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| Rev 2099 | Rev 2124 | ||
|---|---|---|---|
| Line 6... | Line 6... | ||
| 6 | #include "controlMixer.h" |
6 | #include "controlMixer.h" |
| Line 7... | Line 7... | ||
| 7 | 7 | ||
| 8 | #include "timer0.h" |
8 | #include "timer0.h" |
| Line 9... | Line 9... | ||
| 9 | #include "output.h" |
9 | #include "output.h" |
| 10 | 10 | ||
| - | 11 | #ifdef DO_PROFILE |
|
| 11 | #ifdef USE_MK3MAG |
12 | uint32_t profileTimers[NUM_PROFILE_TIMERS]; |
| Line 12... | Line 13... | ||
| 12 | #include "mk3mag.h" |
13 | uint32_t runningProfileTimers[NUM_PROFILE_TIMERS]; |
| 13 | #endif |
14 | #endif |
| 14 | 15 | ||
| 15 | volatile uint32_t globalMillisClock = 0; |
16 | volatile uint32_t globalMillisClock = 0; |
| Line 16... | Line -... | ||
| 16 | volatile uint8_t runFlightControl = 0; |
- | |
| 17 | volatile uint16_t beepTime = 0; |
- | |
| 18 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
- | |
| 19 | - | ||
| 20 | #ifdef USE_NAVICTRL |
17 | volatile uint8_t runFlightControl = 0; |
| 21 | volatile uint8_t SendSPI = 0; |
18 | volatile uint16_t beepTime = 0; |
| 22 | #endif |
19 | volatile uint16_t beepModulation = BEEP_MODULATION_NONE; |
| 23 | 20 | ||
| 24 | /***************************************************** |
21 | /***************************************************** |
| Line 72... | Line 69... | ||
| 72 | // Timer/Counter 0 Interrupt Mask Register |
69 | // Timer/Counter 0 Interrupt Mask Register |
| 73 | // enable timer overflow interrupt only |
70 | // enable timer overflow interrupt only |
| 74 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
71 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
| 75 | TIMSK0 |= (1 << TOIE0); |
72 | TIMSK0 |= (1 << TOIE0); |
| Line -... | Line 73... | ||
| - | 73 | ||
| - | 74 | #ifdef DO_PROFILE |
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| - | 75 | for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
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| - | 76 | profileTimers[i] = 0; |
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| - | 77 | } |
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| - | 78 | #endif |
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| 76 | 79 | ||
| 77 | SREG = sreg; |
80 | SREG = sreg; |
| Line 78... | Line 81... | ||
| 78 | } |
81 | } |
| 79 | 82 | ||
| 80 | /*****************************************************/ |
83 | /*****************************************************/ |
| 81 | /* Interrupt Routine of Timer 0 */ |
84 | /* Interrupt Routine of Timer 0 */ |
| 82 | /*****************************************************/ |
85 | /*****************************************************/ |
| 83 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
86 | ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
| Line 84... | Line -... | ||
| 84 | static uint8_t cnt_1ms = 1, cnt = 0; |
- | |
| 85 | uint8_t beeperOn = 0; |
- | |
| 86 | - | ||
| 87 | #ifdef USE_NAVICTRL |
- | |
| 88 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
87 | static uint8_t cnt_1ms = 1, cnt = 0; |
| 89 | #endif |
88 | uint8_t beeperOn = 0; |
| 90 | 89 | ||
| 91 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
90 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
| 92 | cnt = 9; |
- | |
| 93 | cnt_1ms ^= 1; |
- | |
| 94 | if (!cnt_1ms) { |
- | |
| 95 | if (runFlightControl == 1) |
- | |
| 96 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
91 | cnt = 9; |
| 97 | else |
92 | cnt_1ms ^= 1; |
| 98 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
93 | if (!cnt_1ms) { |
| 99 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
94 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| Line 166... | Line 161... | ||
| 166 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
161 | // Wait for new samples to get prepared but do not restart AD conversion after that! |
| 167 | // Caller MUST to that. |
162 | // Caller MUST to that. |
| 168 | while (!analogDataReady); |
163 | while (!analogDataReady); |
| 169 | } |
164 | } |
| 170 | } |
165 | } |
| - | 166 | ||
| - | 167 | #ifdef DO_PROFILE |
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| - | 168 | void startProfileTimer(uint8_t timer) { |
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| - | 169 | runningProfileTimers[timer] = globalMillisClock; |
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| - | 170 | } |
|
| - | 171 | ||
| - | 172 | void stopProfileTimer(uint8_t timer) { |
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| - | 173 | int32_t t = globalMillisClock - runningProfileTimers[timer]; |
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| - | 174 | profileTimers[timer] += t; |
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| - | 175 | } |
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| - | 176 | ||
| - | 177 | void debugProfileTimers(uint8_t index) { |
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| - | 178 | for (uint8_t i=0; i<NUM_PROFILE_TIMERS; i++) { |
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| - | 179 | uint16_t tenths = profileTimers[i] / 10000L; |
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| - | 180 | debugOut.analog[i+index] = tenths; |
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| - | 181 | } |
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| - | 182 | uint16_t tenths = globalMillisClock / 10000L; |
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| - | 183 | debugOut.analog[index + NUM_PROFILE_TIMERS] = tenths; |
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| - | 184 | } |
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| - | 185 | #endif; |
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