| 5,28 → 5,28 |
|---|
| |
| // Normally it is 20MHz/2048 = 9765.625 Hz |
| #define F_TIMER0IRQ ((float)F_CPU/2048.0) |
| #define MAINLOOP_DIVIDER 10 |
| // Originally it is 488 |
| #define F_MAINLOOP (F_TIMER0IRQ/(2.0*MAINLOOP_DIVIDER)) |
| #define T_TIMER0IRQ ((float)2048.0/(float)F_CPU) |
| // About 250 Hz |
| #define F_CONTROL 250 |
| #define CONTROLLOOP_DIVIDER (F_TIMER0IRQ/F_CONTROL) |
| #define SERIALLOOP_DIVIDER 61 |
| #define OUTPUTLOOP_DIVIDER 100 |
| |
| #define BEEP_MODULATION_NONE 0xFFFF |
| #define BEEP_MODULATION_RCALARM 0x0C00 |
| #define BEEP_MODULATION_I2CALARM 0x0080 |
| #define BEEP_MODULATION_BATTERYALARM 0x0300 |
| #define BEEP_MODULATION_EEPROMALARM 0x0007 |
| extern volatile uint32_t jiffiesClock; |
| extern volatile uint32_t millisClock; |
| extern volatile uint8_t loopJiffiesClock; |
| |
| extern volatile uint32_t globalMillisClock; |
| extern volatile uint8_t runFlightControl; |
| extern volatile uint16_t beepModulation; |
| extern volatile uint16_t beepTime; |
| #ifdef USE_NAVICTRL |
| extern volatile uint8_t SendSPI; |
| #endif |
| |
| extern void timer0_init(void); |
| extern void delay_ms(uint16_t w); |
| extern void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop); |
| extern uint16_t setDelay(uint16_t t); |
| extern int8_t checkDelay(uint16_t t); |
| |
| typedef enum { |
| NOT_RUNNING = 0, |
| RUNNING, |
| BLOCKED_FOR_CALIBRATION |
| } FlightControlRunStatus; |
| |
| extern volatile uint8_t flightControlStatus; |
| |
| #endif //_TIMER0_H |