| 1,6 → 1,7 |
|---|
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include "eeprom.h" |
| #include "analog.h" |
| #include "controlMixer.h" |
| 8,8 → 9,10 |
|---|
| #include "timer0.h" |
| #include "output.h" |
| |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #ifdef DO_PROFILE |
| volatile uint32_t global10kHzClock = 0; |
| volatile int32_t profileTimers[NUM_PROFILE_TIMERS]; |
| volatile int32_t runningProfileTimers[NUM_PROFILE_TIMERS]; |
| #endif |
| |
| volatile uint32_t globalMillisClock = 0; |
| 17,10 → 20,6 |
|---|
| volatile uint16_t beepTime = 0; |
| volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
| |
| #ifdef USE_NAVICTRL |
| volatile uint8_t SendSPI = 0; |
| #endif |
| |
| /***************************************************** |
| * Initialize Timer 0 |
| *****************************************************/ |
| 65,6 → 64,12 |
|---|
| TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
| TIMSK0 |= (1 << TOIE0); |
| |
| #ifdef DO_PROFILE |
| for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
| profileTimers[i] = 0; |
| } |
| #endif |
| |
| SREG = sreg; |
| } |
| |
| 75,8 → 80,8 |
|---|
| static uint8_t cnt_1ms = 1, cnt = 0; |
| uint8_t beeperOn = 0; |
| |
| #ifdef USE_NAVICTRL |
| if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| #ifdef DO_PROFILE |
| global10kHzClock++; |
| #endif |
| |
| if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
| 83,10 → 88,6 |
|---|
| cnt = 9; |
| cnt_1ms ^= 1; |
| if (!cnt_1ms) { |
| if (runFlightControl == 1) |
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| else |
| debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| } |
| globalMillisClock++; // increment millisecond counter |
| 134,7 → 135,7 |
|---|
| void delay_ms(uint16_t w) { |
| uint16_t t_stop = setDelay(w); |
| while (!checkDelay(t_stop)) |
| ; |
| wdt_reset(); |
| } |
| |
| // ----------------------------------------------------------------------- |
| 142,6 → 143,7 |
|---|
| uint16_t t_stop; |
| t_stop = setDelay(w); |
| while (!checkDelay(t_stop)) { |
| wdt_reset(); |
| debugOut.analog[30]++; |
| if (sensorDataReady == ALL_DATA_READY) { |
| analog_update(); |
| 151,6 → 153,26 |
|---|
| if (stop) { |
| // Wait for new samples to get prepared but do not restart AD conversion after that! |
| // Caller MUST to that. |
| // while (!sensorDataReady != ALL_DATA_READY); |
| while (!sensorDataReady != ALL_DATA_READY) wdt_reset(); |
| } |
| } |
| |
| #ifdef DO_PROFILE |
| void startProfileTimer(uint8_t timer) { |
| runningProfileTimers[timer] = global10kHzClock++; |
| } |
| |
| void stopProfileTimer(uint8_t timer) { |
| int32_t t = global10kHzClock++ - runningProfileTimers[timer]; |
| profileTimers[timer] += t; |
| } |
| |
| void debugProfileTimers(uint8_t index) { |
| for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
| uint16_t tenths = profileTimers[i] / 1000L; |
| debugOut.analog[i+index] = tenths; |
| } |
| uint16_t tenths = global10kHzClock / 1000L; |
| debugOut.analog[index + NUM_PROFILE_TIMERS] = tenths; |
| } |
| #endif; |