borgware-2d/util.c

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#include <avr/io.h>
#include <setjmp.h>
#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<<BITJOY0);
//PORTJOYGND &= ~(1<<BITJOY1);
if (JOYISFIRE) {
longjmp(newmode_jmpbuf, 43);
}
}
#endif
while(!(TIFR&0x80)); //wait for compare match flag
TIFR=0x80; //reset flag
}
}