eagle_ReptTask.h

Go to the documentation of this file.

#ifndef EAGLE_EBOARD_HELPLIB_REPTTASK
#define EAGLE_EBOARD_HELPLIB_REPTTASK


//=====================================================================================================================================================
//                                                                      Rept Task                                                                      
//=====================================================================================================================================================

void trig_rept_task(void);

    void trig_rept_task() {

      #if EBOARD_NANO == 0x0 || defined(DOC)
                if (_pwmValue!=_OpwmValue){
                analogWrite(PIN_MOTOR_SPE,_pwmValue);
                _OpwmValue = _pwmValue;
                }
      #endif

            #ifdef REPT_TASK
                rept_task();
            #endif
    }

    int timer_count = 0;
    bool timer_ofl = false;

    ISR(TIMER2_OVF_vect) {
      timer_count++;
      if(timer_count >= EBOARD_PWM_SPE*1000 && !timer_ofl){
        timer_ofl = true;
        timer_count -= EBOARD_PWM_SPE*1000;
        trig_rept_task();
        timer_ofl = false;
      }
      TCNT2 =  256 - (int)((float)F_CPU * 0.001 / 64);
    }

#endif