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fixed an overflow issue in AP_RC

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2074 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-03 04:32:37 +00:00
parent 85d006c290
commit 6d4b77340b
1 changed files with 40 additions and 34 deletions
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36
libraries/AP_RC/AP_RC.cpp
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@ -36,10 +36,10 @@ volatile int16_t timer4diff = 1500 * 2;
#define CH_4 3 #define CH_4 3
volatile int8_t _rc_ch_read; volatile int8_t _rc_ch_read;
volatile uint8_t _timer_out; volatile uint16_t _timer_out;
volatile uint8_t _timer_ovf_a; volatile uint16_t _timer_ovf_a;
volatile uint8_t _timer_ovf_b; volatile uint16_t _timer_ovf_b;
volatile uint8_t _timer_ovf; volatile uint16_t _timer_ovf;
AP_RC::AP_RC() AP_RC::AP_RC()
@ -117,27 +117,33 @@ AP_RC::output_ch_pwm(uint8_t ch, uint16_t pwm)
{ {
switch(ch){ switch(ch){
case CH_1: case CH_1:
pwm <<= 1; pwm <<= 1; // multiplies by 2
OCR1A = pwm; OCR1A = pwm;
break; break;
case CH_2: case CH_2:
pwm <<= 1; pwm <<= 1;
OCR1B = pwm; OCR1B = pwm; // multiplies by 2
break; break;
case CH_3: case CH_3:
_timer_out = pwm % 512; _timer_out = pwm % 512;
_timer_ovf_a = pwm / 512; _timer_ovf_a = pwm / 512;
_timer_out >>= 1; _timer_out >>= 1; // divides by 2
OCR2A = _timer_out; //OCR2A = _timer_out;
if(OCR2A != _timer_out)
OCR2A = _timer_out;
break; break;
case CH_4: case CH_4:
_timer_out = pwm % 512; _timer_out = pwm % 512;
_timer_ovf_b = pwm / 512; _timer_ovf_b = pwm / 512;
_timer_out >>= 1; _timer_out >>= 1; // divides by 2
OCR2B = _timer_out; //OCR2B = _timer_out;
if(OCR2B != _timer_out)
OCR2B = _timer_out;
break; break;
} }
} }
@ -211,10 +217,10 @@ ISR(PCINT0_vect)
ISR(TIMER1_CAPT_vect) // Timer/Counter1 Capture Event ISR(TIMER1_CAPT_vect) // Timer/Counter1 Capture Event
{ {
//This is a timer 1 interrupts, executed every 20us //This is a timer 1 interrupts, executed every 20us
PORTB |= B00000001; //Putting the pin high! PORTB |= B00000001; //Putting the pin high!
PORTC |= B00010000; //Putting the pin high! PORTC |= B00010000; //Putting the pin high!
TCNT2 = 0; //restarting the counter of timer 2 TCNT2 = 0; //restarting the counter of timer 2
_timer_ovf = 0; _timer_ovf = 0;
} }
ISR(TIMER2_OVF_vect) ISR(TIMER2_OVF_vect)