Rev 1868 | Rev 1872 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1868 | Rev 1869 | ||
|---|---|---|---|
| Line 53... | Line 53... | ||
| 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" |
| Line 56... | Line 56... | ||
| 56 | 56 | ||
| 57 | // for debugging! |
57 | // for debugging! |
| - | 58 | #include "uart0.h" |
|
| Line 58... | Line 59... | ||
| 58 | #include "rc.h" |
59 | #include "output.h" |
| 59 | 60 | ||
| 60 | #ifdef USE_MK3MAG |
61 | #ifdef USE_MK3MAG |
| Line 139... | Line 140... | ||
| 139 | 140 | ||
| 140 | #ifdef USE_NAVICTRL |
141 | #ifdef USE_NAVICTRL |
| 141 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
142 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| Line 142... | Line 143... | ||
| 142 | #endif |
143 | #endif |
| 143 | 144 | ||
| 144 | if (!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
145 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
| 145 | cnt = 9; |
146 | cnt = 9; |
| 146 | cnt_1ms ^= 1; |
147 | cnt_1ms ^= 1; |
| - | 148 | if (!cnt_1ms) { |
|
| 147 | if (!cnt_1ms) { |
149 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| 148 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
150 | DebugOut.Digital[0] |= DEBUG_MAINLOOP_TIMER; |
| 149 | } |
151 | } |
| Line 150... | Line 152... | ||
| 150 | CountMilliseconds++; // increment millisecond counter |
152 | CountMilliseconds++; // increment millisecond counter |