// returns the timer handle (hTimer)
unsigned StartKernelTimer (unsigned nHzDelay, TKernelTimerHandler *pHandler, void *pParam, void *pContext) {
if(interrupt->ENABLE_BASIC_IRQ != 1) {initInterrupts(); interruptBasicIRQ();}
enableTimeout(40, RPI_ARMTIMER_CTRL_23BIT | RPI_ARMTIMER_CTRL_ENABLE | RPI_ARMTIMER_CTRL_INT_ENABLE | RPI_ARMTIMER_CTRL_PRESCALE_256);
pHandler(1, pParam, pContext);
return 1;
}
void setMD49commands(void) {
//set acceleration if command changed since last set of acceleration
if (i2cdata[2] NOT currentAcceleration) {
setAcceleration(i2cdata[2]);
}
//set new mode only if changed
if (i2cdata[3] NOT currentMode) {
setMode(i2cdata[3]);
}
//set speed continuously, when timeout is enabled
if (statusTimeout == 1) {
setSpeed1(i2cdata[0]);
setSpeed2(i2cdata[1]);
}
//set speed once changed, when timeout is disabled
if (statusTimeout == 0) {
if (recentSpeed1 != i2cdata[0]) {
setSpeed1(i2cdata[0]);
}
if (recentSpeed2 != i2cdata[1]) {
setSpeed2(i2cdata[1]);
}
}
//reset encoders if byte was checked
if (i2cdata[4] == 1) {
resetEncoders();
i2cdata[4] = 0;
}
//set regulator if changed
if (i2cdata[5] == 0) {
if (statusRegulator NOT i2cdata[5]) {
disableRegulator();
}
} else if (i2cdata[5] == 1) {
if (statusRegulator NOT i2cdata[5]) {
enableRegulator();
}
}
// set timeout if changed
if (i2cdata[6] == 0) {
if (statusTimeout NOT i2cdata[6]) {
disableTimeout();
}
} else if (i2cdata[6] == 1) {
if (statusTimeout NOT i2cdata[6]) {
enableTimeout();
}
}
}
