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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _TIMER0_H |
| 2 | #define _TIMER0_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 5 | |||
| 2052 | - | 6 | // Normally it is 20MHz/2048 = 9765.625 Hz |
| 7 | #define F_TIMER0IRQ ((float)F_CPU/2048.0) |
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| 2189 | - | 8 | #define T_TIMER0IRQ ((float)2048.0/(float)F_CPU) |
| 9 | // About 250 Hz |
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| 10 | #define F_CONTROL 250 |
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| 11 | #define CONTROLLOOP_DIVIDER (F_TIMER0IRQ/F_CONTROL) |
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| 12 | #define SERIALLOOP_DIVIDER 61 |
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| 13 | #define OUTPUTLOOP_DIVIDER 100 |
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| 2052 | - | 14 | |
| 2189 | - | 15 | extern volatile uint32_t jiffiesClock; |
| 16 | extern volatile uint32_t millisClock; |
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| 17 | extern volatile uint8_t loopJiffiesClock; |
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| 1908 | - | 18 | |
| 1612 | dongfang | 19 | extern void timer0_init(void); |
| 1887 | - | 20 | extern void delay_ms(uint16_t w); |
| 21 | extern uint16_t setDelay(uint16_t t); |
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| 22 | extern int8_t checkDelay(uint16_t t); |
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| 1612 | dongfang | 23 | |
| 2189 | - | 24 | typedef enum { |
| 25 | NOT_RUNNING = 0, |
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| 26 | RUNNING, |
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| 27 | BLOCKED_FOR_CALIBRATION |
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| 28 | } FlightControlRunStatus; |
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| 29 | |||
| 30 | extern volatile uint8_t flightControlStatus; |
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| 31 | |||
| 1612 | dongfang | 32 | #endif //_TIMER0_H |