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Rev 136 | Rev 146 | ||
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
58 | #include "timer1.h" |
58 | #include "timer1.h" |
59 | #include "uart1.h" |
59 | #include "uart1.h" |
- | 60 | #include "i2c.h" |
|
60 | #include "config.h" |
61 | #include "config.h" |
Line 61... | Line 62... | ||
61 | 62 | ||
62 | u32 CountMilliseconds; |
63 | u32 CountMilliseconds; |
Line 67... | Line 68... | ||
67 | { |
68 | { |
68 | if(TIM_GetFlagStatus(TIM1, TIM_FLAG_OC1) == SET) |
69 | if(TIM_GetFlagStatus(TIM1, TIM_FLAG_OC1) == SET) |
69 | { |
70 | { |
70 | TIM1->OC1R += 200; // Timerfreq is 200kHz, generate an interrupt every 1ms |
71 | TIM1->OC1R += 200; // Timerfreq is 200kHz, generate an interrupt every 1ms |
71 | CountMilliseconds++; |
72 | CountMilliseconds++; |
- | 73 | ||
72 | //if (GPIO_ReadBit(GPIO6, GPIO_Pin_3)) GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_RESET); else GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_SET); |
74 | I2C1_UpdateCompass(); // update compass communication |
- | 75 | ||
73 | TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit |
76 | TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit |
74 | } |
77 | } |
75 | // write any value to VIC0 Vector address register |
78 | // write any value to VIC0 Vector address register |
76 | VIC0->VAR = 0xFF; |
79 | VIC0->VAR = 0xFF; |
77 | } |
80 | } |