Hier noch die Anpassungen, wenn man die Portpins am IO_PWM/T2/T3 Stecker der M256 nehmen will:
Code:
Stecker IO_PWM/T2/T3
         _______
Vdd    <-|10  9| -> Servo8
Servo7 <-| 8  7| -> Servo6
Servo5 <-| 6  5| -> Servo4
Servo3 <-| 4  3| -> Servo2
Ground <-| 2  1| -> Servo1
         -------

********* in der Lib **********
 * Servo connections at IO_PWM/T2/T3:
 *     SERVO1 -> Pin 1 (IO_PE7_ICP3_I7)  SERVO5 -> Pin 6 (IO_ADC15_PI23)
 *     SERVO2 -> Pin 3 (IO_PE6_T3_I6)  SERVO6 -> Pin 7 (IO_PH6_OC2B)
 *     SERVO3 -> Pin 4 (IO_PE5_OC3C_I5)  SERVO7 -> Pin 8 (IO_ADC14_PI22)
 *     SERVO4 -> Pin 5 (OC2A_PI4)  SERVO8 -> Pin 9 (IO_PE4_OC3B_I4)
 

 if (servos & SERVO1) {DDRE |= IO_PE7_ICP3_I7; PORTE &= ~IO_PE7_ICP3_I7;}
 if (servos & SERVO2) {DDRE |= IO_PE6_T3_I6; PORTE &= ~IO_PE6_T3_I6;}
 if (servos & SERVO3) {DDRE |= IO_PE5_OC3C_I5; PORTE &= ~IO_PE5_OC3C_I5;}
 if (servos & SERVO4) {DDRB |= OC2A_PI4; PORTB &= ~OC2A_PI4;}
 if (servos & SERVO5) {DDRK |= IO_ADC15_PI23; PORTK &= ~IO_ADC15_PI23;}
 if (servos & SERVO6) {DDRH |= IO_PH6_OC2B; PORTH &= ~IO_PH6_OC2B;}
 if (servos & SERVO7) {DDRK |= IO_ADC14_PI22; PORTK &= ~IO_ADC14_PI22;}
 if (servos & SERVO8) {DDRE |= IO_PE4_OC3B_I4; PORTE &= ~IO_PE4_OC3B_I4;}
// -----------------------------------------------------------
// Other possible ports for connecting Servos to RP6 M256:
 // At IO_PWM/T0/T1: PD4, PD6, PB7, PG5, PD7, PB5, PK5, PB6
 // At UART_SPI1/T5: PL1, PL2, PD5, PL3, PD3, PL5, PD2, PL4
 // At UART_SPI2/T4: PL0, PH7, PH2, PH5, PH1, PH4, PH0, PH3
// -----------------------------------------------------------


********* im Header **********
// Servo ports (at IO_PWM/T2/T3):
#define SERVO1_PULSE_ON  (PORTE |= IO_PE7_ICP3_I7) // PE7
#define SERVO1_PULSE_OFF (PORTE &= ~IO_PE7_ICP3_I7)
#define SERVO2_PULSE_ON  (PORTE |= IO_PE6_T3_I6)  // PE6
#define SERVO2_PULSE_OFF (PORTE &= ~IO_PE6_T3_I6)
#define SERVO3_PULSE_ON  (PORTE |= IO_PE5_OC3C_I5) // PE5
#define SERVO3_PULSE_OFF (PORTE &= ~IO_PE5_OC3C_I5)
#define SERVO4_PULSE_ON  (PORTB |= OC2A_PI4)  // PB4
#define SERVO4_PULSE_OFF (PORTB &= ~OC2A_PI4)
#define SERVO5_PULSE_ON  (PORTK |= IO_ADC15_PI23) // PK7
#define SERVO5_PULSE_OFF (PORTK &= ~IO_ADC15_PI23)
#define SERVO6_PULSE_ON  (PORTH |= IO_PH6_OC2B)  // PH6
#define SERVO6_PULSE_OFF (PORTH &= ~IO_PH6_OC2B)
#define SERVO7_PULSE_ON  (PORTK |= IO_ADC14_PI22) // PK6
#define SERVO7_PULSE_OFF (PORTK &= ~IO_ADC14_PI22)
#define SERVO8_PULSE_ON  (PORTE |= IO_PE4_OC3B_I4) // PE4
#define SERVO8_PULSE_OFF (PORTE &= ~IO_PE4_OC3B_I4)
// -----------------------------------------------------------
// Other possible ports for connecting Servos to RP6 M256:
 // At IO_PWM/T0/T1: PD4, PD6, PB7, PG5, PD7, PB5, PK5, PB6
 // At UART_SPI1/T5: PL1, PL2, PD5, PL3, PD3, PL5, PD2, PL4
 // At UART_SPI2/T4: PL0, PH7, PH2, PH5, PH1, PH4, PH0, PH3
// -----------------------------------------------------------