Subversion Repositories FlightCtrl

Rev

Rev 2060 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2060 Rev 2189
1 
#ifndef _TIMER0_H
 1 
#ifndef _TIMER0_H
2 
#define _TIMER0_H
 2 
#define _TIMER0_H
3 
 
 3 
 
4 
#include <inttypes.h>
 4 
#include <inttypes.h>
5 
 
 5 
 
6 
// Normally it is 20MHz/2048 = 9765.625 Hz
 6 
// Normally it is 20MHz/2048 = 9765.625 Hz
7 
#define F_TIMER0IRQ ((float)F_CPU/2048.0)
 7 
#define F_TIMER0IRQ ((float)F_CPU/2048.0)
8 
#define MAINLOOP_DIVIDER 10
 8 
#define T_TIMER0IRQ ((float)2048.0/(float)F_CPU)
9 
// Originally it is 488
 9 
// About 250 Hz
- 
 
 10 
#define F_CONTROL 250
10 
#define F_MAINLOOP (F_TIMER0IRQ/(2.0*MAINLOOP_DIVIDER))
 11 
#define CONTROLLOOP_DIVIDER (F_TIMER0IRQ/F_CONTROL)
- 
 
 12 
#define SERIALLOOP_DIVIDER 61
- 
 
 13 
#define OUTPUTLOOP_DIVIDER 100
11 
 
 - 
 
12 
#define BEEP_MODULATION_NONE 0xFFFF
 - 
 
13 
#define BEEP_MODULATION_RCALARM 0x0C00
 - 
 
14 
#define BEEP_MODULATION_I2CALARM 0x0080
 - 
 
15 
#define BEEP_MODULATION_BATTERYALARM 0x0300
 - 
 
16 
#define BEEP_MODULATION_EEPROMALARM 0x0007
 - 
 
17 
 
 14 
 
18 
extern volatile uint32_t globalMillisClock;
 - 
 
19 
extern volatile uint8_t  runFlightControl;
 - 
 
20 
extern volatile uint16_t beepModulation;
 15 
extern volatile uint32_t jiffiesClock;
21 
extern volatile uint16_t beepTime;
 - 
 
22 
#ifdef USE_NAVICTRL
 16 
extern volatile uint32_t millisClock;
23 
extern volatile uint8_t SendSPI;
 - 
 
24 
#endif
 17 
extern volatile uint8_t  loopJiffiesClock;
25 
 
 18 
 
26 
extern void timer0_init(void);
 19 
extern void timer0_init(void);
27 
extern void delay_ms(uint16_t w);
 20 
extern void delay_ms(uint16_t w);
28 
extern void delay_ms_with_adc_measurement(uint16_t w, uint8_t stop);
 - 
 
29 
extern uint16_t setDelay(uint16_t t);
 21 
extern uint16_t setDelay(uint16_t t);
30 
extern int8_t checkDelay(uint16_t t);
 22 
extern int8_t checkDelay(uint16_t t);
- 
 
 23 
 
- 
 
 24 
typedef enum {
- 
 
 25 
  NOT_RUNNING = 0,
- 
 
 26 
  RUNNING,
- 
 
 27 
  BLOCKED_FOR_CALIBRATION
- 
 
 28 
} FlightControlRunStatus;
- 
 
 29 
 
- 
 
 30 
extern volatile uint8_t flightControlStatus;
31 
 
 31 
 
32 
#endif //_TIMER0_H
 32 
#endif //_TIMER0_H
33 
 
 33