| /tags/V0.22c/Compass.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="avr_ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="analog.h"></File><File path="analog.c"></File><File path="twislave.c"></File><File path="twislave.h"></File><File path="menu.c"></File></Project> |
| /tags/V0.22c/Compassl.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="avr_ctrl" x="true"></e></ViewState></pd> |
| /tags/V0.22c/Hex-Files/BootLoader_MEGA168_8MHZ_V0.2.hex |
|---|
| 0,0 → 1,61 |
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| :0400000300003800C1 |
| :00000001FF |
| /tags/V0.22c/Hex-Files/MK3Mag_MEGA168_V0_22c_SVN62.hex |
|---|
| 0,0 → 1,804 |
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| /tags/V0.22c/License.txt |
|---|
| 0,0 → 1,59 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /tags/V0.22c/analog.c |
|---|
| 0,0 → 1,120 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <util/delay.h> |
| #include "analog.h" |
| uint8_t AccPresent = 0; |
| void ADC_Init(void) |
| { |
| // The analog inputs have a VREF of 5V and a resolution of 10 bit (0...1024 counts) |
| // i.e. 4.88mV/Count |
| // set PortC 0,1,2,3 as input |
| DDRC &= ~((1<<DDC3)|(1<<DDC2)|(1<<DDC1)|(1<<DDC0)); |
| // set PortC 0,1,2,3 as tri state |
| PORTC &= ~((1<<PORTC3)|(1<<PORTC2)|(1<<PORTC1)|(1<<PORTC0)); |
| // port PD5 and PD6 control the current direction of the test coils of the sensors |
| DDRD |= ((1<<DDD5)|(1<<DDD6)); |
| FLIP_LOW; |
| // disable internal reference voltage and right adjust bits in ADCW |
| ADMUX = 0x00; |
| // clear start conversion bit (ADSC = 0) |
| // disable ADC Auto Trigger Enable (ADATE = 0) |
| // disable interrupt (ADIE = 0) |
| ADCSRA &= ~((1<<ADSC)|(1<<ADATE)|(1<<ADIE)); |
| // Enable ADC (ADEN = 1) with SYSCLK/128 (ADPS2 = 1, ADPS1 = 1, ADPS0 = 1) and clear ready flag (ADIF = 1) |
| ADCSRA |= ((1<<ADEN)|(1<<ADIF)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)); |
| ADMUX = 0x00; // select ADC0 |
| ADCSRA |= (1<<ADSC); // start conversion |
| // Check if acceleration sensor is present |
| // The output of the LIS3L02AL (MK3MAG V1.0) and the LIS344ALH (MK3MAG V1.1) is Vdd/5 +/- 10% per 1g. |
| // The Vdd is 3.0V at this board therefore the sensitivity is 0.6V/g +/-10% that corresponds to 123 counts. |
| // The offsets at 0g is VDD/2 (1.5V) that is 307 counts. |
| // that yields to an ADC range of 184 to 430 counts. |
| // pullup PC2(AccX) and PC3 (AccY) |
| PORTC |= ((1<<PORTC3)|(1<<PORTC2)); |
| _delay_ms(10.0); |
| // if ADC2 and ADC 3 is larger than 1000 counts (4.88V) no load is at the pins |
| if((ADC_GetValue(ADC2) > 1000) && (ADC_GetValue(ADC3) > 1000)) AccPresent = 0; |
| else AccPresent = 1; |
| // set port back to tristate |
| PORTC &= ~((1<<PORTC3)|(1<<PORTC2)); |
| } |
| uint16_t ADC_GetValue(ADChannel_t channel) |
| { |
| uint16_t value = 0; |
| ADMUX = channel; // set muxer bits |
| ADCSRA |= (1<<ADIF); // clear ready-flag |
| ADCSRA |= (1<<ADSC); // start conversion |
| while (((ADCSRA & (1<<ADIF)) == 0)); // wait for end of conversion |
| value = ADCW; // read adc result |
| return(value); |
| } |
| /tags/V0.22c/analog.h |
|---|
| 0,0 → 1,39 |
| #ifndef _ANALOG_H_ |
| #define _ANALOG_H_ |
| #include <inttypes.h> |
| #include <avr/io.h> |
| #define FLIP_HIGH PORTD |= ((1<<PORTD5)|(1<<PORTD6)) |
| #define FLIP_LOW PORTD &= ~((1<<PORTD5)|(1<<PORTD6)) |
| typedef enum |
| { |
| ADC0 = 0, |
| ADC1 = 1, |
| ADC2 = 2, |
| ADC3 = 3, |
| ADC4 = 4, |
| ADC5 = 5, |
| ADC6 = 6, |
| ADC7 = 7, |
| REF1V1 = 14, |
| AGND = 15 |
| } ADChannel_t; |
| #define MAG_X ADC0 |
| #define MAG_Y ADC1 |
| #define MAG_Z ADC7 |
| #define ACC_X ADC2 |
| #define ACC_Y ADC3 |
| #define ACC_Z ADC6 |
| extern uint8_t AccPresent; |
| void ADC_Init(void); |
| uint16_t ADC_GetValue(ADChannel_t channel); |
| #endif // _ANALOG_H_ |
| /tags/V0.22c/led.c |
|---|
| 0,0 → 1,73 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "led.h" |
| void LED_Init(void) |
| { |
| // Set PD7 as output |
| DDRD |= (1<<DDD7); |
| // set port pon to GND |
| PORTD &= ~((1<<PORTD7)); |
| } |
| /tags/V0.22c/led.h |
|---|
| 0,0 → 1,12 |
| #ifndef _LED_H_ |
| #define _LED_H_ |
| #include <avr/io.h> |
| #define LED_GRN_ON PORTD |= (1<<PORTD7) |
| #define LED_GRN_OFF PORTD &= ~(1<<PORTD7) |
| #define LED_GRN_TOGGLE PORTD ^= (1<<PORTD7) |
| void LED_Init(void); |
| #endif //_LED_H_ |
| /tags/V0.22c/main.c |
|---|
| 0,0 → 1,534 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/interrupt.h> |
| #include <math.h> |
| #include <stdlib.h> |
| #include <stdio.h> |
| #include "main.h" |
| #include "timer0.h" |
| #include "twislave.h" |
| #include "led.h" |
| #include "analog.h" |
| #include "uart.h" |
| #define CALIBRATION_VERSION 1 |
| AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC; |
| Orientation_t Orientation = ORIENTATION_FC; |
| uint16_t Led_Timer = 0; |
| typedef struct |
| { |
| int16_t Range; |
| int16_t Offset; |
| } Scaling_t; |
| typedef struct |
| { |
| Scaling_t MagX; |
| Scaling_t MagY; |
| Scaling_t MagZ; |
| Scaling_t AccX; |
| Scaling_t AccY; |
| Scaling_t AccZ; |
| unsigned char Version; |
| } Calibration_t; |
| Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
| Calibration_t Calibration; // calibration data in RAM |
| // magnet sensor variable |
| int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data |
