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| Rev 231 | Rev 271 | ||
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| 3 | #include <avr/interrupt.h> |
3 | #include <avr/interrupt.h> |
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| 4 | 4 | ||
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| 5 | #include "main.h" |
5 | #include "main.h" |
| - | 6 | ||
| - | 7 | volatile uint16_t CountMilliseconds = 0; |
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| - | 8 | #ifdef USE_FOLLOWME |
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| 6 | 9 | volatile uint16_t BeepTime = 0; |
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| Line 7... | Line 10... | ||
| 7 | volatile uint16_t CountMilliseconds = 0; |
10 | volatile uint16_t BeepModulation = 0xFFFF; |
| 8 | 11 | #endif |
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| 9 | 12 | ||
| Line 18... | Line 21... | ||
| 18 | uint8_t sreg = SREG; |
21 | uint8_t sreg = SREG; |
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| 19 | 22 | ||
| 20 | // disable all interrupts before reconfiguration |
23 | // disable all interrupts before reconfiguration |
| Line -... | Line 24... | ||
| - | 24 | cli(); |
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| - | 25 | ||
| - | 26 | ||
| - | 27 | // configure speaker port as output |
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| - | 28 | ||
| - | 29 | #ifdef USE_FOLLOWME |
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| - | 30 | // Speaker at PC7 |
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| - | 31 | DDRC |= (1<<DDC7); |
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| - | 32 | PORTC &= ~(1<<PORTC7); |
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| 21 | cli(); |
33 | #endif |
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| 22 | 34 | ||
| 23 | // Timer/Counter 0 Control Register A |
35 | // Timer/Counter 0 Control Register A |
| 24 | 36 | ||
| Line 59... | Line 71... | ||
| 59 | /* Interrupt Routine of Timer 0 */ |
71 | /* Interrupt Routine of Timer 0 */ |
| 60 | /*****************************************************/ |
72 | /*****************************************************/ |
| 61 | ISR(TIMER0_OVF_vect) // 9.765 kHz |
73 | ISR(TIMER0_OVF_vect) // 9.765 kHz |
| 62 | { |
74 | { |
| 63 | static uint8_t cnt = 0; |
75 | static uint8_t cnt = 0; |
| - | 76 | #ifdef USE_FOLLOWME |
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| - | 77 | uint8_t Beeper_On = 0; |
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| - | 78 | #endif |
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| Line 64... | Line 79... | ||
| 64 | 79 | ||
| 65 | if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
80 | if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
| 66 | { |
81 | { |
| 67 | cnt = 9; |
82 | cnt = 9; |
| 68 | CountMilliseconds++; // increment millisecond counter |
83 | CountMilliseconds++; // increment millisecond counter |
| - | 84 | } |
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| - | 85 | ||
| - | 86 | #ifdef USE_FOLLOWME |
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| - | 87 | // beeper on if duration is not over |
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| - | 88 | if(BeepTime) |
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| - | 89 | { |
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| - | 90 | BeepTime--; // decrement BeepTime |
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| - | 91 | if(BeepTime & BeepModulation) Beeper_On = 1; |
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| - | 92 | else Beeper_On = 0; |
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| - | 93 | } |
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| - | 94 | else // beeper off if duration is over |
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| - | 95 | { |
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| - | 96 | Beeper_On = 0; |
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| - | 97 | BeepModulation = 0xFFFF; |
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| - | 98 | } |
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| - | 99 | ||
| - | 100 | // if beeper is on |
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| - | 101 | if(Beeper_On) |
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| - | 102 | { |
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| - | 103 | // set speaker port to high |
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| - | 104 | PORTC |= (1<<PORTC7); // Speaker at PC7 |
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| - | 105 | } |
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| - | 106 | else // beeper is off |
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| - | 107 | { |
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| - | 108 | // set speaker port to low |
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| - | 109 | PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
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| - | 110 | } |
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| 69 | } |
111 | #endif |
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| 70 | } |
112 | } |
| 71 | 113 | ||