49 lines
926 B
C
49 lines
926 B
C
#include <avr/io.h>
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#include <setjmp.h>
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#include "joystick/joystick.h"
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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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void wait(int ms){
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/* TCCR2: FOC2 WGM20 COM21 COM20 WGM21 CS22 CS21 CS20
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CS22 CS21 CS20
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0 0 0 stop
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0 0 1 clk
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0 1 0 clk/8
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0 1 1 clk/32
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1 0 0 clk/64
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1 0 1 clk/128
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1 1 0 clk/256
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1 1 1 clk/1024
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*/
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TCCR2 = 0x0D; //CTC Mode, clk/128
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OCR2 = (F_CPU/128000); //1000Hz
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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 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, 43);
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}
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}
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#endif
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while(!(TIFR&0x80)); //wait for compare match flag
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TIFR=0x80; //reset flag
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}
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}
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