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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | #include <inttypes.h> |
51 | #include <inttypes.h> |
52 | #include <avr/io.h> |
52 | #include <avr/io.h> |
53 | #include <avr/interrupt.h> |
53 | #include <avr/interrupt.h> |
54 | #include "eeprom.h" |
54 | #include "eeprom.h" |
55 | #include "analog.h" |
55 | #include "analog.h" |
56 | 56 | ||
57 | // for debugging! |
57 | // for debugging! |
58 | #include "rc.h" |
58 | #include "rc.h" |
59 | 59 | ||
60 | #ifdef USE_MK3MAG |
60 | #ifdef USE_MK3MAG |
61 | #include "mk3mag.h" |
61 | #include "mk3mag.h" |
62 | #endif |
62 | #endif |
63 | 63 | ||
64 | volatile uint16_t CountMilliseconds = 0; |
64 | volatile uint16_t CountMilliseconds = 0; |
65 | volatile uint8_t runFlightControl = 0; |
65 | volatile uint8_t runFlightControl = 0; |
66 | volatile uint16_t cntKompass = 0; |
66 | volatile uint16_t cntKompass = 0; |
67 | volatile uint16_t BeepTime = 0; |
67 | volatile uint16_t BeepTime = 0; |
68 | volatile uint16_t BeepModulation = 0xFFFF; |
68 | volatile uint16_t BeepModulation = 0xFFFF; |
69 | 69 | ||
70 | #ifdef USE_NAVICTRL |
70 | #ifdef USE_NAVICTRL |
71 | volatile uint8_t SendSPI = 0; |
71 | volatile uint8_t SendSPI = 0; |
72 | #endif |
72 | #endif |
73 | 73 | ||
74 | /***************************************************** |
74 | /***************************************************** |
75 | * Initialize Timer 0 |
75 | * Initialize Timer 0 |
76 | *****************************************************/ |
76 | *****************************************************/ |
77 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
77 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
78 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
78 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
79 | void timer0_init(void) { |
79 | void timer0_init(void) { |
80 | uint8_t sreg = SREG; |
80 | uint8_t sreg = SREG; |
81 | 81 | ||
82 | // disable all interrupts before reconfiguration |
82 | // disable all interrupts before reconfiguration |
83 | cli(); |
83 | cli(); |
84 | - | ||
85 | // Configure speaker port as output. |
- | |
86 | - | ||
87 | if(BoardRelease == 10) { // Speaker at PD2 |
- | |
88 | DDRD |= (1<<DDD2); |
- | |
89 | PORTD &= ~(1<<PORTD2); |
- | |
90 | } else { // Speaker at PC7 |
- | |
91 | DDRC |= (1<<DDC7); |
- | |
92 | PORTC &= ~(1<<PORTC7); |
- | |
93 | } |
- | |
94 | - | ||
95 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
- | |
96 | DDRB |= (1<<DDB4)|(1<<DDB3); |
- | |
97 | PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
- | |
98 | - | ||
99 | // Timer/Counter 0 Control Register A |
- | |
100 | - | ||
101 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
- | |
102 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
- | |
103 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
- | |
104 | TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
- | |
105 | TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
- | |
106 | - | ||
107 | // Timer/Counter 0 Control Register B |
- | |
108 | - | ||
109 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
- | |
110 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
- | |
111 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
- | |
112 | - | ||
113 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
- | |
114 | TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
- | |
115 | TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
- | |
116 | - | ||
117 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
- | |
118 | OCR0A = 0; // for PB3 |
- | |
119 | OCR0B = 120; // for PB4 |
- | |
120 | - | ||
121 | // init Timer/Counter 0 Register |
- | |
122 | TCNT0 = 0; |
- | |
123 | - | ||
124 | // Timer/Counter 0 Interrupt Mask Register |
- | |
125 | // enable timer overflow interrupt only |
- | |
- | 84 | ||
- | 85 | // Configure speaker port as output. |
|
- | 86 | ||
- | 87 | if (BoardRelease == 10) { // Speaker at PD2 |
|
- | 88 | DDRD |= (1 << DDD2); |
|
- | 89 | PORTD &= ~(1 << PORTD2); |
|
- | 90 | } else { // Speaker at PC7 |
|
- | 91 | DDRC |= (1 << DDC7); |
|
- | 92 | PORTC &= ~(1 << PORTC7); |
|
- | 93 | } |
|
- | 94 | ||
- | 95 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
|
- | 96 | DDRB |= (1 << DDB4) | (1 << DDB3); |
|
- | 97 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
|
- | 98 | ||
- | 99 | // Timer/Counter 0 Control Register A |
|
- | 100 | ||
- | 101 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
|
- | 102 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
|
- | 103 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
|
- | 104 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
|
- | 105 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
|
- | 106 | ||
- | 107 | // Timer/Counter 0 Control Register B |
|
- | 108 | ||
- | 109 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
|
- | 110 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
|
- | 111 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
|
- | 112 | ||
- | 113 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
|
- | 114 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
|
- | 115 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
|
- | 116 | ||
- | 117 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
|
- | 118 | OCR0A = 0; // for PB3 |
|
- | 119 | OCR0B = 120; // for PB4 |
|
- | 120 | ||
- | 121 | // init Timer/Counter 0 Register |
|
- | 122 | TCNT0 = 0; |
|
- | 123 | ||
- | 124 | // Timer/Counter 0 Interrupt Mask Register |
|
- | 125 | // enable timer overflow interrupt only |
|
126 | TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