| int16_t RawMagnet2a, RawMagnet2b; |
| int16_t RawMagnet3a, RawMagnet3b; |
| int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling |
| int16_t MagX = 0, MagY = 0, MagZ = 0; // rescaled magnetic field readings |
| // acceleration sensor variables |
| int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0; // raw acceleration readings |
| int16_t AccX = 0, AccY = 0, AccZ = 0; // rescaled acceleration readings |
| int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0; // nick and roll angle from acc |
| int16_t Heading = -1; // the current compass heading in deg |
| void CalcFields(void) |
| { |
| UncalMagX = (RawMagnet1a - RawMagnet1b); |
| UncalMagY = (RawMagnet3a - RawMagnet3b); |
| UncalMagZ = (RawMagnet2a - RawMagnet2b); |
| if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range); |
| else MagX = 0; |
| if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range); |
| else MagY = 0; |
| if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range); |
| else MagZ = 0; |
| if(AccPresent) |
| { |
| AccX = (RawAccX - Calibration.AccX.Offset); |
| AccY = (RawAccY - Calibration.AccY.Offset); |
| AccZ = (Calibration.AccZ.Offset - RawAccZ); |
| #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL |
| // acc mode assumes orientation like FC |
| if(AccX > 136) AccAttitudeNick = -800; |
| else |
| if(AccX < -136) AccAttitudeNick = 800; |
| else AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI); |
| if(AccY > 136) AccAttitudeRoll = 800; |
| else |
| if(AccY < -136) AccAttitudeRoll = -800; |
| else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
| #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z) |
| // acc mode assumes orientation like FC |
| if(AccY > 136) AccAttitudeNick = 800; |
| else |
| if(AccY < -136) AccAttitudeNick = -800; |
| else AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
| if(AccX > 136) AccAttitudeRoll = 800; |
| else |
| if(AccX < -136) AccAttitudeRoll = -800; |
| else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI); |
| #endif |
| } |
| } |
| void CalcHeading(void) |
| { |
| double nick_rad, roll_rad, Cx = 0, Cy = 0, Cz = 0, Hx = 0, Hy = 0; |
| int16_t nick, roll; |
| int16_t heading = -1; |
| // blink code for normal operation |
| if(CheckDelay(Led_Timer)) |
| { |
| if(Calibration.Version != CALIBRATION_VERSION) LED_GRN_TOGGLE; |
| else LED_GRN_ON; |
| Led_Timer = SetDelay(150); |
| } |
| if(Calibration.Version != CALIBRATION_VERSION) heading = -1; // Version of the calibration Data does not match |
| else |
| { |
| switch(Orientation) |
| { |
| case ORIENTATION_NC: |
| Cx = (double)MagX; |
| Cy = (double)MagY; |
| Cz = (double)MagZ; |
| break; |
| case ORIENTATION_FC: |
| // rotation of 90 deg compared to NC setup |
| Cx = (double)MagY; |
| Cy = -(double)MagX; |
| Cz = (double)MagZ; |
| break; |
| } |
| // calculate nick and roll angle in rad |
| switch(AttitudeSource) |
| { |
| case ATTITUDE_SOURCE_I2C: |
| cli(); // stop interrupts |
| nick = I2C_WriteAttitude.Nick; |
| roll = I2C_WriteAttitude.Roll; |
| sei(); // start interrupts |
| break; |
| case ATTITUDE_SOURCE_UART: |
| cli(); // stop interrupts |
| nick = ExternData.Attitude[NICK]; |
| roll = ExternData.Attitude[ROLL]; |
| sei(); // start interrupts |
| break; |
| case ATTITUDE_SOURCE_ACC: |
| nick = AccAttitudeNick; |
| roll = AccAttitudeRoll; |
| break; |
| default: |
| nick = 0; |
| roll = 0; |
| break; |
| } |
| nick_rad = ((double)nick * M_PI) / 1800.0; |
| roll_rad = ((double)roll * M_PI) / 1800.0; |
| // calculate attitude correction |
| Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad); |
| Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad); |
| DebugOut.Analog[27] = (int16_t)Hx; |
| DebugOut.Analog[28] = (int16_t)Hy; |
| // calculate Heading |
| heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI); |
| // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation |
| // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| } |
| // stop interrrupts during heading update to avoid transmitting heading between the update of both bytes of the int16_t |
| cli(); // stop interrupts |
| if(abs(heading) < 361) Heading = heading; |
| else (Heading = -1); |
| sei(); // start interrupts |
| } |
| void Calibrate(void) |
| { |
| uint8_t cal; |
| static uint8_t calold = 0; |
| static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| static uint8_t blinkcount = 0; |
| static uint8_t invert_blinking = 0; |
| // check both sources of communication for calibration request |
| if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
| else cal = ExternData.CalState; |
| if(cal > 5) cal = 0; |
| // blink code for current calibration state |
| if(cal) |
| { |
| if(CheckDelay(Led_Timer) || (cal != calold)) |
| { |
| if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
| else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON; |
| // end of blinkcount sequence |
| if((blinkcount + 1 ) >= (2 * cal)) |
| { |
| blinkcount = 0; |
| Led_Timer = SetDelay(1500); |
| } |
| else |
| { |
| blinkcount++; |
| Led_Timer = SetDelay(100); |
| } |
| } |
| } |
| else |
| { |
| if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
| } |
| // calibration state machine |
| switch(cal) |
| { |
| case 1: // 1st step of calibration |
| // initialize ranges |
