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| Rev 2039 | Rev 2044 | ||
|---|---|---|---|
| Line 136... | Line 136... | ||
| 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 beeperOn = 0; |
| Line 142... | Line 142... | ||
| 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 |
| Line 159... | Line 159... | ||
| 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; |
- | |
| 165 | beeper_On = 1; // shut up in dev!!! |
164 | beeperOn = 1; |
| 166 | else |
165 | else |
| 167 | beeper_On = 0; |
166 | beeperOn = 0; |
| 168 | } else { // beeper off if duration is over |
167 | } else { // beeper off if duration is over |
| 169 | beeper_On = 0; |
168 | beeperOn = 0; |
| 170 | beepModulation = BEEP_MODULATION_NONE; |
169 | beepModulation = BEEP_MODULATION_NONE; |
| Line 171... | Line 170... | ||
| 171 | } |
170 | } |
| 172 | 171 | ||
| 173 | if (beeper_On) { |
172 | if (beeperOn) { |
| 174 | // set speaker port to high. |
173 | // set speaker port to high. |
| 175 | if (boardRelease == 10) |
174 | if (boardRelease == 10) |
| 176 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
175 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
| Line 182... | Line 181... | ||
| 182 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
181 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
| 183 | else |
182 | else |
| 184 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
183 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
| 185 | } |
184 | } |
| Line 186... | Line 185... | ||
| 186 | 185 | ||
| 187 | #ifndef USE_NAVICTRL |
186 | #ifdef USE_DIRECT_GPS |
| 188 | // update compass value if this option is enabled in the settings |
187 | // update compass value if this option is enabled in the settings |
| 189 | if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
- | |
| 190 | #ifdef USE_DIRECT_GPS |
188 | if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| 191 | MK3MAG_periodicTask(); // read out mk3mag pwm |
189 | MK3MAG_periodicTask(); // read out mk3mag pwm |
| 192 | #endif |
190 | #endif |
| 193 | } |
- | |
| 194 | #endif |
191 | } |
| Line 195... | Line 192... | ||
| 195 | } |
192 | } |
| 196 | 193 | ||
| 197 | // ----------------------------------------------------------------------- |
194 | // ----------------------------------------------------------------------- |