126 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
127 | TIMSK0 |= (1<<TOIE0); |
127 | TIMSK0 |= (1 << TOIE0); |
128 | 128 | ||
129 | SREG = sreg; |
129 | SREG = sreg; |
130 | } |
130 | } |
131 | 131 | ||
132 | /*****************************************************/ |
132 | /*****************************************************/ |
133 | /* Interrupt Routine of Timer 0 */ |
133 | /* Interrupt Routine of Timer 0 */ |
134 | /*****************************************************/ |
134 | /*****************************************************/ |
135 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
135 | ISR(TIMER0_OVF_vect) |
- | 136 | { // 9765.625 Hz |
|
136 | static uint8_t cnt_1ms = 1,cnt = 0; |
137 | static uint8_t cnt_1ms = 1, cnt = 0; |
137 | uint8_t Beeper_On = 0; |
138 | uint8_t Beeper_On = 0; |
138 | 139 | ||
139 | #ifdef USE_NAVICTRL |
140 | #ifdef USE_NAVICTRL |
140 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
141 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
141 | #endif |
142 | #endif |
142 | 143 | ||
143 | if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
144 | if (!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
144 | cnt = 9; |
145 | cnt = 9; |
145 | cnt_1ms^=1; |
146 | cnt_1ms ^= 1; |
146 | if(!cnt_1ms) { |
147 | if (!cnt_1ms) { |
147 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
148 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
148 | } |
149 | } |
149 | CountMilliseconds++; // increment millisecond counter |
150 | CountMilliseconds++; // increment millisecond counter |
150 | } |
151 | } |
151 | 152 | ||
152 | // beeper on if duration is not over |
153 | // beeper on if duration is not over |
153 | if(BeepTime) { |
154 | if (BeepTime) { |
154 | BeepTime--; // decrement BeepTime |
155 | BeepTime--; // decrement BeepTime |
155 | if(BeepTime & BeepModulation) Beeper_On = 1; |
156 | if (BeepTime & BeepModulation) |
156 | else Beeper_On = 0; |
157 | Beeper_On = 1; |
157 | } |
158 | else |
- | 159 | Beeper_On = 0; |
|
158 | else { // beeper off if duration is over |
160 | } else { // beeper off if duration is over |
159 | Beeper_On = 0; |
161 | Beeper_On = 0; |
160 | BeepModulation = 0xFFFF; |
162 | BeepModulation = 0xFFFF; |
161 | } |
163 | } |
162 | 164 | ||
163 | // if beeper is on |
165 | // if beeper is on |
164 | if(Beeper_On) { |
166 | if (Beeper_On) { |
165 | // set speaker port to high. |
167 | // set speaker port to high. |
- | 168 | if (BoardRelease == 10) |
|
166 | if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
169 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
- | 170 | else |
|
167 | else PORTC |= (1<<PORTC7); // Speaker at PC7 |
171 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
168 | } else { // beeper is off |
172 | } else { // beeper is off |
169 | // set speaker port to low |
173 | // set speaker port to low |
- | 174 | if (BoardRelease == 10) |
|
170 | if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
175 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
- | 176 | else |
|
171 | else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
177 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
172 | } |
178 | } |
173 | 179 | ||
174 | #ifndef USE_NAVICTRL |
180 | #ifndef USE_NAVICTRL |
175 | // update compass value if this option is enabled in the settings |
181 | // update compass value if this option is enabled in the settings |
176 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
182 | if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
177 | #ifdef USE_MK3MAG |
183 | #ifdef USE_MK3MAG |
178 | MK3MAG_Update(); // read out mk3mag pwm |
184 | MK3MAG_Update(); // read out mk3mag pwm |
179 | #endif |
185 | #endif |
180 | } |
186 | } |
181 | #endif |
187 | #endif |
182 | } |
188 | } |
183 | 189 | ||
184 | // ----------------------------------------------------------------------- |
190 | // ----------------------------------------------------------------------- |
185 | uint16_t SetDelay (uint16_t t) { |
191 | uint16_t SetDelay(uint16_t t) { |
186 | return(CountMilliseconds + t - 1); |
192 | return (CountMilliseconds + t - 1); |
187 | } |
193 | } |
188 | 194 | ||
189 | // ----------------------------------------------------------------------- |
195 | // ----------------------------------------------------------------------- |
190 | int8_t CheckDelay(uint16_t t) { |
196 | int8_t CheckDelay(uint16_t t) { |
191 | return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
197 | return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
192 | } |
198 | } |
193 | 199 | ||
194 | // ----------------------------------------------------------------------- |
200 | // ----------------------------------------------------------------------- |
195 | void Delay_ms(uint16_t w) { |
201 | void Delay_ms(uint16_t w) { |
196 | uint16_t t_stop = SetDelay(w); |
202 | uint16_t t_stop = SetDelay(w); |
197 | while (!CheckDelay(t_stop)); |
203 | while (!CheckDelay(t_stop)) |
- | 204 | ; |
|
198 | } |
205 | } |
199 | 206 | ||
200 | // ----------------------------------------------------------------------- |
207 | // ----------------------------------------------------------------------- |
201 | void Delay_ms_Mess(uint16_t w) { |
208 | void Delay_ms_Mess(uint16_t w) { |
202 | uint16_t t_stop; |
209 | uint16_t t_stop; |
203 | t_stop = SetDelay(w); |
210 | t_stop = SetDelay(w); |
204 | while (!CheckDelay(t_stop)) { |
211 | while (!CheckDelay(t_stop)) { |
205 | if(analogDataReady) { |
212 | if (analogDataReady) { |
206 | analogDataReady = 0; |
213 | analogDataReady = 0; |
207 | analog_start(); |
214 | analog_start(); |
208 | } |
215 | } |
209 | } |
216 | } |
210 | } |
217 | } |
211 | 218 |