| // used to change the orientation of the MK3MAG in the horizontal plane |
| Xmin = 10000; |
| Xmax = -10000; |
| Ymin = 10000; |
| Ymax = -10000; |
| Zmin = 10000; |
| Zmax = -10000; |
| Calibration.AccX.Offset = RawAccX; |
| Calibration.AccY.Offset = RawAccY; |
| Calibration.AccZ.Offset = RawAccZ; |
| invert_blinking = 0; |
| break; |
| case 2: // 2nd step of calibration |
| // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| if(UncalMagX < Xmin) Xmin = UncalMagX; |
| if(UncalMagX > Xmax) Xmax = UncalMagX; |
| if(UncalMagY < Ymin) Ymin = UncalMagY; |
| if(UncalMagY > Ymax) Ymax = UncalMagY; |
| invert_blinking = 1; |
| break; |
| case 3: // 3rd step of calibration |
| // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| invert_blinking = 0; |
| break; |
| case 4: |
| // find Min and Max of the Z-Sensor |
| if(UncalMagZ < Zmin) Zmin = UncalMagZ; |
| if(UncalMagZ > Zmax) Zmax = UncalMagZ; |
| invert_blinking = 1; |
| break; |
| case 5: |
| // Save values |
| if(cal != calold) // avoid continously writing of eeprom! |
| { |
| Calibration.MagX.Range = Xmax - Xmin; |
| Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| Calibration.MagY.Range = Ymax - Ymin; |
| Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| Calibration.MagZ.Range = Zmax - Zmin; |
| Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
| if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150)) |
| { |
| Calibration.Version = CALIBRATION_VERSION; |
| // indicate write process by setting the led off for 2 seconds |
| LED_GRN_OFF; |
| eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
| Led_Timer = SetDelay(2000); |
| // reset blinkcode |
| blinkcount = 0; |
| } |
| else |
| { |
| // restore old calibration data from eeprom |
| eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
| } |
| } |
| invert_blinking = 0; |
| break; |
| default: |
| break; |
| } |
| calold = cal; |
| } |
| void SetDebugValues(void) |
| { |
| DebugOut.Analog[0] = MagX; |
| DebugOut.Analog[1] = MagY; |
| DebugOut.Analog[2] = MagZ; |
| DebugOut.Analog[3] = UncalMagX; |
| DebugOut.Analog[4] = UncalMagY; |
| DebugOut.Analog[5] = UncalMagZ; |
| switch(AttitudeSource) |
| { |
| case ATTITUDE_SOURCE_ACC: |
| DebugOut.Analog[6] = AccAttitudeNick; |
| DebugOut.Analog[7] = AccAttitudeRoll; |
| break; |
| case ATTITUDE_SOURCE_UART: |
| DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
| DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
| break; |
| case ATTITUDE_SOURCE_I2C: |
| DebugOut.Analog[6] = I2C_WriteAttitude.Nick; |
| DebugOut.Analog[7] = I2C_WriteAttitude.Roll; |
| break; |
| } |
| DebugOut.Analog[8] = Calibration.MagX.Offset; |
| DebugOut.Analog[9] = Calibration.MagX.Range; |
| DebugOut.Analog[10] = Calibration.MagY.Offset; |
| DebugOut.Analog[11] = Calibration.MagY.Range; |
| DebugOut.Analog[12] = Calibration.MagZ.Offset; |
| DebugOut.Analog[13] = Calibration.MagZ.Range; |
| if(I2C_WriteCal.CalByte) DebugOut.Analog[14] = I2C_WriteCal.CalByte; |
| else DebugOut.Analog[14] = ExternData.CalState; |
| DebugOut.Analog[15] = Heading; |
| DebugOut.Analog[16] = ExternData.UserParam[0]; |
| DebugOut.Analog[17] = ExternData.UserParam[1]; |
| DebugOut.Analog[18] = AccX; |
| DebugOut.Analog[19] = AccY; |
| DebugOut.Analog[20] = AccZ; |
| DebugOut.Analog[21] = RawAccX; |
| DebugOut.Analog[22] = RawAccY; |
| DebugOut.Analog[23] = RawAccZ; |
| DebugOut.Analog[24] = Calibration.AccX.Offset; |
| DebugOut.Analog[25] = Calibration.AccY.Offset; |
| DebugOut.Analog[26] = Calibration.AccZ.Offset; |
| DebugOut.Analog[29] = AttitudeSource; |
| } |
| void AccMeasurement(void) |
| { |
| if(AccPresent) |
| { |
| RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2; |
| RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2; |
| RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2; |
| } |
| else |
| { |
| RawAccX = 0; |
| RawAccY = 0; |
| RawAccZ = 0; |
| } |
| } |
| int main (void) |
| { |
| static uint8_t state = 0; |
| static uint16_t statetimer; |
| // reset input pullup |
| DDRC &=~((1<<DDC6)); |
| PORTC |= (1<<PORTC6); |
| LED_Init(); |
| TIMER0_Init(); |
| USART0_Init(); |
| ADC_Init(); |
| I2C_Init(); |
| sei(); // enable globale interrupts |
| USART0_Print("\n\rthe use of this software is only permitted\n\ron original MikroKopter-Hardware"); |
| USART0_Print("\n\rwww.MikroKopter.de (c) HiSystems GmbH"); |
| if(AccPresent) |
| { |
| USART0_Print("\n\nACC present\n"); |
| } |
| LED_GRN_ON; |
| Led_Timer = SetDelay(200); |
| // read calibration info from eeprom |
| eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
| ExternData.CalState = 0; |
| I2C_WriteCal.CalByte = 0; |
| statetimer = SetDelay(0); |
| // main loop |
| while (1) |
| { |
| switch(state) |
| { |
| case 0: |
| if(CheckDelay(statetimer)) |
| { |
| FLIP_LOW; |
| statetimer = SetDelay(2); |
| state = 1; |
| } |
| break; |
| case 1: |
| if(CheckDelay(statetimer)) |
| { |
| RawMagnet1a = ADC_GetValue(MAG_X); |
| RawMagnet2a = -ADC_GetValue(MAG_Y); |
| RawMagnet3a = ADC_GetValue(MAG_Z); |
| AccMeasurement(); |
| statetimer = SetDelay(1); |
| state = 2; |
| } |
| break; |
| case 2: |
| if(CheckDelay(statetimer)) |
| { |
| FLIP_HIGH; |
| statetimer = SetDelay(2); |
| state = 3; |
| } |
| break; |
| case 3: |
| if(CheckDelay(statetimer)) |
| { |
| RawMagnet1b = ADC_GetValue(MAG_X); |
| RawMagnet2b = -ADC_GetValue(MAG_Y); |
