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Antoine Drouin
2007-01-27 00:30:12 +00:00
parent 2263aab958
commit 2ceaf754a3
3 changed files with 14 additions and 3 deletions
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sw/airborne/avr/sys_time_hw.c
+2
View File
@@ -7,6 +7,8 @@
#include CONFIG
#include "std.h"
uint16_t cpu_time_ticks;
#if CLOCK == 8
volatile uint8_t tmr2_ov_cnt;
volatile bool_t tmr2_overflow;
sw/airborne/avr/sys_time_hw.h
+11 -2
View File
@@ -33,6 +33,8 @@
#include "std.h"
#include <avr/io.h>
extern uint16_t cpu_time_ticks;
#define F_CPU (CLOCK*1000000UL)
/*
@@ -73,7 +75,8 @@ static inline void sys_time_init( void ) {
TCCR3B = _BV(CS10);
#endif
cpu_time = 0;
cpu_time_sec = 0;
cpu_time_ticks = 0;
}
@@ -98,6 +101,7 @@ extern volatile uint8_t tmr2_ov_cnt;
extern volatile bool_t tmr2_overflow;
#endif
#define TICKS_PER_SEC (CLOCK * 1e6 / 1024 * 256)
#if CLOCK == 8
static inline bool_t sys_time_periodic( void ) {
@@ -108,11 +112,16 @@ static inline bool_t sys_time_periodic( void ) {
return (tmr2_ov_cnt & 0x1);
}
#else
//#define TMR2_PER_SEC 7812
static inline bool_t sys_time_periodic( void ) {
if( !bit_is_set( TIFR, TOV2 ) )
return FALSE;
TIFR = _BV(TOV2);
cpu_time_ticks += 256;
if (cpu_time_ticks > TICKS_PER_SEC) {
cpu_time_ticks -= TICKS_PER_SEC;
cpu_time_sec++;
}
return TRUE;
}
#endif
sw/airborne/gps.c
+1 -1
View File
@@ -63,7 +63,7 @@ void estimator_update_state_gps( void ) {
*/
void use_gps_pos( void ) {
if (GpsFixValid()) {
last_gps_msg_t = cpu_time;
last_gps_msg_t = cpu_time_sec;
estimator_update_state_gps();
}
DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn);