| 8,8 → 8,9 |
|---|
| #include "timer0.h" |
| #include "output.h" |
| |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #ifdef DO_PROFILE |
| uint32_t profileTimers[NUM_PROFILE_TIMERS]; |
| uint32_t runningProfileTimers[NUM_PROFILE_TIMERS]; |
| #endif |
| |
| volatile uint32_t globalMillisClock = 0; |
| 17,10 → 18,6 |
|---|
| volatile uint16_t beepTime = 0; |
| volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
| |
| #ifdef USE_NAVICTRL |
| volatile uint8_t SendSPI = 0; |
| #endif |
| |
| /***************************************************** |
| * Initialize Timer 0 |
| *****************************************************/ |
| 74,6 → 71,12 |
|---|
| TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
| TIMSK0 |= (1 << TOIE0); |
| |
| #ifdef DO_PROFILE |
| for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
| profileTimers[i] = 0; |
| } |
| #endif |
| |
| SREG = sreg; |
| } |
| |
| 84,18 → 87,10 |
|---|
| static uint8_t cnt_1ms = 1, cnt = 0; |
| uint8_t beeperOn = 0; |
| |
| #ifdef USE_NAVICTRL |
| if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| #endif |
| |
| if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
| cnt = 9; |
| cnt_1ms ^= 1; |
| if (!cnt_1ms) { |
| if (runFlightControl == 1) |
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| else |
| debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| } |
| globalMillisClock++; // increment millisecond counter |
| 168,3 → 163,23 |
|---|
| while (!analogDataReady); |
| } |
| } |
| |
| #ifdef DO_PROFILE |
| void startProfileTimer(uint8_t timer) { |
| runningProfileTimers[timer] = globalMillisClock; |
| } |
| |
| void stopProfileTimer(uint8_t timer) { |
| int32_t t = globalMillisClock - runningProfileTimers[timer]; |
| profileTimers[timer] += t; |
| } |
| |
| void debugProfileTimers(uint8_t index) { |
| for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
| uint16_t tenths = profileTimers[i] / 10000L; |
| debugOut.analog[i+index] = tenths; |
| } |
| uint16_t tenths = globalMillisClock / 10000L; |
| debugOut.analog[index + NUM_PROFILE_TIMERS] = tenths; |
| } |
| #endif; |