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| 3 | #include <avr/interrupt.h> |
3 | #include <avr/interrupt.h> |
| 4 | #include "eeprom.h" |
4 | #include "eeprom.h" |
| 5 | #include "analog.h" |
5 | #include "analog.h" |
| 6 | #include "main.h" |
6 | #include "main.h" |
| 7 | #include "fc.h" |
7 | #include "fc.h" |
| - | 8 | #include "mm3.h" |
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| Line 8... | Line 9... | ||
| 8 | 9 | ||
| 9 | volatile uint16_t CountMilliseconds = 0; |
10 | volatile uint16_t CountMilliseconds = 0; |
| 10 | volatile uint8_t UpdateMotor = 0; |
11 | volatile uint8_t UpdateMotor = 0; |
| 11 | volatile uint16_t cntKompass = 0; |
12 | volatile uint16_t cntKompass = 0; |
| Line 28... | Line 29... | ||
| 28 | 29 | ||
| 29 | // set PB3 and PB4 as output for the PWM |
30 | // set PB3 and PB4 as output for the PWM |
| 30 | DDRB |= (1<<DDB4)|(1<<DDB3); |
31 | DDRB |= (1<<DDB4)|(1<<DDB3); |
| Line -... | Line 32... | ||
| - | 32 | PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
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| - | 33 | ||
| - | 34 | if(BoardRelease == 10) |
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| - | 35 | { |
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| - | 36 | DDRD |= (1<<DDD2); |
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| - | 37 | PORTD &= ~(1<<PORTD2); |
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| - | 38 | ||
| - | 39 | } |
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| - | 40 | else |
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| - | 41 | { |
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| - | 42 | DDRC |= (1<<DDC7); |
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| - | 43 | PORTC &= ~(1<<PORTC7); |
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| 31 | PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
44 | } |
| Line 32... | Line 45... | ||
| 32 | 45 | ||
| 33 | // Timer/Counter 0 Control Register A |
46 | // Timer/Counter 0 Control Register A |
| 34 | 47 | ||
| Line 104... | Line 117... | ||
| 104 | else PORTC |= (1<<7); // Speaker at PC7 |
117 | else PORTC |= (1<<7); // Speaker at PC7 |
| 105 | } |
118 | } |
| 106 | else // beeper is off |
119 | else // beeper is off |
| 107 | { |
120 | { |
| 108 | // set speaker port to low |
121 | // set speaker port to low |
| 109 | if(BoardRelease == 10) PORTD &= ~(1<<2);// Speaker at PD2 |
122 | if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
| 110 | else PORTC &= ~(1<<7);// Speaker at PC7 |
123 | else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
| 111 | } |
124 | } |
| Line 112... | Line 125... | ||
| 112 | 125 | ||
| 113 | // update compass value if this option is enabled in the settings |
126 | // update compass value if this option is enabled in the settings |
| 114 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
127 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
| 115 | { |
- | |
| 116 | if(PINC & 0x10) |
- | |
| 117 | { |
128 | { |
| 118 | cntKompass++; |
- | |
| 119 | } |
- | |
| 120 | else |
- | |
| 121 | { |
- | |
| 122 | if((cntKompass) && (cntKompass < 4000)) |
- | |
| 123 | { |
- | |
| 124 | KompassValue = cntKompass; |
- | |
| 125 | } |
- | |
| 126 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
- | |
| 127 | cntKompass = 0; |
- | |
| 128 | } |
129 | MM3_timer0(); |
| 129 | } |
130 | } |
| Line 130... | Line 131... | ||
| 130 | } |
131 | } |
| 131 | 132 | ||
| 132 | 133 | ||
| 133 | - | ||
| 134 | // ----------------------------------------------------------------------- |
134 | |
| 135 | uint16_t SetDelay (uint16_t t) |
- | |
| 136 | { |
135 | // ----------------------------------------------------------------------- |
| Line 137... | Line 136... | ||
| 137 | // TIMSK0 &= ~(1<<TOIE0); |
136 | uint16_t SetDelay (uint16_t t) |
| 138 | return(CountMilliseconds + t + 1); |
137 | { |
| 139 | // TIMSK0 |= (1<<TOIE0); |
138 | return(CountMilliseconds + t + 1); |
| 140 | } |
- | |
| 141 | 139 | } |
|
| 142 | // ----------------------------------------------------------------------- |
- | |
| 143 | int8_t CheckDelay(uint16_t t) |
140 | |
| Line 144... | Line 141... | ||
| 144 | { |
141 | // ----------------------------------------------------------------------- |
| 145 | // TIMSK0 &= ~(1<<TOIE0); |
142 | int8_t CheckDelay(uint16_t t) |
| 146 | return(((t - CountMilliseconds) & 0x8000) >> 9); |
143 | { |