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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur f�r den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zul�ssig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <inttypes.h> |
1 | #include <inttypes.h> |
52 | #include <avr/io.h> |
2 | #include <avr/io.h> |
53 | #include <avr/interrupt.h> |
3 | #include <avr/interrupt.h> |
54 | #include "eeprom.h" |
4 | #include "eeprom.h" |
55 | #include "analog.h" |
5 | #include "analog.h" |
56 | #include "controlMixer.h" |
6 | #include "controlMixer.h" |
57 | 7 | ||
58 | #include "timer0.h" |
8 | #include "timer0.h" |
59 | #include "output.h" |
9 | #include "output.h" |
60 | 10 | ||
61 | #ifdef USE_MK3MAG |
11 | #ifdef USE_MK3MAG |
62 | #include "mk3mag.h" |
12 | #include "mk3mag.h" |
63 | #endif |
13 | #endif |
64 | 14 | ||
65 | volatile uint32_t globalMillisClock = 0; |
15 | volatile uint32_t globalMillisClock = 0; |
66 | volatile uint8_t runFlightControl = 0; |
16 | volatile uint8_t runFlightControl = 0; |
67 | volatile uint16_t beepTime = 0; |
17 | volatile uint16_t beepTime = 0; |
68 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
18 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
69 | 19 | ||
70 | #ifdef USE_NAVICTRL |
20 | #ifdef USE_NAVICTRL |
71 | volatile uint8_t SendSPI = 0; |
21 | volatile uint8_t SendSPI = 0; |
72 | #endif |
22 | #endif |
73 | 23 | ||
74 | /***************************************************** |
24 | /***************************************************** |
75 | * Initialize Timer 0 |
25 | * Initialize Timer 0 |
76 | *****************************************************/ |
26 | *****************************************************/ |
77 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
27 | // 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 |
28 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
79 | void timer0_init(void) { |
29 | void timer0_init(void) { |
80 | uint8_t sreg = SREG; |
30 | uint8_t sreg = SREG; |
81 | 31 | ||
82 | // disable all interrupts before reconfiguration |
32 | // disable all interrupts before reconfiguration |
83 | cli(); |
33 | cli(); |
84 | 34 | ||
85 | // Configure speaker port as output. |
35 | // Configure speaker port as output. |
86 | if (boardRelease == 10) { // Speaker at PD2 |
36 | if (boardRelease == 10) { // Speaker at PD2 |
87 | DDRD |= (1 << DDD2); |
37 | DDRD |= (1 << DDD2); |
88 | PORTD &= ~(1 << PORTD2); |
38 | PORTD &= ~(1 << PORTD2); |
89 | } else { // Speaker at PC7 |
39 | } else { // Speaker at PC7 |
90 | DDRC |= (1 << DDC7); |
40 | DDRC |= (1 << DDC7); |
91 | PORTC &= ~(1 << PORTC7); |
41 | PORTC &= ~(1 << PORTC7); |
92 | } |
42 | } |
93 | 43 | ||
94 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
44 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
95 | DDRB |= (1 << DDB4) | (1 << DDB3); |
45 | DDRB |= (1 << DDB4) | (1 << DDB3); |
96 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
46 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
97 | 47 | ||
98 | // Timer/Counter 0 Control Register A |
48 | // Timer/Counter 0 Control Register A |
99 | 49 | ||
100 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
50 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
101 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
51 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
102 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
52 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
103 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
53 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
104 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
54 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
105 | 55 | ||
106 | // Timer/Counter 0 Control Register B |
56 | // Timer/Counter 0 Control Register B |
107 | // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz/8 = 2.5MHz |
57 | // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz/8 = 2.5MHz |
108 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
58 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
109 | // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz |
59 | // hence the timer overflow interrupt frequency is 2.5 MHz/256 = 9.765 kHz |
110 | 60 | ||
111 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
61 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
112 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
62 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
113 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
63 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
114 | 64 | ||
115 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
65 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
116 | OCR0A = 0; // for PB3 |
66 | OCR0A = 0; // for PB3 |
117 | OCR0B = 120; // for PB4 |
67 | OCR0B = 120; // for PB4 |
118 | 68 | ||
119 | // init Timer/Counter 0 Register |
69 | // init Timer/Counter 0 Register |
120 | TCNT0 = 0; |
70 | TCNT0 = 0; |
121 | 71 | ||
122 | // Timer/Counter 0 Interrupt Mask Register |
72 | // Timer/Counter 0 Interrupt Mask Register |
123 | // enable timer overflow interrupt only |
73 | // enable timer overflow interrupt only |
124 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
74 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
125 | TIMSK0 |= (1 << TOIE0); |
75 | TIMSK0 |= (1 << TOIE0); |
126 | 76 | ||
127 | SREG = sreg; |
77 | SREG = sreg; |
128 | } |
78 | } |
129 | 79 | ||
130 | /*****************************************************/ |
80 | /*****************************************************/ |
131 | /* Interrupt Routine of Timer 0 */ |
81 | /* Interrupt Routine of Timer 0 */ |
132 | /*****************************************************/ |
82 | /*****************************************************/ |
