atomicServo declared and written but never used for HW PWM?

[Hamburger]

Hi,
I just uploaded HW PWM servo generation code for the a32u4 mcu. I mostly followed the implementation route for the mega hw pwm servo code that was already there. But I think I found an old error, I would like your comments on:

1. in Output.ino around line 50:

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/**************************************************************************************/
/***************         Software PWM & Servo variables            ********************/
/**************************************************************************************/
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) || \
  (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS))  || (defined(PROMICRO) && defined(A32U4_4_HW_PWM_SERVOS))
  #if defined(SERVO)
    #if defined(AIRPLANE) || defined(HELICOPTER)
      // To prevent motor to start at reset. atomicServo[7]=5 or 249 if reversed servo
      volatile uint8_t atomicServo[8] = {125,125,125,125,125,125,125,5}; 
    #else
      volatile uint8_t atomicServo[8] = {125,125,125,125,125,125,125,125};
    #endif
  #endif

this initializes atomicServo[] even for HW PWM servo use. Some lines later in writeServos() new values are written into atomicServo[]. But atomicServo[] would only ever get used in the ISR(SERVO_ISR) function which is only initialized for soft pwm servo generation ?!?

In essence, I think the macro conditions from the beginning must exclude the HW_PWM_SERVO cases; so really must read like this:

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#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)  && !defined(A32U4_4_HW_PWM_SERVOS)) || \
  (defined(MEGA) && !defined(MEGA_HW_PWM_SERVOS))  || (defined(PROMICRO) && !defined(A32U4_4_HW_PWM_SERVOS))

That would remove the entire atomicServo[] code for hw pwm servo use. All this hardware / interrupt handling is way over my head, so I ask for comments from the experts, please.

[Mis]

Yes, you're hight. atomicServo is not used with HW_PWM.
But little simplify your condition:

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/**************************************************************************************/
/***************         Software PWM & Servo variables            ********************/
/**************************************************************************************/
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6) && !defined(A32U4_4_HW_PWM_SERVOS) || (defined(MEGA) && !defined(MEGA_HW_PWM_SERVOS))
  #if defined(SERVO)
    #if defined(AIRPLANE)|| defined(HELICOPTER)
...
... 

[Hamburger]

Yes, you're hight. atomicServo is not used with HW_PWM.

ok. thanks for clarifying. I will try and find proper cpp conditionals for all code segments in question.

[Alexinparis]

Yes, you're hight. atomicServo is not used with HW_PWM.

ok. thanks for clarifying. I will try and find proper cpp conditionals for all code segments in question.

there is an error in your last mod here : && !defined(MEGA_HW_PWM_SERVOS)

[Mis]

Hamburger, please extend

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#if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)
  #undef SERVO_1_HIGH                                    // No software PWM's if we use hardware MEGA PWM
#endif

in "def.h" to

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#if (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)) || (defined(PROMICRO) && defined(A32U4_4_HW_PWM_SERVOS))
  #undef SERVO_1_HIGH                                    // No software PWM's if we use hardware MEGA PWM
#endif

and stop writing tons of "!defined(A32U4_4_HW_PWM_SERVOS)" conditions.

[Hamburger]

@mis
? I already did that in my first mod r1464.
edit: I get the idea though, now using HW_PWM_SERVOS

@Alex
sure. I only ever thought 'servo' but missed the motors' variables setup was being done in the same code section.
hopefully fixed now.

[Hamburger]

couple questions:
1.
for mega, is soft servo pwm still required or could that be removed?

2.
for promicro hw servo pwm I had to have a new motor[0] pin, so I changed it to

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    #elif defined(A32U4_4_HW_PWM_SERVOS)
      uint8_t PWM_PIN[8] = {6,9,10,11,5,13,SW_PWM_P3,SW_PWM_P4};   //
    #else
      uint8_t PWM_PIN[8] = {9,10,5,6,11,13,SW_PWM_P3,SW_PWM_P4};   //for a quad+: rear,right,left,front
    #endif

The first is obvious then, but for the other pins I used the same as for the servos, without really knowing what I was doing. What would be a meaningful sequence of pwm pins and how to get it?