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| Rev 1872 | Rev 1887 | ||
|---|---|---|---|
| Line 60... | Line 60... | ||
| 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 CountMilliseconds = 0; |
65 | volatile uint16_t millisecondsCount = 0; |
| 66 | volatile uint8_t runFlightControl = 0; |
66 | volatile uint8_t runFlightControl = 0; |
| 67 | volatile uint16_t cntKompass = 0; |
67 | volatile uint16_t cntKompass = 0; |
| Line 68... | Line 68... | ||
| 68 | volatile uint16_t BeepTime = 0; |
68 | volatile uint16_t beepTime = 0; |
| 69 | volatile uint16_t BeepModulation = 0xFFFF; |
69 | volatile uint16_t beepModulation = 0xFFFF; |
| 70 | 70 | ||
| Line 134... | Line 134... | ||
| 134 | /* Interrupt Routine of Timer 0 */ |
134 | /* Interrupt Routine of Timer 0 */ |
| 135 | /*****************************************************/ |
135 | /*****************************************************/ |
| 136 | ISR(TIMER0_OVF_vect) |
136 | ISR(TIMER0_OVF_vect) |
| 137 | { // 9765.625 Hz |
137 | { // 9765.625 Hz |
| 138 | static uint8_t cnt_1ms = 1, cnt = 0; |
138 | static uint8_t cnt_1ms = 1, cnt = 0; |
| 139 | uint8_t Beeper_On = 0; |
139 | uint8_t beeper_On = 0; |
| Line 140... | Line 140... | ||
| 140 | 140 | ||
| 141 | #ifdef USE_NAVICTRL |
141 | #ifdef USE_NAVICTRL |
| 142 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
142 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| Line 150... | Line 150... | ||
| 150 | DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
150 | DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
| 151 | else |
151 | else |
| 152 | DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
152 | DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| 153 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
153 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| 154 | } |
154 | } |
| 155 | CountMilliseconds++; // increment millisecond counter |
155 | millisecondsCount++; // increment millisecond counter |
| 156 | } |
156 | } |
| Line 157... | Line 157... | ||
| 157 | 157 | ||
| 158 | // beeper on if duration is not over |
158 | // beeper on if duration is not over |
| 159 | if (BeepTime) { |
159 | if (beepTime) { |
| 160 | BeepTime--; // decrement BeepTime |
160 | beepTime--; // decrement BeepTime |
| 161 | if (BeepTime & BeepModulation) |
161 | if (beepTime & beepModulation) |
| 162 | Beeper_On = 1; |
162 | beeper_On = 1; |
| 163 | else |
163 | else |
| 164 | Beeper_On = 0; |
164 | beeper_On = 0; |
| 165 | } else { // beeper off if duration is over |
165 | } else { // beeper off if duration is over |
| 166 | Beeper_On = 0; |
166 | beeper_On = 0; |
| 167 | BeepModulation = 0xFFFF; |
167 | beepModulation = 0xFFFF; |
| Line 168... | Line 168... | ||
| 168 | } |
168 | } |
| 169 | 169 | ||
| 170 | // if beeper is on |
170 | // if beeper is on |
| 171 | if (Beeper_On) { |
171 | if (beeper_On) { |
| 172 | // set speaker port to high. |
172 | // set speaker port to high. |
| 173 | if (BoardRelease == 10) |
173 | if (BoardRelease == 10) |
| 174 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
174 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
| Line 191... | Line 191... | ||
| 191 | } |
191 | } |
| 192 | #endif |
192 | #endif |
| 193 | } |
193 | } |
| Line 194... | Line 194... | ||
| 194 | 194 | ||
| 195 | // ----------------------------------------------------------------------- |
195 | // ----------------------------------------------------------------------- |
| 196 | uint16_t SetDelay(uint16_t t) { |
196 | uint16_t setDelay(uint16_t t) { |
| 197 | return (CountMilliseconds + t - 1); |
197 | return (millisecondsCount + t - 1); |
| Line 198... | Line 198... | ||
| 198 | } |
198 | } |
| 199 | 199 | ||
| 200 | // ----------------------------------------------------------------------- |
200 | // ----------------------------------------------------------------------- |
| 201 | int8_t CheckDelay(uint16_t t) { |
201 | int8_t checkDelay(uint16_t t) { |
| Line 202... | Line 202... | ||
| 202 | return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
202 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
| 203 | } |
203 | } |
| 204 | 204 | ||
| 205 | // ----------------------------------------------------------------------- |
205 | // ----------------------------------------------------------------------- |
| 206 | void Delay_ms(uint16_t w) { |
206 | void delay_ms(uint16_t w) { |
| 207 | uint16_t t_stop = SetDelay(w); |
207 | uint16_t t_stop = setDelay(w); |
| Line 208... | Line 208... | ||
| 208 | while (!CheckDelay(t_stop)) |
208 | while (!checkDelay(t_stop)) |
| 209 | ; |
209 | ; |
| 210 | } |
210 | } |
| 211 | 211 | ||
| 212 | // ----------------------------------------------------------------------- |
212 | // ----------------------------------------------------------------------- |
| 213 | void Delay_ms_Mess(uint16_t w) { |
213 | void delay_ms_Mess(uint16_t w) { |
| 214 | uint16_t t_stop; |
214 | uint16_t t_stop; |
| 215 | t_stop = SetDelay(w); |
215 | t_stop = setDelay(w); |
| 216 | while (!CheckDelay(t_stop)) { |
216 | while (!checkDelay(t_stop)) { |
| 217 | if (analogDataReady) { |
217 | if (analogDataReady) { |