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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 example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: 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 | #include "timer0.h" |
|
57 | // for debugging! |
58 | // for debugging! |
58 | #include "uart0.h" |
59 | #include "uart0.h" |
59 | #include "output.h" |
60 | #include "output.h" |
60 | 61 | ||
61 | #ifdef USE_MK3MAG |
62 | #ifdef USE_MK3MAG |
62 | #include "mk3mag.h" |
63 | #include "mk3mag.h" |
63 | #endif |
64 | #endif |
64 | 65 | ||
65 | volatile uint16_t millisecondsCount = 0; |
66 | volatile uint16_t millisecondsCount = 0; |
66 | volatile uint8_t runFlightControl = 0; |
67 | volatile uint8_t runFlightControl = 0; |
67 | volatile uint16_t cntKompass = 0; |
68 | volatile uint16_t cntKompass = 0; |
68 | volatile uint16_t beepTime = 0; |
69 | volatile uint16_t beepTime = 0; |
69 | volatile uint16_t beepModulation = 0xFFFF; |
70 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
70 | 71 | ||
71 | #ifdef USE_NAVICTRL |
72 | #ifdef USE_NAVICTRL |
72 | volatile uint8_t SendSPI = 0; |
73 | volatile uint8_t SendSPI = 0; |
73 | #endif |
74 | #endif |
74 | 75 | ||
75 | /***************************************************** |
76 | /***************************************************** |
76 | * Initialize Timer 0 |
77 | * Initialize Timer 0 |
77 | *****************************************************/ |
78 | *****************************************************/ |
78 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
79 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
79 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
80 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
80 | void timer0_init(void) { |
81 | void timer0_init(void) { |
81 | uint8_t sreg = SREG; |
82 | uint8_t sreg = SREG; |
82 | 83 | ||
83 | // disable all interrupts before reconfiguration |
84 | // disable all interrupts before reconfiguration |
84 | cli(); |
85 | cli(); |
85 | 86 | ||
86 | // Configure speaker port as output. |
87 | // Configure speaker port as output. |
87 | 88 | ||
88 | if (BoardRelease == 10) { // Speaker at PD2 |
89 | if (BoardRelease == 10) { // Speaker at PD2 |
89 | DDRD |= (1 << DDD2); |
90 | DDRD |= (1 << DDD2); |
90 | PORTD &= ~(1 << PORTD2); |
91 | PORTD &= ~(1 << PORTD2); |
91 | } else { // Speaker at PC7 |
92 | } else { // Speaker at PC7 |
92 | DDRC |= (1 << DDC7); |
93 | DDRC |= (1 << DDC7); |
93 | PORTC &= ~(1 << PORTC7); |
94 | PORTC &= ~(1 << PORTC7); |
94 | } |
95 | } |
95 | 96 | ||
96 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
97 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
97 | DDRB |= (1 << DDB4) | (1 << DDB3); |
98 | DDRB |= (1 << DDB4) | (1 << DDB3); |
98 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
99 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
99 | 100 | ||
100 | // Timer/Counter 0 Control Register A |
101 | // Timer/Counter 0 Control Register A |
101 | 102 | ||
102 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
103 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
103 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
104 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
104 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
105 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
105 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
106 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
106 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
107 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
107 | 108 | ||
108 | // Timer/Counter 0 Control Register B |
109 | // Timer/Counter 0 Control Register B |
109 | 110 | ||
110 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
111 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
111 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
112 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
112 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
113 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
113 | 114 | ||
114 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
115 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
115 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
116 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
116 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
117 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
117 | 118 | ||
118 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
119 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
119 | OCR0A = 0; // for PB3 |
120 | OCR0A = 0; // for PB3 |
120 | OCR0B = 120; // for PB4 |
121 | OCR0B = 120; // for PB4 |
121 | 122 | ||
122 | // init Timer/Counter 0 Register |
123 | // init Timer/Counter 0 Register |
123 | TCNT0 = 0; |
124 | TCNT0 = 0; |
124 | 125 | ||
125 | // Timer/Counter 0 Interrupt Mask Register |
126 | // Timer/Counter 0 Interrupt Mask Register |
126 | // enable timer overflow interrupt only |
127 | // enable timer overflow interrupt only |
127 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
128 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
128 | TIMSK0 |= (1 << TOIE0); |
129 | TIMSK0 |= (1 << TOIE0); |
129 | 130 | ||
130 | SREG = sreg; |
131 | SREG = sreg; |
131 | } |
132 | } |
132 | 133 | ||
133 | /*****************************************************/ |
134 | /*****************************************************/ |
134 | /* Interrupt Routine of Timer 0 */ |
135 | /* Interrupt Routine of Timer 0 */ |
135 | /*****************************************************/ |
