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bug shift fixed

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This commit is contained in:
Antoine Drouin
2006-10-07 14:16:47 +00:00
parent 43a0586afc
commit 52cb72e929
1 changed files with 21 additions and 19 deletions
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sw/airborne/arm7/servos_4015_MAT_hw.h
+21 -19
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@@ -51,25 +51,27 @@ extern uint32_t servos_delay;
#define SERVO_REFRESH_TICS SERVOS_TICS_OF_USEC(20000)
#define Servos4015Mat_ISR() { \
if (servos_4015_idx == 0) { \
IO1SET = _BV(SERVO_DATA_PIN); \
SetBit(IO1CLR, SERVO_RESET_PIN); \
servos_delay = SERVO_REFRESH_TICS; \
} else { \
IO1CLR = _BV(SERVO_DATA_PIN); \
} \
if (servos_4015_idx >= _4015_NB_CHANNELS) { \
SetBit(IO1SET, SERVO_RESET_PIN); \
servos_4015_idx = 0; \
T0MR1 += servos_delay; \
} else { \
T0MR1 += servos_values[servos_4015_idx]; \
servos_delay -= servos_values[servos_4015_idx]; \
servos_4015_idx++; \
} \
/* lower clock pin */ \
T0EMR &= ~TEMR_EM1; \
#define Servos4015Mat_ISR() { \
if (servos_4015_idx == 0) { \
servos_delay = SERVO_REFRESH_TICS; \
IO1CLR = _BV(SERVO_DATA_PIN); \
} \
if (servos_4015_idx < _4015_NB_CHANNELS ) { \
T0MR1 += servos_values[servos_4015_idx]; \
servos_delay -= servos_values[servos_4015_idx]; \
servos_4015_idx++; \
} else if (servos_4015_idx == _4015_NB_CHANNELS) { \
SetBit(IO1SET, SERVO_RESET_PIN); \
servos_4015_idx++; \
T0MR1 += servos_delay/2; \
} else { \
IO1SET = _BV(SERVO_DATA_PIN); \
SetBit(IO1CLR, SERVO_RESET_PIN); \
servos_4015_idx = 0; \
T0MR1 += servos_delay/2; \
} \
/* lower clock pin */ \
T0EMR &= ~TEMR_EM1; \
}
#endif /* SERVOS_4015_HW_H */