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| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | #include <avr/io.h> |
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| 52 | #include <stdlib.h> |
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| 53 | #include <inttypes.h> |
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| 54 | #include "timer0.h" |
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| 1775 | - | 55 | // #include "rc.h" |
| 56 | #include "attitude.h" |
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| 1612 | dongfang | 57 | #include "eeprom.h" |
| 58 | #include "mk3mag.h" |
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| 59 | |||
| 60 | uint8_t PWMTimeout = 12; |
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| 61 | ToMk3Mag_t ToMk3Mag; |
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| 62 | |||
| 63 | |||
| 64 | /*********************************************/ |
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| 65 | /* Initialize Interface to MK3MAG Compass */ |
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| 66 | /*********************************************/ |
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| 67 | void MK3MAG_Init(void) |
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| 68 | { |
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| 69 | // Port PC4 connected to PWM output from compass module |
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| 70 | DDRC &= ~(1<<DDC4); // set as input |
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| 71 | PORTC |= (1<<PORTC4); // pull up to increase PWM counter also if nothing is connected |
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| 72 | |||
| 73 | PWMTimeout = 0; |
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| 74 | |||
| 75 | ToMk3Mag.CalState = 0; |
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| 76 | ToMk3Mag.Orientation = 1; |
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| 77 | } |
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| 78 | |||
| 79 | |||
| 80 | /*********************************************/ |
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| 81 | /* Get PWM from MK3MAG */ |
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| 82 | /*********************************************/ |
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| 83 | void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR |
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| 84 | { |
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| 85 | static uint16_t PWMCount = 0; |
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| 86 | static uint16_t BeepDelay = 0; |
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| 87 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
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| 88 | // in other words 100us/° with a +1ms offset. |
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| 89 | // The signal goes low for 65ms between pulses, |
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| 90 | // so the cycle time is 65mS + the pulse width. |
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| 91 | |||
| 92 | // pwm is high |
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| 93 | |||
| 94 | if(PINC & (1<<PINC4)) |
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| 95 | { // If PWM signal is high increment PWM high counter |
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| 96 | // This counter is incremented by a periode of 102.4us, |
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| 97 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
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| 98 | PWMCount++; |
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| 99 | // pwm overflow? |
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| 100 | if (PWMCount > 400) |
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| 101 | { |
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| 102 | if(PWMTimeout) PWMTimeout--; // decrement timeout |
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| 1775 | - | 103 | compassHeading = -1; // unknown heading |
| 1612 | dongfang | 104 | PWMCount = 0; // reset PWM Counter |
| 105 | } |
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| 106 | |||
| 107 | } |
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| 108 | else // pwm is low |
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| 109 | { // ignore pwm values values of 0 and higher than 37 ms; |
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| 110 | if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
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| 111 | { |
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| 1775 | - | 112 | if(PWMCount <10) compassHeading = 0; |
| 113 | else compassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
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| 114 | compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
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| 1612 | dongfang | 115 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| 116 | // 12 * 362 counts * 102.4 us |
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| 117 | } |
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| 118 | PWMCount = 0; // reset pwm counter |
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| 119 | } |
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| 120 | if(!PWMTimeout) |
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| 121 | { |
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| 122 | if(CheckDelay(BeepDelay)) |
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| 123 | { |
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| 124 | if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem |
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| 125 | BeepDelay = SetDelay(100); |
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| 126 | } |
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| 127 | } |
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| 128 | } |
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| 129 | |||
| 130 | |||
| 131 |