| 5,6 → 5,7 |
|---|
| #include "analog.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "mm3.h" |
| |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint8_t UpdateMotor = 0; |
| 30,6 → 31,18 |
|---|
| DDRB |= (1<<DDB4)|(1<<DDB3); |
| PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
| |
| if(BoardRelease == 10) |
| { |
| DDRD |= (1<<DDD2); |
| PORTD &= ~(1<<PORTD2); |
| |
| } |
| else |
| { |
| DDRC |= (1<<DDC7); |
| PORTC &= ~(1<<PORTC7); |
| } |
| |
| // Timer/Counter 0 Control Register A |
| |
| // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
| 106,26 → 119,14 |
|---|
| else // beeper is off |
| { |
| // set speaker port to low |
| if(BoardRelease == 10) PORTD &= ~(1<<2);// Speaker at PD2 |
| else PORTC &= ~(1<<7);// Speaker at PC7 |
| if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
| else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
| } |
| |
| // update compass value if this option is enabled in the settings |
| if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| MM3_timer0(); |
| } |
| } |
| |
| 134,17 → 135,13 |
|---|
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay (uint16_t t) |
| { |
| // TIMSK0 &= ~(1<<TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= (1<<TOIE0); |
| } |
| |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) |
| { |
| // TIMSK0 &= ~(1<<TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= (1<<TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit |
| } |
| |
| // ----------------------------------------------------------------------- |