PWM[RightBC] * PWMScale ) );
+    #endif // USING_PWM4AND5
+    
+#endif // !(SIMULATE | TESTING)
+
+} // OutSignals
+
+
+
+