borgware-2d/src/util.c

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#include "config.h"
#include <avr/io.h>
#include <setjmp.h>
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#ifdef JOYSTICK_SUPPORT
# include "joystick/joystick.h"
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unsigned char waitForFire;
#endif
#ifdef RFM12_SUPPORT
#include "rfm12/borg_rfm12.h"
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#endif
//this buffer is declared in main
extern jmp_buf newmode_jmpbuf;
#ifdef CAN_SUPPORT
# include "can/borg_can.h"
#endif
#ifdef UART_SUPPORT
# include "uart/uart_commands.h"
#endif
void wait(int ms){
/* Always use Timer1 except for the Arduino/LoL Shield platform. */
#ifndef USER_TIMER0_FOR_WAIT
TCCR1B = _BV(WGM12) | _BV(CS12); //CTC Mode, clk/256
OCR1A = (F_CPU/256000); //1000Hz
/* Some Arduino/LoL Shield variants require Timer1 for multiplexing. Timer0, on
* the other hand, is free to use, which makes it a perfect candidate for our
* wait() function. */
#else
// disconnect OC0A and OC0B pins, turn on CTC mode, clk/256
TCCR0A = _BV(WGM01);
TCCR0B = _BV(CS02);
OCR0A = (F_CPU/256000); //1000Hz
#endif
for(;ms>0;ms--){
#ifdef CAN_SUPPORT
bcan_process_messages();
#endif
#ifdef UART_SUPPORT
uartcmd_process();
#endif
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#ifdef RFM12_SUPPORT
borg_rfm12_tick();
#endif
#ifdef JOYSTICK_SUPPORT
if (waitForFire) {
//PORTJOYGND &= ~(1<<BITJOY0);
//PORTJOYGND &= ~(1<<BITJOY1);
if (JOYISFIRE) {
longjmp(newmode_jmpbuf, 0xFEu);
}
}
#endif
#if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__) || defined (__AVR_ATmega32U4__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644__) || defined (__AVR_ATmega328__) || defined (__AVR_ATmega328P__) || (__AVR_ATmega1284P__) || defined (__AVR_ATmega1284__)
/* Timer1 for the masses */
# ifndef USER_TIMER0_FOR_WAIT
while(!(TIFR1 & _BV(OCF1A))); //wait for compare match flag
TIFR1 |= _BV(OCF1A); //reset flag
/* Timer0 for e.g. Arduino/LoL Shield */
# else
while(!(TIFR0 & _BV(OCF0A))); //wait for compare match flag
TIFR0 |= _BV(OCF0A); //reset flag
# endif
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#else
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while(!(TIFR&(1<<OCF1A))); //wait for compare match flag
TIFR=(1<<OCF1A); //reset flag
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#endif
}
}