| RawMagnet3b = ADC_GetValue(MAG_Z); |
| AccMeasurement(); |
| statetimer = SetDelay(1); |
| state = 0; |
| CalcFields(); |
| if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
| else CalcHeading(); |
| if(NC_Connected) NC_Connected--; |
| if(FC_Connected) FC_Connected--; |
| if(PC_Connected) PC_Connected--; |
| // fall back to attitude estimation from onboard acc sensor if NC or FC does'nt send attitude data |
| if(!FC_Connected && ! NC_Connected) |
| { |
| AttitudeSource = ATTITUDE_SOURCE_ACC; |
| Orientation = ORIENTATION_FC; |
| } |
| } |
| break; |
| default: // should never happen |
| statetimer = SetDelay(0); |
| state = 0; |
| break; |
| } // one full state cylce is 6 ms |
| // check data from USART |
| USART0_ProcessRxData(); |
| if(PC_Connected) |
| { |
| USART0_EnableTXD(); |
| USART0_TransmitTxData(); |
| } |
| else |
| { |
| USART0_DisableTXD(); |
| } |
| } // while(1) |
| } |
| /tags/V0.22c/main.h |
|---|
| 0,0 → 1,34 |
| #ifndef _MAIN_H_ |
| #define _MAIN_H_ |
| #include <avr/eeprom.h> |
| #include <inttypes.h> |
| typedef enum |
| { |
| ATTITUDE_SOURCE_I2C = 0, |
| ATTITUDE_SOURCE_UART = 1, |
| ATTITUDE_SOURCE_ACC = 2 |
| } AttitudeSource_t; |
| typedef enum |
| { |
| ORIENTATION_NC = 0, |
| ORIENTATION_FC = 1 |
| } Orientation_t; |
| extern int16_t Heading; |
| extern AttitudeSource_t AttitudeSource; |
| extern Orientation_t Orientation; |
| extern int16_t MagX, MagY, MagZ; |
| void SetDebugValues(void); |
| #endif //_MAIN_H_ |
| /tags/V0.22c/makefile |
|---|
| 0,0 → 1,420 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega168 |
| F_CPU = 8000000 |
| #------------------------------------------------------------------- |
| #BOARD = 10 |
| BOARD = 11 |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 22 |
| VERSION_PATCH = 2 |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol Minor Version |
| NC_I2C_COMPATIBLE = 3 # I2C Protocol Version |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_PATCH), 0) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = 2 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c timer0.c analog.c twislave.c led.c menu.c printf_P.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| CDEFS = -DF_CPU=$(F_CPU)UL |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += $(CDEFS) |
| CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DBOARD=$(BOARD) -DNC_I2C_COMPATIBLE=$(NC_I2C_COMPATIBLE) |
| ifeq ($(AVR_CTRL_PLATINE), 1) |
| CFLAGS += -DAVR_CTRL_PLATINE=$(AVR_CTRL_PLATINE) |
| endif |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| #AVRDUDE_FLAGS += -V -E noreset |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| # $(REMOVE) $(TARGET).eep |
| # $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /tags/V0.22c/menu.c |
|---|
| 0,0 → 1,102 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "menu.h" |
| #include "uart.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #include "main.h" |
| uint8_t MaxMenuItem = 2; |
| uint8_t MenuItem = 0; |
| uint8_t RemoteKeys = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| uint8_t DispPtr = 0; |
| /************************************/ |
| /* Clear LCD Buffer */ |
| /************************************/ |
| void LCD_Clear(void) |
| { |
| uint8_t i; |
| for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
| } |
| /************************************/ |
| /* Update Menu on LCD */ |
| /************************************/ |
| // Display with 20 characters in 4 lines |
| void LCD_PrintMenu(void) |
| { |
| if(RemoteKeys & KEY1) |
| { |
| if(MenuItem) MenuItem--; |
| else MenuItem = MaxMenuItem; |
| } |
| if(RemoteKeys & KEY2) |
| { |
| if(MenuItem == MaxMenuItem) MenuItem = 0; |
| else MenuItem++; |
| } |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
| LCD_Clear(); |
| if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| // print menu item number in the upper right corner |
| if(MenuItem < 10) |
| { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } |
| else |
| { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| switch(MenuItem) |
| { |
| case 0:// Version Info Menu Item |
| LCD_printfxy(0,0,"++ MK3MAG ++ "); |
| LCD_printfxy(0,1," V %d.%d%c", VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| if(AccPresent) |
| { |
| LCD_printfxy(0,2, " ACC Support "); |
| } |
| else |
| { |
| LCD_printfxy(0,2, " "); |
| } |
| LCD_printfxy(0,3,"(c) Buss, Busker "); |
| break; |
| case 1: // Magnet readings |
| LCD_printfxy(0,0,"Magnet Sensors: "); |
| LCD_printfxy(0,1,"X:%+4d ", MagX); |
| LCD_printfxy(0,2,"Y:%+4d ", MagY); |
| LCD_printfxy(0,3,"Z:%+4d ", MagZ); |
| break; |
| default: |
| MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |
| /tags/V0.22c/menu.h |
|---|
| 0,0 → 1,18 |
| #ifndef _MENU_H |
| #define _MENU_H |
| #include <inttypes.h> |
| #define DISPLAYBUFFSIZE 80 |
| extern void LCD_PrintMenu(void); |
| extern void LCD_Clear(void); |
| extern int8_t DisplayBuff[]; |
| extern uint8_t DispPtr; |
| extern uint8_t MenuItem; |
| extern uint8_t MaxMenuItem; |
| extern uint8_t RemoteKeys; |
| #endif //_MENU_H |
| /tags/V0.22c/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /tags/V0.22c/printf_P.c |
|---|
| 0,0 → 1,483 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "old_macros.h" |
| #include "printf_P.h" |
| #include "menu.h" |
