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| Rev | Author | Line No. | Line |
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| 12 | hbuss | 1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
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| 32 | holgerb | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
| 12 | hbuss | 4 | #######################################################################################*/ |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Copyright (c) 05.2008 Holger Buss |
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| 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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| 7 | hbuss | 8 | // + Nur für den privaten Gebrauch |
| 12 | hbuss | 9 | // + www.MikroKopter.com |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | holgerb | 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | holgerb | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | holgerb | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 24 | // + eindeutig als Ursprung verlinkt werden |
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| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 27 | // + Benutzung auf eigene Gefahr |
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| 28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | holgerb | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 12 | hbuss | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 35 | // + * 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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| 36 | // + from this software without specific prior written permission. |
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| 32 | holgerb | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 12 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
| 32 | holgerb | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 12 | hbuss | 40 | // + with our written permission |
| 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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| 42 | // + In case of doubt please contact: info@MikroKopter.de |
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| 32 | holgerb | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| 44 | // + clearly linked as origin |
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| 12 | hbuss | 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 32 | holgerb | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 12 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | holgerb | 57 | #include <inttypes.h> |
| 58 | #include <avr/io.h> |
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| 59 | #include <avr/interrupt.h> |
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| 1 | ingob | 60 | #include "main.h" |
| 61 | |||
| 32 | holgerb | 62 | volatile uint16_t CountMilliseconds = 0; |
| 63 | volatile uint16_t I2C_Timeout = 0; |
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| 1 | ingob | 64 | |
| 65 | |||
| 32 | holgerb | 66 | /*****************************************************/ |
| 67 | /* Initialize Timer 0 */ |
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| 68 | /*****************************************************/ |
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| 69 | void TIMER0_Init(void) |
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| 1 | ingob | 70 | { |
| 32 | holgerb | 71 | // set PB2 as output for the PWM used to signal compass heading |
| 72 | DDRB |= (1<<DDB2); |
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| 73 | PORTB &= ~(1<<PORTB2); |
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| 1 | ingob | 74 | |
| 32 | holgerb | 75 | |
| 76 | // Timer/Counter 0 Control Register A |
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| 77 | |||
| 78 | // Normal Timer Counter Mode (Bits WGM02 = 0, WGM01 = 0, WGM00 = 0) |
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| 37 | killagreg | 79 | // OC0A disconnected (Bits COM0A1 = 0, COM0A0 = 0) |
| 80 | // OC0B disconnected (Bits COM0B1 = 0, COM0B0 = 0) |
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| 81 | TCCR0A &= ~((1<<COM0A1)|(1<<COM0A0)|(1<<COM0B1)|(1<<COM0B0)|(1<<WGM01)|(1<<WGM00)); |
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| 32 | holgerb | 82 | |
| 83 | // Timer/Counter 0 Control Register B |
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| 84 | |||
| 85 | // set clock devider for timer 0 to SYSKLOCK/8 = 8MHz / 8 = 1MHz |
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| 86 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
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| 87 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
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| 88 | |||
| 89 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
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| 90 | TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)|(1<<CS02)); |
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| 37 | killagreg | 91 | TCCR0B = (1<<CS01)|(0<<CS00); |
| 32 | holgerb | 92 | |
| 93 | // init Timer/Counter 0 Register |
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| 37 | killagreg | 94 | TCNT0 = 0; |
| 32 | holgerb | 95 | |
| 96 | // Timer/Counter 0 Interrupt Mask Register |
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| 97 | // enable timer overflow interrupt only |
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| 98 | TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
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| 99 | TIMSK0 |= (1<<TOIE0); |
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| 100 | |||
| 1 | ingob | 101 | } |
| 102 | |||
| 103 | |||
| 32 | holgerb | 104 | // ----------------------------------------------------------------------- |
| 105 | ISR(TIMER0_OVF_vect) |
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| 1 | ingob | 106 | { |
| 32 | holgerb | 107 | static uint8_t cnt; |
| 108 | static uint16_t cmps_cnt; |
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| 109 | |||
| 110 | // reload timer register so that overflow occurs after 100 increments at 1 MHz |
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| 111 | // resulting in a calling rate of this ISR of 10kHz or 0.1 ms. |
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| 112 | TCNT0 -= 101; |
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| 113 | |||
| 114 | // disable PWM when bad compass heading value |
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| 115 | if(Heading < 0) |
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| 116 | { |
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| 117 | PORTB &= ~(1<<PORTB2); |
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| 118 | cmps_cnt = 0; |
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| 119 | } |
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| 120 | else |
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| 121 | { |
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| 122 | // if a periode of 38.0 ms is over |
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| 123 | if(++cmps_cnt >= 380) |
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| 124 | { |
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| 125 | // set PWM out to high |
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| 126 | PORTB |= (1<<PORTB2); |
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| 127 | // reset periode counter |
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| 128 | cmps_cnt = 0; |
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| 129 | } |
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| 130 | // if the delay in 0.1 ms is equal to Heading + 10 |
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| 131 | else if(cmps_cnt >= (Heading + 10)) |
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| 132 | { |
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| 133 | // set PWM out to low |
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| 134 | PORTB &= ~(1<<PORTB2); |
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| 135 | } |
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| 136 | } |
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| 137 | |||
| 138 | if(!--cnt) |
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| 139 | { |
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| 140 | // every 10th run (1kHz or 1ms) |
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| 141 | cnt = 10; |
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| 142 | CountMilliseconds++; |
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| 143 | if(I2C_Timeout) I2C_Timeout--; |
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| 144 | } |
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| 1 | ingob | 145 | } |
| 146 | |||
| 147 | |||
| 32 | holgerb | 148 | // ----------------------------------------------------------------------- |
| 149 | uint16_t SetDelay (uint16_t t) |
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| 1 | ingob | 150 | { |
| 37 | killagreg | 151 | return(CountMilliseconds + t - 1); |
| 1 | ingob | 152 | } |
| 153 | |||
| 32 | holgerb | 154 | // ----------------------------------------------------------------------- |
| 155 | int8_t CheckDelay(uint16_t t) |
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| 1 | ingob | 156 | { |
| 32 | holgerb | 157 | return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
| 1 | ingob | 158 | } |
| 159 | |||
| 32 | holgerb | 160 | // ----------------------------------------------------------------------- |
| 161 | void Delay_ms(uint16_t wait) |
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| 1 | ingob | 162 | { |
| 32 | holgerb | 163 | uint16_t t_stop; |
| 164 | t_stop = SetDelay(wait); |
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| 165 | while (!CheckDelay(t_stop)); |
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| 1 | ingob | 166 | } |
| 32 | holgerb | 167 |