| 62,11 → 62,11 |
|---|
| #include "mk3mag.h" |
| #endif |
| |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint8_t runFlightControl = 0; |
| volatile uint16_t millisecondsCount = 0; |
| volatile uint8_t runFlightControl = 0; |
| volatile uint16_t cntKompass = 0; |
| volatile uint16_t BeepTime = 0; |
| volatile uint16_t BeepModulation = 0xFFFF; |
| volatile uint16_t beepTime = 0; |
| volatile uint16_t beepModulation = 0xFFFF; |
| |
| #ifdef USE_NAVICTRL |
| volatile uint8_t SendSPI = 0; |
| 136,7 → 136,7 |
|---|
| ISR(TIMER0_OVF_vect) |
| { // 9765.625 Hz |
| static uint8_t cnt_1ms = 1, cnt = 0; |
| uint8_t Beeper_On = 0; |
| uint8_t beeper_On = 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 |
| 152,23 → 152,23 |
|---|
| DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| } |
| CountMilliseconds++; // increment millisecond counter |
| millisecondsCount++; // increment millisecond counter |
| } |
| |
| // beeper on if duration is not over |
| if (BeepTime) { |
| BeepTime--; // decrement BeepTime |
| if (BeepTime & BeepModulation) |
| Beeper_On = 1; |
| if (beepTime) { |
| beepTime--; // decrement BeepTime |
| if (beepTime & beepModulation) |
| beeper_On = 1; |
| else |
| Beeper_On = 0; |
| beeper_On = 0; |
| } else { // beeper off if duration is over |
| Beeper_On = 0; |
| BeepModulation = 0xFFFF; |
| beeper_On = 0; |
| beepModulation = 0xFFFF; |
| } |
| |
| // if beeper is on |
| if (Beeper_On) { |
| if (beeper_On) { |
| // set speaker port to high. |
| if (BoardRelease == 10) |
| PORTD |= (1 << PORTD2); // Speaker at PD2 |
| 193,27 → 193,27 |
|---|
| } |
| |
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay(uint16_t t) { |
| return (CountMilliseconds + t - 1); |
| uint16_t setDelay(uint16_t t) { |
| return (millisecondsCount + t - 1); |
| } |
| |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) { |
| return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
| int8_t checkDelay(uint16_t t) { |
| return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
| } |
| |
| // ----------------------------------------------------------------------- |
| void Delay_ms(uint16_t w) { |
| uint16_t t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)) |
| void delay_ms(uint16_t w) { |
| uint16_t t_stop = setDelay(w); |
| while (!checkDelay(t_stop)) |
| ; |
| } |
| |
| // ----------------------------------------------------------------------- |
| void Delay_ms_Mess(uint16_t w) { |
| void delay_ms_Mess(uint16_t w) { |
| uint16_t t_stop; |
| t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)) { |
| t_stop = setDelay(w); |
| while (!checkDelay(t_stop)) { |
| if (analogDataReady) { |
| analogDataReady = 0; |
| analog_start(); |