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Move elevon servos to the output rail on the NANOWII in FLYING_WING mode #5

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Move elevon servos to the output rail on the NANOWII in FLYING_WING mode #5

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49 changes: 37 additions & 12 deletions def.h
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Original file line number Diff line number Diff line change
Expand Up @@ -383,12 +383,23 @@
#endif

// Servos
#define SERVO_1_PINMODE DDRF |= (1<<7); // A0
#define SERVO_1_PIN_HIGH PORTF|= 1<<7;
#define SERVO_1_PIN_LOW PORTF &= ~(1<<7);
#define SERVO_2_PINMODE DDRF |= (1<<6); // A1
#define SERVO_2_PIN_HIGH PORTF |= 1<<6;
#define SERVO_2_PIN_LOW PORTF &= ~(1<<6);
#if defined(NANOWII) && defined(FLYING_WING)
// Move servo 5 away from servo rail to give room for elevon servo 1
#define SERVO_5_PINMODE DDRF |= (1<<7); // A0
#define SERVO_5_PIN_HIGH PORTF|= 1<<7;
#define SERVO_5_PIN_LOW PORTF &= ~(1<<7);
// Move servo 7 away from servo rail to give room for elevon servo 2
#define SERVO_7_PINMODE DDRF |= (1<<6); // A1
#define SERVO_7_PIN_HIGH PORTF |= 1<<6;
#define SERVO_7_PIN_LOW PORTF &= ~(1<<6);
#else
#define SERVO_1_PINMODE DDRF |= (1<<7); // A0
#define SERVO_1_PIN_HIGH PORTF|= 1<<7;
#define SERVO_1_PIN_LOW PORTF &= ~(1<<7);
#define SERVO_2_PINMODE DDRF |= (1<<6); // A1
#define SERVO_2_PIN_HIGH PORTF |= 1<<6;
#define SERVO_2_PIN_LOW PORTF &= ~(1<<6);
#endif
#define SERVO_3_PINMODE DDRF |= (1<<5); // A2
#define SERVO_3_PIN_HIGH PORTF |= 1<<5;
#define SERVO_3_PIN_LOW PORTF &= ~(1<<5);
Expand All @@ -401,15 +412,29 @@
#define SERVO_4_PIN_HIGH PORTF |= 1<<4;
#define SERVO_4_PIN_LOW PORTF &= ~(1<<4);
#endif
#define SERVO_5_PINMODE DDRC |= (1<<6); // 5
#define SERVO_5_PIN_HIGH PORTC|= 1<<6;
#define SERVO_5_PIN_LOW PORTC &= ~(1<<6);
#if defined(NANOWII) && defined(FLYING_WING)
// Move elevon servo 2 to third position on the servo rail
#define SERVO_2_PINMODE DDRC |= (1<<6); // 5
#define SERVO_2_PIN_HIGH PORTC|= 1<<6;
#define SERVO_2_PIN_LOW PORTC &= ~(1<<6);
#else
#define SERVO_5_PINMODE DDRC |= (1<<6); // 5
#define SERVO_5_PIN_HIGH PORTC|= 1<<6;
#define SERVO_5_PIN_LOW PORTC &= ~(1<<6);
#endif
#define SERVO_6_PINMODE DDRD |= (1<<7); // 6
#define SERVO_6_PIN_HIGH PORTD |= 1<<7;
#define SERVO_6_PIN_LOW PORTD &= ~(1<<7);
#define SERVO_7_PINMODE DDRB |= (1<<6); // 10
#define SERVO_7_PIN_HIGH PORTB |= 1<<6;
#define SERVO_7_PIN_LOW PORTB &= ~(1<<6);
#if defined(NANOWII) && defined(FLYING_WING)
// Move elevon servo 1 to second position on the servo rail
#define SERVO_1_PINMODE DDRB |= (1<<6); // 10
#define SERVO_1_PIN_HIGH PORTB |= 1<<6;
#define SERVO_1_PIN_LOW PORTB &= ~(1<<6);
#else
#define SERVO_7_PINMODE DDRB |= (1<<6); // 10
#define SERVO_7_PIN_HIGH PORTB |= 1<<6;
#define SERVO_7_PIN_LOW PORTB &= ~(1<<6);
#endif
#define SERVO_8_PINMODE DDRB |= (1<<5); // 9
#define SERVO_8_PIN_HIGH PORTB |= 1<<5;
#define SERVO_8_PIN_LOW PORTB &= ~(1<<5);
Expand Down