| #include "uart.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(USART0_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /tags/V0.22c/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /tags/V0.22c/timer0.c |
|---|
| 0,0 → 1,170 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint16_t I2C_Timeout = 0; |
| /*****************************************************/ |
| /* Initialize Timer 0 */ |
| /*****************************************************/ |
| void TIMER0_Init(void) |
| { |
| // set PB2 as output for the PWM used to signal compass heading |
| DDRB |= (1<<DDB2); |
| PORTB &= ~(1<<PORTB2); |
| // Timer/Counter 0 Control Register A |
| // Normal Timer Counter Mode (Bits WGM02 = 0, WGM01 = 0, WGM00 = 0) |
| // OC0A disconnected (Bits COM0A1 = 0, COM0A0 = 0) |
| // OC0B disconnected (Bits COM0B1 = 0, COM0B0 = 0) |
| TCCR0A &= ~((1<<COM0A1)|(1<<COM0A0)|(1<<COM0B1)|(1<<COM0B0)|(1<<WGM01)|(1<<WGM00)); |
| // Timer/Counter 0 Control Register B |
| // set clock devider for timer 0 to SYSKLOCK/8 = 8MHz / 8 = 1MHz |
| // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
| TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)|(1<<CS02)); |
| TCCR0B = (1<<CS01)|(0<<CS00); |
| // init Timer/Counter 0 Register |
| TCNT0 = 0; |
| // Timer/Counter 0 Interrupt Mask Register |
| // enable timer overflow interrupt only |
| TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
| TIMSK0 |= (1<<TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| ISR(TIMER0_OVF_vect) |
| { |
| static uint8_t cnt; |
| static uint16_t cmps_cnt; |
| // reload timer register so that overflow occurs after 100 increments at 1 MHz |
| // resulting in a calling rate of this ISR of 10kHz or 0.1 ms. |
| TCNT0 -= 101; |
| // disable PWM when bad compass heading value |
| if(Heading < 0) |
| { |
| PORTB &= ~(1<<PORTB2); |
| cmps_cnt = 0; |
| } |
| else |
| { |
| // if a periode of 38.0 ms is over |
| if(++cmps_cnt >= 380) |
| { |
| // set PWM out to high |
| PORTB |= (1<<PORTB2); |
| // reset periode counter |
| cmps_cnt = 0; |
| } |
| // if the delay in 0.1 ms is equal to Heading + 10 |
| else if(cmps_cnt >= (Heading + 10)) |
| { |
| // set PWM out to low |
| PORTB &= ~(1<<PORTB2); |
| } |
| } |
| if(!--cnt) |
| { |
| // every 10th run (1kHz or 1ms) |
| cnt = 10; |
| CountMilliseconds++; |
| if(I2C_Timeout) I2C_Timeout--; |
| } |
| } |
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay (uint16_t t) |
| { |
| return(CountMilliseconds + t - 1); |
| } |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) |
| { |
| return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(uint16_t wait) |
| { |
| uint16_t t_stop; |
| t_stop = SetDelay(wait); |
| while (!CheckDelay(t_stop)); |
| } |
| /tags/V0.22c/timer0.h |
|---|
| 0,0 → 1,17 |
| #ifndef _TIMER0_H |
| #define _TIMER0_H |
| #include <inttypes.h> |
| extern volatile uint16_t CountMilliseconds; |
| extern volatile uint16_t I2C_Timeout; |
| void TIMER0_Init(void); |
| uint16_t SetDelay (uint16_t t); |
| int8_t CheckDelay(uint16_t t); |
| void Delay_ms(uint16_t wait); |
| #endif //_TIMER0_H |
| /tags/V0.22c/twislave.c |
|---|
| 0,0 → 1,293 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "twislave.h" |
| #include "uart.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "led.h" |
| volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
| volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
| volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
| volatile uint8_t I2C_PrimRxBuffer[10]; |
| uint8_t NC_Connected = 0; |
| I2C_Heading_t I2C_Heading; |
| I2C_WriteAttitude_t I2C_WriteAttitude; |
| I2C_Mag_t I2C_Mag; |
| I2C_Version_t I2C_Version; |
| I2C_WriteCal_t I2C_WriteCal; |
| // send ACK after recieving a byte / ACK is expected after transmitting a byte |
| #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
| #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| // switched to the non adressed slave mode |
| #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
| #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
| void I2C_Init(void) |
| { |
| uint8_t sreg; |
| // backup status register |
| sreg = SREG; |
| // disable global interrupts |
| cli(); |
| // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
| // set PB4 (SCK) and PB5 (MISO) as input pull up |
| DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
| PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
| // set PC4 (SDA) and PC5 (SCL) as input tristate |
| DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
| PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
| I2C_TxBuffer = 0; |
| Tx_Idx = 0; |
| I2C_TxBufferSize = 0; |
| I2C_RxBuffer = 0; |
| Rx_Idx = 0; |
| I2C_RxBufferSize = 0; |
| TWCR = ~(1<<TWSTA)|(1<<TWSTO); |
| TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
| // set own address |
| // set own address in the upper 7 bits |
| TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
| // TWI Control Register |
| // enable TWI Acknowledge Bit (TWEA = 1) |
| // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
| // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
| // enable TWI (TWEN = 1) |
| // enable TWI Interrupt (TWIE = 1) |
| TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
| // update version info |
| I2C_Version.Major = VERSION_MAJOR; |
| I2C_Version.Minor = VERSION_MINOR; |
