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Rev 2060 Rev 2189
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#include <inttypes.h>
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#include <inttypes.h>
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// Normally it is 20MHz/2048 = 9765.625 Hz
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// Normally it is 20MHz/2048 = 9765.625 Hz
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#define F_TIMER0IRQ ((float)F_CPU/2048.0)
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#define F_TIMER0IRQ ((float)F_CPU/2048.0)
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#define MAINLOOP_DIVIDER 10
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// Originally it is 488
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#define F_MAINLOOP (F_TIMER0IRQ/(2.0*MAINLOOP_DIVIDER))
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#define T_TIMER0IRQ ((float)2048.0/(float)F_CPU)
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// About 250 Hz
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#define BEEP_MODULATION_NONE 0xFFFF
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#define F_CONTROL 250
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#define BEEP_MODULATION_RCALARM 0x0C00
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#define BEEP_MODULATION_I2CALARM 0x0080
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#define CONTROLLOOP_DIVIDER (F_TIMER0IRQ/F_CONTROL)
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#define BEEP_MODULATION_BATTERYALARM 0x0300
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#define SERIALLOOP_DIVIDER 61
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#define BEEP_MODULATION_EEPROMALARM 0x0007
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#define OUTPUTLOOP_DIVIDER 100
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extern volatile uint32_t globalMillisClock;
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extern volatile uint8_t  runFlightControl;
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extern volatile uint16_t beepModulation;
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extern volatile uint16_t beepTime;
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extern volatile uint32_t jiffiesClock;
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#ifdef USE_NAVICTRL
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extern volatile uint8_t SendSPI;
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extern volatile uint32_t millisClock;
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#endif
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extern volatile uint8_t  loopJiffiesClock;
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extern void timer0_init(void);
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extern void delay_ms(uint16_t w);
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extern void timer0_init(void);
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extern void delay_ms(uint16_t w);
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extern uint16_t setDelay(uint16_t t);
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extern int8_t checkDelay(uint16_t t);
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typedef enum {
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  NOT_RUNNING = 0,
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  RUNNING,
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  BLOCKED_FOR_CALIBRATION
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extern void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop);
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} FlightControlRunStatus;