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Better correction for issue 95

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This commit is contained in:
bsongis
2012-08-21 11:45:04 +00:00
parent 0e7c08ba15
commit 76ea24e62c
5 changed files with 48 additions and 34 deletions
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src/open9x.cpp
+24 -15
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@@ -468,17 +468,18 @@ int16_t applyLimits(uint8_t channel, int32_t value)
#if defined(PPM_LIMITS_SYMETRICAL)
if (value) {
// TODO flash saving
int32_t tmp;
if (g_model.limitData[channel].symetrical)
value = (value > 0) ? value * ((int32_t) lim_p) / 100000 :
-value * ((int32_t) lim_n) / 100000; //div by 100000 -> output = -1024..1024
tmp = (value > 0) ? ((int32_t) lim_p) : ((int32_t) -lim_n);
else
value = (value > 0) ? value * ((int32_t) lim_p - ofs) / 100000 :
-value * ((int32_t) lim_n - ofs) / 100000; //div by 100000 -> output = -1024..1024
tmp = (value > 0) ? ((int32_t) lim_p - ofs) : ((int32_t) -lim_n + ofs);
value = (value * tmp) / 100000;
}
#else
if (value) value = (value > 0) ? value * ((int32_t) lim_p - ofs) / 100000 :
-value * ((int32_t) lim_n - ofs) / 100000; //div by 100000 -> output = -1024..1024
if (value) {
int32_t tmp = (value > 0) ? ((int32_t) lim_p - ofs) : ((int32_t) -lim_n + ofs);
value = (value * tmp) / 100000; //div by 100000 -> output = -1024..1024
}
#endif
value += calc1000toRESX(ofs);
@@ -2751,22 +2752,24 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
cli();
#if defined(PCBV4)
static uint8_t accuracyWarble = 4; // because 16M / 1024 / 100 = 156.25. So bump every 4.
uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156;
TIMSK2 &= ~(1<<OCIE2A); // stop reentrance
OCR2A += bump;
#else
TIMSK &= ~(1<<OCIE0); // stop reentrance
#if defined(AUDIO) || defined(VOICE)
#endif
sei();
#if defined(PCBV4)
static uint8_t accuracyWarble = 4; // because 16M / 1024 / 100 = 156.25. So bump every 4.
uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156;
OCR2A += bump;
#elif defined(AUDIO) || defined(VOICE)
OCR0 += 2; // interrupt every 128us
#else
static uint8_t accuracyWarble = 4; // because 16M / 1024 / 100 = 156.25. So bump every 4.
uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156;
OCR0 += bump;
#endif
#endif
sei();
#if defined(PCBSTD) && (defined(AUDIO) || defined(VOICE))
@@ -2779,6 +2782,13 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
#endif
static uint8_t cnt10ms = 77; // execute 10ms code once every 78 ISRs
#if defined(FRSKY)
if (cnt10ms == 30) {
check_frsky();
}
#endif
if (cnt10ms-- == 0) { // BEGIN { ... every 10ms ... }
// Begin 10ms event
cnt10ms = 77;
@@ -2800,7 +2810,6 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
heartbeat |= HEART_TIMER10ms; // TODO check heartbeat everywhere!
#endif
#if defined(PCBSTD) && (defined(AUDIO) || defined(VOICE))
} // end 10ms event
#endif