| I2C_Version.Patch = VERSION_PATCH; |
| I2C_Version.Compatible = NC_I2C_COMPATIBLE; |
| TWCR_RESET; |
| // resore status register |
| SREG = sreg; |
| } |
| ISR (TWI_vect) |
| { |
| uint8_t data; |
| static uint8_t crc; |
| // check event |
| switch (TW_STATUS) |
| { |
| case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
| Rx_Idx = 0xFF; // reset rx buffer pointer |
| TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
| return; |
| case TW_SR_DATA_ACK: // data has been received and ack has been returned |
| data = TWDR; |
| if (Rx_Idx == 0xFF) |
| { // if the first byte after slave addressing was received |
| switch(data) |
| { |
| case I2C_CMD_VERSION: |
| I2C_TxBuffer = (uint8_t *)&I2C_Version; |
| I2C_TxBufferSize = sizeof(I2C_Version); |
| I2C_RxBuffer = 0; |
| I2C_RxBufferSize = 0; |
| break; |
| case I2C_CMD_WRITE_CAL: |
| I2C_TxBuffer = (uint8_t *)&I2C_WriteCal; |
| I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
| I2C_RxBufferSize = sizeof(I2C_WriteCal); |
| break; |
| case I2C_CMD_READ_MAG: |
| I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
| I2C_TxBufferSize = sizeof(I2C_Mag); |
| I2C_RxBuffer = 0; |
| I2C_RxBufferSize = 0; |
| I2C_Mag.MagX = MagX; |
| I2C_Mag.MagY = MagY; |
| I2C_Mag.MagZ = MagZ; |
| break; |
| case I2C_CMD_READ_HEADING: |
| I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
| I2C_TxBufferSize = sizeof(I2C_Heading); |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
| I2C_Heading.Heading = Heading; // get heading |
| AttitudeSource = ATTITUDE_SOURCE_I2C; |
| Orientation = ORIENTATION_NC; |
| NC_Connected = 255; |
| break; |
| default: // unknown command id |
| I2C_RxBuffer = 0; |
| I2C_RxBufferSize = 0; |
| I2C_TxBuffer = 0; |
| I2C_TxBufferSize = 0; |
| break; |
| } |
| Rx_Idx = 0; // set rx buffer index to start of the buffer |
| crc = data; |
| } |
| else // Rx_Idx != 0xFF |
| { |
| // fill receiver buffer with the byte that has been received |
| // if buffer exist and there is still some free space |
| if(Rx_Idx < I2C_RxBufferSize) |
| { |
| I2C_PrimRxBuffer[Rx_Idx] = data; |
| crc += data; |
| } |
| else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
| { // if checksum matched |
| crc = ~crc; //flip all bits inthe checksum |
| if(crc == data) |
| { // and RxBuffer exist |
| if(I2C_RxBuffer != 0) |
| { // copy data to rx buffer |
| for(data = 0; data < I2C_RxBufferSize; data++) |
| { |
| I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
| } |
| } |
| DebugOut.Analog[31]++; |
| } |
| else |
| { |
| DebugOut.Analog[30]++; |
| } |
| } |
| // else ignore data |
| Rx_Idx++; |
| } |
| TWCR_ACK; |
| return; |
| case TW_ST_SLA_ACK: // slave transmitter selected |
| // reset index to start of tx buffer |
| Tx_Idx = 0; |
| crc = 0; |
| // if tx buffer exist and there is at least one byte to transfer |
| if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
| { |
| data = I2C_TxBuffer[Tx_Idx]; |
| } |
| else |
| { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
| data = 0x00; |
| } |
| crc += data; |
| Tx_Idx++; |
| TWDR = data; |
| TWCR_ACK; |
| return; |
| case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
| // put next byte from tx buffer to the data register |
| if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
| { |
| data = I2C_TxBuffer[Tx_Idx]; |
| crc += data; |
| } |
| else if (Tx_Idx == I2C_TxBufferSize) |
| { // send crc byte at the end |
| data = ~crc; |
| } |
| else |
| { |
| data = 0x00; |
| } |
| Tx_Idx++; |
| TWDR = data; |
| TWCR_ACK; |
| return; |
| case TW_BUS_ERROR: // Bus-Error |
| TWCR_CLEARBUS; // free bus, reset to nonselected slave |
| return; |
| case TW_ST_DATA_NACK: // data transmitted, NACK received |
| case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
| case TW_SR_STOP: // stop or repeated start condition received while selected |
| default: |
| TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
| return; |
| } |
| } |
| /tags/V0.22c/twislave.h |
|---|
| 0,0 → 1,63 |
| #ifndef _TWI_SLAVE_H_ |
| #define _TWI_SLAVE_H_ |
| #include <inttypes.h> |
| #define I2C_SLAVE_ADDRESS 0x50 |
| #define I2C_CMD_VERSION 0x01 |
| #define I2C_CMD_READ_MAG 0x02 |
| #define I2C_CMD_READ_HEADING 0x03 |
| #define I2C_CMD_WRITE_CAL 0x04 |
| #define I2C_CMD_WRITE_EEPROM 0x0A |
| #define I2C_CMD_READ_EEPROM 0x0B |
| typedef struct |
| { |
| uint8_t Major; |
| uint8_t Minor; |
| uint8_t Patch; |
| uint8_t Compatible; |
| } I2C_Version_t; |
| typedef struct |
| { |
| int16_t MagX; |
| int16_t MagY; |
| int16_t MagZ; |
| } I2C_Mag_t; |
| typedef struct |
| { |
| int16_t Nick; |
| int16_t Roll; |
| } I2C_WriteAttitude_t; |
| typedef struct |
| { |
| uint8_t CalByte; |
| uint8_t Dummy1; |
| uint8_t Dummy2; |
| } I2C_WriteCal_t; |
| typedef struct |
| { |
| int16_t Heading; |
| } I2C_Heading_t; |
| extern uint8_t NC_Connected; |
| extern I2C_Heading_t I2C_Heading; |
| extern I2C_WriteAttitude_t I2C_WriteAttitude; |
| extern I2C_Mag_t I2C_Mag; |
| extern I2C_Version_t I2C_Version; |
| extern I2C_WriteCal_t I2C_WriteCal; |
| void I2C_Init(void); |
| #endif // _TWI_SLAVE_H_ |
| /tags/V0.22c/uart.c |
|---|
| 0,0 → 1,655 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include <avr/pgmspace.h> |
| #include <stdarg.h> |
| #include <string.h> |
| #include "main.h" |
