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/*#######################################################################################
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MK3Mag 3D-Magnet sensor
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!!! THIS IS NOT FREE SOFTWARE !!!
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 05.2008 Holger Buss
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// + Thanks to Ilja Fähnrich (P_Latzhalter)
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
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// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
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// +   * 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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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
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// +     In case of doubt please contact: info@MikroKopter.de
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// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "main.h"
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volatile uint16_t CountMilliseconds = 0;
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volatile uint16_t I2C_Timeout = 0;
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/*****************************************************/
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/*              Initialize Timer 0                   */
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/*****************************************************/
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void TIMER0_Init(void)
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{
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        // set PB2 as output for the PWM used to signal compass heading
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        DDRB |= (1<<DDB2);
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        PORTB &= ~(1<<PORTB2);
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        // Timer/Counter 0 Control Register A
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        // Normal Timer Counter Mode (Bits WGM02 = 0, WGM01 = 0, WGM00 = 0)
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    // OC0A disconnected (Bits COM0A1 = 0, COM0A0 = 0)
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    // OC0B disconnected (Bits COM0B1 = 0, COM0B0 = 0)
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    TCCR0A &= ~((1<<COM0A1)|(1<<COM0A0)|(1<<COM0B1)|(1<<COM0B0)|(1<<WGM01)|(1<<WGM00));
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        // Timer/Counter 0 Control Register B
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        // set clock devider for timer 0 to SYSKLOCK/8 = 8MHz / 8 = 1MHz
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        // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
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        // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
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        // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
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        TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)|(1<<CS02));
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    TCCR0B = (1<<CS01)|(0<<CS00);
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        // init Timer/Counter 0 Register
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    TCNT0 = 0;
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        // Timer/Counter 0 Interrupt Mask Register
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        // enable timer overflow interrupt only
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        TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A));
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        TIMSK0 |= (1<<TOIE0);
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}
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// -----------------------------------------------------------------------
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ISR(TIMER0_OVF_vect)
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{
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        static uint8_t cnt;
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        static uint16_t cmps_cnt;
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        // reload timer register so that overflow occurs after 100 increments at 1 MHz
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        // resulting in a calling rate of this ISR of 10kHz or 0.1 ms.
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        TCNT0 -= 101;
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        // disable PWM when bad compass heading value
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        if(Heading < 0)
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        {
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                PORTB &= ~(PORTB2);
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                cmps_cnt = 0;
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        }
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        else
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        {
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                // if a periode of 38.0 ms is over
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                if(++cmps_cnt >= 380)
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                {
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                        // set PWM out to high
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                        PORTB |= PORTB2;
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                        // reset periode counter
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                        cmps_cnt = 0;
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                }
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                // if the delay in 0.1 ms is equal to Heading + 10
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                else if(cmps_cnt >= (Heading + 10))
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                {
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                        // set PWM out to low
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                        PORTB &= ~(PORTB2);
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                }
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        }
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        if(!--cnt)
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        {
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                // every 10th run (1kHz or 1ms)
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                cnt = 10;
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                CountMilliseconds++;
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                if(I2C_Timeout) I2C_Timeout--;
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        }
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}
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// -----------------------------------------------------------------------
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uint16_t SetDelay (uint16_t t)
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{
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  return(CountMilliseconds + t - 1);
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}
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// -----------------------------------------------------------------------
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int8_t CheckDelay(uint16_t t)
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{
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        return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
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}
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// -----------------------------------------------------------------------
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void Delay_ms(uint16_t wait)
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{
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        uint16_t t_stop;
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        t_stop = SetDelay(wait);
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        while (!CheckDelay(t_stop));
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}
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