Rev 2015 | Rev 2039 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2015 | Rev 2026 | ||
---|---|---|---|
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur f�r den privaten Gebrauch |
3 | // + Nur f�r den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen 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 ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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 zul�ssig |
25 | // + mit unserer Zustimmung zul�ssig |
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 | #include "controlMixer.h" |
56 | #include "controlMixer.h" |
57 | 57 | ||
58 | #include "timer0.h" |
58 | #include "timer0.h" |
59 | // for debugging! |
59 | // for debugging! |
60 | #include "uart0.h" |
60 | #include "uart0.h" |
61 | #include "output.h" |
61 | #include "output.h" |
62 | 62 | ||
63 | #ifdef USE_MK3MAG |
63 | #ifdef USE_MK3MAG |
64 | #include "mk3mag.h" |
64 | #include "mk3mag.h" |
65 | #endif |
65 | #endif |
66 | 66 | ||
67 | volatile uint16_t millisecondsCount = 0; |
67 | volatile uint16_t millisecondsCount = 0; |
68 | volatile uint8_t runFlightControl = 0; |
68 | volatile uint8_t runFlightControl = 0; |
69 | volatile uint16_t cntKompass = 0; |
69 | volatile uint16_t cntKompass = 0; |
70 | volatile uint16_t beepTime = 0; |
70 | volatile uint16_t beepTime = 0; |
71 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
71 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
72 | 72 | ||
73 | #ifdef USE_NAVICTRL |
73 | #ifdef USE_NAVICTRL |
74 | volatile uint8_t SendSPI = 0; |
74 | volatile uint8_t SendSPI = 0; |
75 | #endif |
75 | #endif |
76 | 76 | ||
77 | /***************************************************** |
77 | /***************************************************** |
78 | * Initialize Timer 0 |
78 | * Initialize Timer 0 |
79 | *****************************************************/ |
79 | *****************************************************/ |
80 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
80 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
81 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
81 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
82 | void timer0_init(void) { |
82 | void timer0_init(void) { |
83 | uint8_t sreg = SREG; |
83 | uint8_t sreg = SREG; |
84 | 84 | ||
85 | // disable all interrupts before reconfiguration |
85 | // disable all interrupts before reconfiguration |
86 | cli(); |
86 | cli(); |
87 | 87 | ||
88 | // Configure speaker port as output. |
88 | // Configure speaker port as output. |
89 | 89 | ||
90 | if (boardRelease == 10) { // Speaker at PD2 |
90 | if (boardRelease == 10) { // Speaker at PD2 |
91 | DDRD |= (1 << DDD2); |
91 | DDRD |= (1 << DDD2); |
92 | PORTD &= ~(1 << PORTD2); |
92 | PORTD &= ~(1 << PORTD2); |
93 | } else { // Speaker at PC7 |
93 | } else { // Speaker at PC7 |
94 | DDRC |= (1 << DDC7); |
94 | DDRC |= (1 << DDC7); |
95 | PORTC &= ~(1 << PORTC7); |
95 | PORTC &= ~(1 << PORTC7); |
96 | } |
96 | } |
97 | 97 | ||
98 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
98 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
99 | DDRB |= (1 << DDB4) | (1 << DDB3); |
99 | DDRB |= (1 << DDB4) | (1 << DDB3); |
100 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
100 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
101 | 101 | ||
102 | // Timer/Counter 0 Control Register A |
102 | // Timer/Counter 0 Control Register A |
103 | 103 | ||
104 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
104 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
105 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
105 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
106 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
106 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
107 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
107 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
108 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
108 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
109 | 109 | ||
110 | // Timer/Counter 0 Control Register B |
110 | // Timer/Counter 0 Control Register B |
111 | 111 | ||
112 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
112 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
113 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
113 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
114 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
114 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
115 | 115 | ||
116 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
116 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
117 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
117 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
118 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
118 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
119 | 119 | ||
120 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
120 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
121 | OCR0A = 0; // for PB3 |
121 | OCR0A = 0; // for PB3 |
122 | OCR0B = 120; // for PB4 |
122 | OCR0B = 120; // for PB4 |
123 | 123 | ||
124 | // init Timer/Counter 0 Register |
124 | // init Timer/Counter 0 Register |
125 | TCNT0 = 0; |
125 | TCNT0 = 0; |
126 | 126 | ||
127 | // Timer/Counter 0 Interrupt Mask Register |
127 | // Timer/Counter 0 Interrupt Mask Register |
128 | // enable timer overflow interrupt only |
128 | // enable timer overflow interrupt only |
129 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
129 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
130 | TIMSK0 |= (1 << TOIE0); |
130 | TIMSK0 |= (1 << TOIE0); |
131 | 131 | ||
132 | SREG = sreg; |
132 | SREG = sreg; |
133 | } |
133 | } |
134 | 134 | ||
135 | /*****************************************************/ |
135 | /*****************************************************/ |
136 | /* Interrupt Routine of Timer 0 */ |
136 | /* Interrupt Routine of Timer 0 */ |
137 | /*****************************************************/ |
137 | /*****************************************************/ |
