1,6 → 1,6 |
/*####################################################################################### |
MK3Mag 3D-Magnet sensor |
!!! THIS IS NOT FREE SOFTWARE !!! |
!!! THIS IS NOT FREE SOFTWARE !!! |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 05.2008 Holger Buss |
8,15 → 8,15 |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + Die Portierung 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. |
// + 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, |
// + 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 |
29,19 → 29,19 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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, |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * PORTING this software (or parts of it) to systems (other than 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 |
// + * 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 |
// + 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 |
// + * 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 |
52,77 → 52,125 |
// + 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. |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <inttypes.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "main.h" |
volatile unsigned int CountMilliseconds = 0; |
volatile unsigned char Timer0Overflow; |
unsigned int I2C_Timeout = 0; |
unsigned int SIO_Timeout = 0; |
|
|
enum { |
STOP = 0, |
CK = 1, |
CK8 = 2, |
CK64 = 3, |
CK256 = 4, |
CK1024 = 5, |
T0_FALLING_EDGE = 6, |
T0_RISING_EDGE = 7 |
}; |
volatile uint16_t CountMilliseconds = 0; |
volatile uint16_t I2C_Timeout = 0; |
|
|
SIGNAL(SIG_OVERFLOW0) |
/*****************************************************/ |
/* Initialize Timer 0 */ |
/*****************************************************/ |
void TIMER0_Init(void) |
{ |
static unsigned char cnt; |
static unsigned int cmps_cnt; |
TCNT0 -= 101; // reload |
Timer0Overflow++; |
uint8_t sreg = SREG; |
|
if(++cmps_cnt == 380) |
{ |
PORTB |= 0x04; |
cmps_cnt = 0; |
} |
else |
if(cmps_cnt == PwmHeading) |
{ |
PORTB &= ~0x04; |
} |
|
if(!--cnt) |
{ |
cnt = 10; |
CountMilliseconds += 1; |
if(I2C_Timeout) I2C_Timeout--; |
if(SIO_Timeout) SIO_Timeout--; |
} |
// disable all interrupts before reconfiguration |
cli(); |
|
// 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); |
|
SREG = sreg; |
} |
|
|
void Timer0_Init(void) |
// ----------------------------------------------------------------------- |
ISR(TIMER0_OVF_vect) |
{ |
TCCR0B = TIMER_TEILER; // Starten des Timers |
// TCNT0 = 100; // reload |
TIM0_START; |
TIMER2_INT_ENABLE; |
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 &= ~(PORTB2); |
cmps_cnt = 0; |
} |
else |
{ |
// if a periode of 38.0 ms is over |
if(++cmps_cnt >= 380) |
{ |
// set PWM out to high |
PORTB |= 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 &= ~(PORTB2); |
} |
} |
|
if(!--cnt) |
{ |
// every 10th run (1kHz or 1ms) |
cnt = 10; |
CountMilliseconds++; |
if(I2C_Timeout) I2C_Timeout--; |
} |
} |
|
|
unsigned int SetDelay(unsigned int t) |
// ----------------------------------------------------------------------- |
uint16_t SetDelay (uint16_t t) |
{ |
return(CountMilliseconds + t - 1); |
return(CountMilliseconds + t - 1); |
} |
|
char CheckDelay (unsigned int t) |
// ----------------------------------------------------------------------- |
int8_t CheckDelay(uint16_t t) |
{ |
return(((t - CountMilliseconds) & 0x8000) >> 8); |
return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
} |
|
void Delay_ms(unsigned int w) |
// ----------------------------------------------------------------------- |
void Delay_ms(uint16_t wait) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)); |
uint16_t t_stop; |
t_stop = SetDelay(wait); |
while (!CheckDelay(t_stop)); |
} |
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