| #include "menu.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #include "twislave.h" |
| // slave addresses |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| #define FALSE 0 |
| #define TRUE 1 |
| // keep buffers as small as possible |
| #define TXD_BUFFER_LEN 100 |
| #define RXD_BUFFER_LEN 30 |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| volatile uint8_t *pRxData = 0; |
| volatile uint8_t RxDataLen = 0; |
| // send flags |
| #define RQST_VERSION_INFO 0x01 |
| #define RQST_DEBUG_DATA 0x02 |
| #define RQST_DEBUG_LABEL 0x04 |
| #define RQST_COMPASS_HEADING 0x08 |
| #define RQST_EXTERN_CTRL 0x10 |
| #define RQST_DISPLAY_DATA 0x20 |
| uint8_t RequestFlags = 0x00; |
| uint8_t RequestDebugLabel = 0; |
| uint8_t ConfirmFrame = 0; |
| uint8_t DisplayLine = 0; |
| uint16_t PC_Connected = 0; |
| uint16_t FC_Connected = 0; |
| DebugOut_t DebugOut; |
| ExternData_t ExternData; |
| ExternControl_t ExternControl; |
| UART_VersionInfo_t UART_VersionInfo; |
| uint16_t DebugData_Timer; |
| uint16_t DebugData_Interval = 500; |
| const prog_uint8_t ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "Magnet X ", //0 |
| "Magnet Y ", |
| "Magnet Z ", |
| "RawMagnet X ", |
| "RawMagnet Y ", |
| "RawMagnet Z ", //5 |
| "Attitude Nick ", |
| "Attitude Roll ", |
| "Magnet X Offset ", |
| "Magnet X Range ", |
| "Magnet Y Offset ", //10 |
| "Magnet Y Range ", |
| "Magnet Z Offset ", |
| "Magnet Z Range ", |
| "Calstate ", |
| "Heading ", //15 |
| "User0 ", |
| "User1 ", |
| "Acc X ", |
| "Acc Y ", |
| "Acc Z ", //20 |
| "RawAcc X ", |
| "RawAcc Y ", |
| "RawAcc Z ", |
| "Acc X Offset ", |
| "Acc Y Offset ", //25 |
| "Acc Z Offset ", |
| "Heading X ", |
| "Heading Y ", |
| "Attitude Source ", |
| "I2C Error ", //30 |
| "I2C Okay " |
| }; |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
| // disable all interrupts before configuration |
| cli(); |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin tristate |
| DDRD &= ~(1 << DDD0); |
| PORTD &= ~(1 << PORTD0); |
| // set TXD0 (PD1) as an output pin |
| DDRD |= (1 << DDD1); |
| PORTD &= ~(1 << PORTD1); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| // USART0 Control and Status Register A, B, C |
| // enable double speed operation |
| UCSR0A |= (1 << U2X0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| // enable receiver and transmitter |
| UCSR0B |= (1 << RXEN0); |
| UCSR0B |= (1 << TXEN0); |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = 0; |
| RxDataLen = 0; |
| // no bytes to send |
| txd_complete = TRUE; |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| // send version info at startup |
| USART0_putchar ('\n'); |
| USART0_putchar ('C'); |
| USART0_putchar ('P'); |
| USART0_putchar (':'); |
| USART0_putchar ('V'); |
| USART0_putchar ('0' + VERSION_MAJOR); |
| USART0_putchar ('.'); |
| USART0_putchar ('0' + VERSION_MINOR/10); |
| USART0_putchar ('0' + VERSION_MINOR%10); |
| USART0_putchar ('a' + VERSION_PATCH); |
| USART0_putchar ('\n'); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| // --------------------------------------------------------------------------------- |
| void USART0_EnableTXD(void) |
| { |
| DDRD |= (1<<DDD1); // set TXD pin as output |
| PORTD &= ~(1 << PORTD1); |
| UCSR0B |= (1 << TXEN0); // enable TX in USART |
| //changing the interrupt flag yields to strange effects |
| //UCSR0B |= (1 << TXCIE0); // enable TX-Interrupt |
| } |
| // --------------------------------------------------------------------------------- |
| void USART0_DisableTXD(void) |
| { |
| while(!txd_complete){ }; |
| //changing the interrupt flag yields to strange effects |
| //UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXEN0); // disable TX in USART |
| DDRD &= ~(1<<DDD1); // set TXD pin as input |
| PORTD &= ~(1 << PORTD1); |
| } |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART_TX_vect) |
| { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = TRUE; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART_RX_vect) |
| { |
| static uint16_t crc; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| static uint8_t ptr_rxd_buffer = 0; |
| c = UDR0; // catch the received byte |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) |
| { |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(uint8_t cmd, uint8_t address, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
| { |
| va_list ap; |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| uint8_t *pdata = 0; |
| int len = 0; |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = 'a' + address; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| va_start(ap, numofbuffers); |
| if(numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else c = 0; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(void) |
| { |
| uint8_t a,b,c,d; |
| uint8_t x,y,z; |
| uint8_t ptrIn = 3; |
| uint8_t ptrOut = 3; |
| uint8_t len = ReceivedBytes - 6; |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| //if(ptrIn > ReceivedBytes - 3) break; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) rxd_buffer[ptrOut++] = x; else break; |
| if(len--) rxd_buffer[ptrOut++] = y; else break; |
| if(len--) rxd_buffer[ptrOut++] = z; else break; |
| } |
| pRxData = &rxd_buffer[3]; |
| RxDataLen = ptrOut - 3; |
| } |
| // -------------------------------------------------------------------------- |
| int16_t USART0_putchar (int8_t c) |