133 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
83 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
134 | static uint8_t cnt_1ms = 1, cnt = 0; |
84 | static uint8_t cnt_1ms = 1, cnt = 0; |
135 | uint8_t beeperOn = 0; |
85 | uint8_t beeperOn = 0; |
136 | 86 | ||
137 | #ifdef USE_NAVICTRL |
87 | #ifdef USE_NAVICTRL |
138 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
88 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
139 | #endif |
89 | #endif |
140 | 90 | ||
141 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
91 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
142 | cnt = 9; |
92 | cnt = 9; |
143 | cnt_1ms ^= 1; |
93 | cnt_1ms ^= 1; |
144 | if (!cnt_1ms) { |
94 | if (!cnt_1ms) { |
145 | if (runFlightControl == 1) |
95 | if (runFlightControl == 1) |
146 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
96 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
147 | else |
97 | else |
148 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
98 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
149 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
99 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
150 | } |
100 | } |
151 | globalMillisClock++; // increment millisecond counter |
101 | globalMillisClock++; // increment millisecond counter |
152 | } |
102 | } |
153 | 103 | ||
154 | // beeper on if duration is not over |
104 | // beeper on if duration is not over |
155 | if (beepTime) { |
105 | if (beepTime) { |
156 | beepTime--; // decrement BeepTime |
106 | beepTime--; // decrement BeepTime |
157 | if (beepTime & beepModulation) |
107 | if (beepTime & beepModulation) |
158 | beeperOn = 1; |
108 | beeperOn = 1; |
159 | else |
109 | else |
160 | beeperOn = 0; |
110 | beeperOn = 0; |
161 | } else { // beeper off if duration is over |
111 | } else { // beeper off if duration is over |
162 | beeperOn = 0; |
112 | beeperOn = 0; |
163 | beepModulation = BEEP_MODULATION_NONE; |
113 | beepModulation = BEEP_MODULATION_NONE; |
164 | } |
114 | } |
165 | 115 | ||
166 | if (beeperOn) { |
116 | if (beeperOn) { |
167 | // set speaker port to high. |
117 | // set speaker port to high. |
168 | if (boardRelease == 10) |
118 | if (boardRelease == 10) |
169 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
119 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
170 | else |
120 | else |
171 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
121 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
172 | } else { // beeper is off |
122 | } else { // beeper is off |
173 | // set speaker port to low |
123 | // set speaker port to low |
174 | if (boardRelease == 10) |
124 | if (boardRelease == 10) |
175 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
125 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
176 | else |
126 | else |
177 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
127 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
178 | } |
128 | } |
179 | 129 | ||
180 | #ifdef USE_MK3MAG |
130 | #ifdef USE_MK3MAG |
181 | // update compass value if this option is enabled in the settings |
131 | // update compass value if this option is enabled in the settings |
182 | if (staticParams.bitConfig & CFG_COMPASS_ENABLED) { |
132 | if (staticParams.bitConfig & CFG_COMPASS_ENABLED) { |
183 | MK3MAG_periodicTask(); // read out mk3mag pwm |
133 | MK3MAG_periodicTask(); // read out mk3mag pwm |
184 | } |
134 | } |
185 | #endif |
135 | #endif |
186 | } |
136 | } |
187 | 137 | ||
188 | // ----------------------------------------------------------------------- |
138 | // ----------------------------------------------------------------------- |
189 | uint16_t setDelay(uint16_t t) { |
139 | uint16_t setDelay(uint16_t t) { |
190 | return (globalMillisClock + t - 1); |
140 | return (globalMillisClock + t - 1); |
191 | } |
141 | } |
192 | 142 | ||
193 | // ----------------------------------------------------------------------- |
143 | // ----------------------------------------------------------------------- |
194 | int8_t checkDelay(uint16_t t) { |
144 | int8_t checkDelay(uint16_t t) { |
195 | return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
145 | return (((t - globalMillisClock) & 0x8000) >> 8); // check sign bit |
196 | } |
146 | } |
197 | 147 | ||
198 | // ----------------------------------------------------------------------- |
148 | // ----------------------------------------------------------------------- |
199 | void delay_ms(uint16_t w) { |
149 | void delay_ms(uint16_t w) { |
200 | uint16_t t_stop = setDelay(w); |
150 | uint16_t t_stop = setDelay(w); |
201 | while (!checkDelay(t_stop)) |
151 | while (!checkDelay(t_stop)) |
202 | ; |
152 | ; |
203 | } |
153 | } |
204 | 154 | ||
205 | // ----------------------------------------------------------------------- |
155 | // ----------------------------------------------------------------------- |
206 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
156 | void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop) { |
207 | uint16_t t_stop; |
157 | uint16_t t_stop; |
208 | t_stop = setDelay(w); |
158 | t_stop = setDelay(w); |
209 | while (!checkDelay(t_stop)) { |
159 | while (!checkDelay(t_stop)) { |
210 | if (analogDataReady) { |
160 | if (analogDataReady) { |
211 | analog_update(); |
161 | analog_update(); |
212 | startAnalogConversionCycle(); |
162 | startAnalogConversionCycle(); |
213 | } |
163 | } |
214 | } |
164 | } |
215 | if (stop) { |
165 | if (stop) { |
216 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
166 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
217 | // Caller MUST to that. |
167 | // Caller MUST to that. |
218 | while (!analogDataReady); |
168 | while (!analogDataReady); |
219 | } |
169 | } |
220 | } |
170 | } |
221 | 171 |