138 | ISR(TIMER0_OVF_vect) |
138 | ISR(TIMER0_OVF_vect) |
139 | { // 9765.625 Hz |
139 | { // 9765.625 Hz |
140 | static uint8_t cnt_1ms = 1, cnt = 0; |
140 | static uint8_t cnt_1ms = 1, cnt = 0; |
141 | uint8_t beeper_On = 0; |
141 | uint8_t beeper_On = 0; |
142 | 142 | ||
143 | #ifdef USE_NAVICTRL |
143 | #ifdef USE_NAVICTRL |
144 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
144 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
145 | #endif |
145 | #endif |
146 | 146 | ||
147 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
147 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
148 | cnt = 9; |
148 | cnt = 9; |
149 | cnt_1ms ^= 1; |
149 | cnt_1ms ^= 1; |
150 | if (!cnt_1ms) { |
150 | if (!cnt_1ms) { |
151 | if (runFlightControl == 1) |
151 | if (runFlightControl == 1) |
152 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
152 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
153 | else |
153 | else |
154 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
154 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
155 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
155 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
156 | } |
156 | } |
157 | millisecondsCount++; // increment millisecond counter |
157 | millisecondsCount++; // increment millisecond counter |
158 | } |
158 | } |
159 | 159 | ||
160 | // beeper on if duration is not over |
160 | // beeper on if duration is not over |
161 | if (beepTime) { |
161 | if (beepTime) { |
162 | beepTime--; // decrement BeepTime |
162 | beepTime--; // decrement BeepTime |
163 | if (beepTime & beepModulation) |
163 | if (beepTime & beepModulation) |
164 | // beeper_On = 1; |
164 | // beeper_On = 1; |
165 | beeper_On = 1; // shut up in dev!!! |
165 | beeper_On = 1; // shut up in dev!!! |
166 | else |
166 | else |
167 | beeper_On = 0; |
167 | beeper_On = 0; |
168 | } else { // beeper off if duration is over |
168 | } else { // beeper off if duration is over |
169 | beeper_On = 0; |
169 | beeper_On = 0; |
170 | beepModulation = BEEP_MODULATION_NONE; |
170 | beepModulation = BEEP_MODULATION_NONE; |
171 | } |
171 | } |
172 | - | ||
173 | // Beeper remains silent till the first time a control signal was received. |
172 | |
174 | if (beeper_On & controlMixer_didReceiveSignal) { |
173 | if (beeper_On) { |
175 | // set speaker port to high. |
174 | // set speaker port to high. |
176 | if (boardRelease == 10) |
175 | if (boardRelease == 10) |
177 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
176 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
178 | else |
177 | else |
179 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
178 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
180 | } else { // beeper is off |
179 | } else { // beeper is off |
181 | // set speaker port to low |
180 | // set speaker port to low |
182 | if (boardRelease == 10) |
181 | if (boardRelease == 10) |
183 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
182 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
184 | else |
183 | else |
185 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
184 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
186 | } |
185 | } |
187 | 186 | ||
188 | #ifndef USE_NAVICTRL |
187 | #ifndef USE_NAVICTRL |
189 | // update compass value if this option is enabled in the settings |
188 | // update compass value if this option is enabled in the settings |
190 | if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
189 | if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
191 | #ifdef USE_MK3MAG |
190 | #ifdef USE_MK3MAG |
192 | MK3MAG_Update(); // read out mk3mag pwm |
191 | MK3MAG_Update(); // read out mk3mag pwm |
193 | #endif |
192 | #endif |
194 | } |
193 | } |
195 | #endif |
194 | #endif |
196 | } |
195 | } |
197 | 196 | ||
198 | // ----------------------------------------------------------------------- |
197 | // ----------------------------------------------------------------------- |
199 | uint16_t setDelay(uint16_t t) { |
198 | uint16_t setDelay(uint16_t t) { |
200 | return (millisecondsCount + t - 1); |
199 | return (millisecondsCount + t - 1); |
201 | } |
200 | } |
202 | 201 | ||
203 | // ----------------------------------------------------------------------- |
202 | // ----------------------------------------------------------------------- |
204 | int8_t checkDelay(uint16_t t) { |
203 | int8_t checkDelay(uint16_t t) { |
205 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
204 | return (((t - millisecondsCount) & 0x8000) >> 8); // check sign bit |
206 | } |
205 | } |
207 | 206 | ||
208 | // ----------------------------------------------------------------------- |
207 | // ----------------------------------------------------------------------- |
209 | void delay_ms(uint16_t w) { |
208 | void delay_ms(uint16_t w) { |
210 | uint16_t t_stop = setDelay(w); |
209 | uint16_t t_stop = setDelay(w); |
211 | while (!checkDelay(t_stop)) |
210 | while (!checkDelay(t_stop)) |
212 | ; |
211 | ; |
213 | } |
212 | } |
214 | 213 | ||
215 | // ----------------------------------------------------------------------- |
214 | // ----------------------------------------------------------------------- |
216 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
215 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
217 | uint16_t t_stop; |
216 | uint16_t t_stop; |
218 | t_stop = setDelay(w); |
217 | t_stop = setDelay(w); |
219 | while (!checkDelay(t_stop)) { |
218 | while (!checkDelay(t_stop)) { |
220 | if (analogDataReady) { |
219 | if (analogDataReady) { |
221 | analog_update(); |
220 | analog_update(); |
222 | startAnalogConversionCycle(); |
221 | startAnalogConversionCycle(); |
223 | } |
222 | } |
224 | } |
223 | } |
225 | if (stop) { |
224 | if (stop) { |
226 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
225 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
227 | // Caller MUST to that. |
226 | // Caller MUST to that. |
228 | while (!analogDataReady); |
227 | while (!analogDataReady); |
229 | } |
228 | } |
230 | } |
229 | } |
231 | 230 |