| { |
| // if tx is not enabled return immediatly |
| if(!(UCSR0B & (1 << TXEN0))) return (0); |
| if (c == '\n') USART0_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void USART0_ProcessRxData(void) |
| { |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| Decode64(); // decode data block in rxd_buffer |
| switch(rxd_buffer[1]-'a') // check Slave Address |
| { |
| case MK3MAG_ADDRESS: |
| switch(rxd_buffer[2]) // check for CmdID |
| { |
| case 'w': // old style |
| case 'k': // Attitude info from FC |
| memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
| RequestFlags |= RQST_COMPASS_HEADING; |
| AttitudeSource = ATTITUDE_SOURCE_UART; |
| Orientation = ExternData.Orientation; |
| FC_Connected = 255; |
| break; |
| default: |
| // unsupported command |
| break; |
| } // case MK3MAG_ADDRESS: |
| default: // any Slave Address |
| switch(rxd_buffer[2]) // check for CmdID |
| { |
| case 'b': // extern control |
| memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| // use right arrow at display for switching the calstate |
| if(ExternControl.RemoteButtons & KEY2) |
| { |
| ExternData.CalState++; |
| if(ExternData.CalState == 6) ExternData.CalState = 0; |
| } |
| ConfirmFrame = ExternControl.Frame; |
| PC_Connected = 2000; |
| break; |
| case 'd': // request for the debug data |
| DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA; |
| PC_Connected = 2000; |
| break; |
| case 'v': // request version and board release |
| RequestFlags |= RQST_VERSION_INFO; |
| PC_Connected = 2000; |
| break; |
| case 'h': // request display data |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys) DisplayLine = 0; |
| RequestFlags |= RQST_DISPLAY_DATA; |
| PC_Connected = 2000; |
| break; |
| case 'a':// Labels of the Analog Debug outputs |
| RequestDebugLabel = pRxData[0]; |
| RequestFlags |= RQST_DEBUG_LABEL; |
| PC_Connected = 2000; |
| break; |
| case 'g':// get extern control data |
| RequestFlags |= RQST_EXTERN_CTRL; |
| PC_Connected = 2000; |
| break; |
| default: |
| // unsupported command |
| break; |
| } |
| break; // default: |
| } |
| // unlock the rxd buffer after processing |
| pRxData = 0; |
| RxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void USART0_TransmitTxData(void) |
| { |
| if(!(UCSR0B & (1 << TXEN0))) return; |
| if(!txd_complete) return; |
| if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
| { |
| uint8_t label[16]; |
| memcpy_P(label, ANALOG_LABEL[RequestDebugLabel], 16); // read lable from flash to sram buffer |
| SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), label, 16); |
| RequestDebugLabel = 0xFF; |
| RequestFlags &= ~RQST_DEBUG_LABEL; |
| } |
| else if(ConfirmFrame && txd_complete) |
| { |
| SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| else if(( ((DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
| { |
| SetDebugValues(); |
| SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| RequestFlags &= ~RQST_DEBUG_DATA; |
| } |
| else if((RequestFlags & RQST_DISPLAY_DATA) && txd_complete) |
| { |
| LCD_PrintMenu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| RequestFlags &= ~RQST_DISPLAY_DATA; |
| } |
| else if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
| { |
| SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
| RequestFlags &= ~RQST_EXTERN_CTRL; |
| } |
| else if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
| { |
| SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &Heading, sizeof(Heading)); // send compass heading to FC |
| RequestFlags &= ~RQST_COMPASS_HEADING; |
| } |
| else if((RequestFlags & RQST_VERSION_INFO) && txd_complete) |
| { |
| SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
| RequestFlags &= ~RQST_VERSION_INFO; |
| } |
| } |
| void USART0_Print(int8_t *msg) |
| { |
| uint8_t i = 0; |
| while(msg[i] != 0) |
| { |
| USART0_putchar(msg[i++]); |
| } |
| } |
| /tags/V0.22c/uart.h |
|---|
| 0,0 → 1,76 |
| #ifndef _UART_H_ |
| #define _UART_H_ |
| #include <inttypes.h> |
| #define NICK 0 |
| #define ROLL 1 |
| #define BAUD_RATE 57600 |
| extern uint16_t DebugData_Timer; |
| void USART0_Init (void); |
| void USART0_EnableTXD(void); |
| void USART0_DisableTXD(void); |
| void USART0_TransmitTxData(void); |
| void USART0_ProcessRxData(void); |
| int16_t USART0_putchar(int8_t c); |
| void USART0_Print(int8_t *msg); |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| } DebugOut_t; |
| extern DebugOut_t DebugOut; |
| typedef struct |
| { |
| int16_t Attitude[2]; // nick and roll angle in 0.1 deg |
| uint8_t UserParam[2]; |
| uint8_t CalState; |
| uint8_t Orientation; |
| } ExternData_t; |
| extern ExternData_t ExternData; |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint8_t RemoteButtons; |
| int8_t Nick; |
| int8_t Roll; |
| int8_t Yaw; |
| uint8_t Gas; |
| int8_t Height; |
| uint8_t free; |
| uint8_t Frame; |
| uint8_t Config; |
| } ExternControl_t; |
| extern ExternControl_t ExternControl; |
| typedef struct |
| { |
| uint8_t SWMajor; |
| uint8_t SWMinor; |
| uint8_t ProtoMajor; |
| uint8_t ProtoMinor; |
| uint8_t SWPatch; |
| uint8_t Reserved[5]; |
| } UART_VersionInfo_t; |
| extern uint16_t PC_Connected; |
| extern uint16_t FC_Connected; |
| #endif //_UART_H_ |
| /tags/V0.22c |
|---|
| Property changes: |
| Added: tsvn:logminsize |
| +8 |
| \ No newline at end of property |