#include #include #include "joystick.h" //this buffer is declared in main extern jmp_buf newmode_jmpbuf; #ifdef CAN_SUPPORT # include "can/borg_can.h" #endif void wait(int ms){ /* TCCR2: FOC2 WGM20 COM21 COM20 WGM21 CS22 CS21 CS20 CS22 CS21 CS20 0 0 0 stop 0 0 1 clk 0 1 0 clk/8 0 1 1 clk/32 1 0 0 clk/64 1 0 1 clk/128 1 1 0 clk/256 1 1 1 clk/1024 */ TCCR2 = 0x0D; //CTC Mode, clk/128 OCR2 = (F_CPU/128000); //1000Hz for(;ms>0;ms--){ #ifdef CAN_SUPPORT bcan_process_messages(); #endif #ifdef JOYSTICK_SUPPORT if (waitForFire) { //PORTJOYGND &= ~(1<