136 | /*****************************************************/ |
136 | ISR(TIMER0_OVF_vect) |
137 | ISR(TIMER0_OVF_vect) |
137 | { // 9765.625 Hz |
138 | { // 9765.625 Hz |
138 | static uint8_t cnt_1ms = 1, cnt = 0; |
139 | static uint8_t cnt_1ms = 1, cnt = 0; |
139 | uint8_t beeper_On = 0; |
140 | uint8_t beeper_On = 0; |
140 | 141 | ||
141 | #ifdef USE_NAVICTRL |
142 | #ifdef USE_NAVICTRL |
142 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
143 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
143 | #endif |
144 | #endif |
144 | 145 | ||
145 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
146 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
146 | cnt = 9; |
147 | cnt = 9; |
147 | cnt_1ms ^= 1; |
148 | cnt_1ms ^= 1; |
148 | if (!cnt_1ms) { |
149 | if (!cnt_1ms) { |
149 | if (runFlightControl == 1) |
150 | if (runFlightControl == 1) |
150 | DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
151 | DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
151 | else |
152 | else |
152 | DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
153 | DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
153 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
154 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
154 | } |
155 | } |
155 | millisecondsCount++; // increment millisecond counter |
156 | millisecondsCount++; // increment millisecond counter |
156 | } |
157 | } |
157 | 158 | ||
158 | // beeper on if duration is not over |
159 | // beeper on if duration is not over |
159 | if (beepTime) { |
160 | if (beepTime) { |
160 | beepTime--; // decrement BeepTime |
161 | beepTime--; // decrement BeepTime |
161 | if (beepTime & beepModulation) |
162 | if (beepTime & beepModulation) |
162 | beeper_On = 1; |
163 | beeper_On = 1; |
163 | else |
164 | else |
164 | beeper_On = 0; |
165 | beeper_On = 0; |
165 | } else { // beeper off if duration is over |
166 | } else { // beeper off if duration is over |
166 | beeper_On = 0; |
167 | beeper_On = 0; |
167 | beepModulation = 0xFFFF; |
168 | beepModulation = BEEP_MODULATION_NONE; |
168 | } |
169 | } |
169 | 170 | ||
170 | // if beeper is on |
171 | // if beeper is on |
171 | if (beeper_On) { |
172 | if (beeper_On) { |
172 | // set speaker port to high. |
173 | // set speaker port to high. |
173 | if (BoardRelease == 10) |
174 | if (BoardRelease == 10) |
174 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
175 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
175 | else |
176 | else |
176 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
177 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
177 | } else { // beeper is off |
178 | } else { // beeper is off |
178 | // set speaker port to low |
179 | // set speaker port to low |
179 | if (BoardRelease == 10) |
180 | if (BoardRelease == 10) |
180 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
181 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
181 | else |
182 | else |
182 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
183 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
183 | } |
184 | } |
184 | 185 | ||
185 | #ifndef USE_NAVICTRL |
186 | #ifndef USE_NAVICTRL |
186 | // update compass value if this option is enabled in the settings |
187 | // update compass value if this option is enabled in the settings |
187 | if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
188 | if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
188 | #ifdef USE_MK3MAG |
189 | #ifdef USE_MK3MAG |
189 | MK3MAG_Update(); // read out mk3mag pwm |
190 | MK3MAG_Update(); // read out mk3mag pwm |
190 | #endif |
191 | #endif |
191 | } |
192 | } |
192 | #endif |
193 | #endif |
193 | } |
194 | } |
194 | 195 | ||
195 | // ----------------------------------------------------------------------- |
196 | // ----------------------------------------------------------------------- |
196 | uint16_t setDelay(uint16_t t) { |
197 | uint16_t setDelay(uint16_t t) { |
197 | return (millisecondsCount + t - 1); |
198 | return (millisecondsCount + t - 1); |
198 | } |
199 | } |
199 | 200 | ||
200 | // ----------------------------------------------------------------------- |
201 | // ----------------------------------------------------------------------- |
201 | int8_t checkDelay(uint16_t t) { |
202 | int8_t checkDelay(uint16_t t) { |
202 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
203 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
203 | } |
204 | } |
204 | 205 | ||
205 | // ----------------------------------------------------------------------- |
206 | // ----------------------------------------------------------------------- |
206 | void delay_ms(uint16_t w) { |
207 | void delay_ms(uint16_t w) { |
207 | uint16_t t_stop = setDelay(w); |
208 | uint16_t t_stop = setDelay(w); |
208 | while (!checkDelay(t_stop)) |
209 | while (!checkDelay(t_stop)) |
209 | ; |
210 | ; |
210 | } |
211 | } |
211 | 212 | ||
212 | // ----------------------------------------------------------------------- |
213 | // ----------------------------------------------------------------------- |
213 | void delay_ms_Mess(uint16_t w) { |
214 | void delay_ms_Mess(uint16_t w) { |
214 | uint16_t t_stop; |
215 | uint16_t t_stop; |
215 | t_stop = setDelay(w); |
216 | t_stop = setDelay(w); |
216 | while (!checkDelay(t_stop)) { |
217 | while (!checkDelay(t_stop)) { |
217 | if (analogDataReady) { |
218 | if (analogDataReady) { |
218 | analogDataReady = 0; |
219 | analogDataReady = 0; |
219 | analog_start(); |
220 | analog_start(); |
220 | } |
221 | } |
221 | } |
222 | } |
222 | } |
223 | } |
223 | 224 |