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| Rev 2052 | Rev 2060 | ||
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| 60 | 60 | ||
| 61 | #ifdef USE_MK3MAG |
61 | #ifdef USE_MK3MAG |
| 62 | #include "mk3mag.h" |
62 | #include "mk3mag.h" |
| Line 63... | Line 63... | ||
| 63 | #endif |
63 | #endif |
| 64 | 64 | ||
| 65 | volatile uint16_t millisecondsCount = 0; |
- | |
| 66 | volatile uint8_t runFlightControl = 0; |
65 | volatile uint32_t globalMillisClock = 0; |
| 67 | volatile uint16_t cntKompass = 0; |
66 | volatile uint8_t runFlightControl = 0; |
| Line 68... | Line 67... | ||
| 68 | volatile uint16_t beepTime = 0; |
67 | volatile uint16_t beepTime = 0; |
| 69 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
68 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
| Line 104... | Line 103... | ||
| 104 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
103 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
| 105 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
104 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
| 106 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
105 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
| Line 107... | Line 106... | ||
| 107 | 106 | ||
| 108 | // Timer/Counter 0 Control Register B |
- | |
| 109 | 107 | // Timer/Counter 0 Control Register B |
|
| 110 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
108 | // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz/8 = 2.5MHz |
| 111 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
109 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| Line 112... | Line 110... | ||
| 112 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
110 | // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz |
| 113 | 111 | ||
| 114 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
112 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
| Line 131... | Line 129... | ||
| 131 | } |
129 | } |
| Line 132... | Line 130... | ||
| 132 | 130 | ||
| 133 | /*****************************************************/ |
131 | /*****************************************************/ |
| 134 | /* Interrupt Routine of Timer 0 */ |
132 | /* Interrupt Routine of Timer 0 */ |
| 135 | /*****************************************************/ |
133 | /*****************************************************/ |
| 136 | ISR(TIMER0_OVF_vect) |
- | |
| 137 | { // 9765.625 Hz |
134 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
| 138 | static uint8_t cnt_1ms = 1, cnt = 0; |
135 | static uint8_t cnt_1ms = 1, cnt = 0; |
| Line 139... | Line 136... | ||
| 139 | uint8_t beeperOn = 0; |
136 | uint8_t beeperOn = 0; |
| 140 | 137 | ||
| Line 150... | Line 147... | ||
| 150 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
147 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| 151 | else |
148 | else |
| 152 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
149 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| 153 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
150 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| 154 | } |
151 | } |
| 155 | millisecondsCount++; // increment millisecond counter |
152 | globalMillisClock++; // increment millisecond counter |
| 156 | } |
153 | } |
| Line 157... | Line 154... | ||
| 157 | 154 | ||
| 158 | // beeper on if duration is not over |
155 | // beeper on if duration is not over |
| 159 | if (beepTime) { |
156 | if (beepTime) { |
| Line 189... | Line 186... | ||
| 189 | #endif |
186 | #endif |
| 190 | } |
187 | } |
| Line 191... | Line 188... | ||
| 191 | 188 | ||
| 192 | // ----------------------------------------------------------------------- |
189 | // ----------------------------------------------------------------------- |
| 193 | uint16_t setDelay(uint16_t t) { |
190 | uint16_t setDelay(uint16_t t) { |
| 194 | return (millisecondsCount + t - 1); |
191 | return (globalMillisClock + t - 1); |
| Line 195... | Line 192... | ||
| 195 | } |
192 | } |
| 196 | 193 | ||
| 197 | // ----------------------------------------------------------------------- |
194 | // ----------------------------------------------------------------------- |
| 198 | int8_t checkDelay(uint16_t t) { |
195 | int8_t checkDelay(uint16_t t) { |
| Line 199... | Line 196... | ||
| 199 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
196 | return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
| 200 | } |
197 | } |
| 201 | 198 | ||