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