| /trunk/Hex-Files/MK3Mag_MEGA168_V0_14.hex |
|---|
| File deleted |
| /trunk/Hex-Files/MK3Mag_MEGA168_V0_15.hex |
|---|
| 0,0 → 1,598 |
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| /trunk/main.c |
|---|
| 54,15 → 54,15 |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| signed int OffsetN, OffsetR, OffsetZ; |
| signed int RawAccN = 0, RawAccR = 0, RawAccZ = 0; |
| signed int AccN = 0, AccR = 0, AccZ = 0; |
| signed int OffsetAccN = 0, OffsetAccR = 0, OffsetAccZ = 0; |
| signed int RawMagnet1a,RawMagnet1b; // raw AD-Data |
| signed int RawMagnet2a,RawMagnet2b; |
| signed int RawMagnet3a,RawMagnet3b; |
| signed int RawAccN = 0, RawAccR = 0, RawAccZ = 0; |
| signed int AccN = 0, AccR = 0, AccZ = 0; |
| signed int OffsetAccN = 0, OffsetAccR = 0, OffsetAccZ = 0; |
| signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0; |
| signed int Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
| signed int MagnetN,MagnetR,MagnetZ; |
| unsigned int PwmHeading = 0; |
| 71,8 → 71,9 |
| unsigned char ExternCalState = 0; |
| unsigned char AngleSource = 0; |
| unsigned char AccPresent = 0; |
| #include "main.h" |
| #define EE_KOMPATIBLE 1 |
| uint16_t eeXmin EEMEM = 0; |
| uint16_t eeXmax EEMEM = 0; |
| uint16_t eeYmin EEMEM = 0; |
| 82,6 → 83,7 |
| uint16_t eeNoffset EEMEM = 0; |
| uint16_t eeRoffset EEMEM = 0; |
| uint16_t eeZoffset EEMEM = 0; |
| uint16_t eeKompatibel EEMEM = 0; |
| //############################################################################ |
| // |
| 111,6 → 113,7 |
| { |
| double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
| int heading; |
| heading = Heading; |
| if(!AngleSource) |
| { |
| if(AccN > 125) nick_rad = M_PI / 2; |
| 228,7 → 231,6 |
| } |
| } |
| void SetDebugValues(void) |
| { |
| DebugOut.Analog[0] = MagnetN; |
| 280,12 → 282,13 |
| AccZ = ((OffsetAccZ - (signed int) RawAccZ) + AccZ * 7) / 8; |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| char j3_state = 0, debounce = 0; |
| char j3_state = 0,debounce = 1; |
| DDRC = 0x00; |
| PORTC = 0x0c; |
| DDRD = 0xfe; |
| 292,9 → 295,8 |
| PORTD = 0xA8; |
| DDRB = 0x04; |
| PORTB = 0x35; |
| LED_ON; |
| UART_Init(); |
| Timer0_Init(); |
| ADC_Init(); |
| 302,6 → 304,8 |
| sei();//Globale Interrupts Einschalten |
| Debug_Timer = SetDelay(100); // Sendeintervall |
| if(eeprom_read_word(&eeKompatibel) == EE_KOMPATIBLE) |
| { |
| Xmin = eeprom_read_word(&eeXmin); |
| Xmax = eeprom_read_word(&eeXmax); |
| Ymin = eeprom_read_word(&eeYmin); |
| 311,6 → 315,12 |
| OffsetAccN = eeprom_read_word(&eeNoffset); |
| OffsetAccR = eeprom_read_word(&eeRoffset); |
| OffsetAccZ = eeprom_read_word(&eeZoffset); |
| } |
| else |
| { |
| // UartPrint("not calibrated\n"); |
| }; |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = 7; |
| 325,7 → 335,7 |
| if(RawAccR > 1000 && RawAccN > 1000) AccPresent = 0; else AccPresent = 1; |
| if(AccPresent) |
| { |
| uart_putchar ('A');uart_putchar ('C');uart_putchar ('C');uart_putchar ('\n'); |
| // UartPrint("ACC\n"); |
| } |
| PORTC &= ~0x0c; |
| Delay_ms(100); |
| 333,13 → 343,14 |
| RawAccR = MessAD(2); |
| RawAccN = MessAD(3); |
| RawAccZ = MessAD(6); |
| UART_InterruptEnable(); |
| while (1) |
| { |
| FLIP_LOW; |
| Delay_ms(2); |
| RawMagnet1b = MessAD(0); |
| RawMagnet2b = -MessAD(1); |
| RawMagnet3b = MessAD(7); |
| RawMagnet1a = MessAD(0); |
| RawMagnet2a = -MessAD(1); |
| RawMagnet3a = MessAD(7); |
| AccMeasurement(); |
| Delay_ms(1); |
| /trunk/main.h |
|---|
| 71,6 → 71,7 |
| extern uint16_t eeYmax EEMEM; |
| extern uint16_t eeZmin EEMEM; |
| extern uint16_t eeZmax EEMEM; |
| void SetDebugValues(void); |
| #endif //_MAIN_H |
| /trunk/makefile |
|---|
| 3,7 → 3,7 |
| MCU = atmega168 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 15 |
| NEBEN_VERSION = 16 |
| #------------------------------------------------------------------- |
| # Output format. (can be srec, ihex, binary) |
| /trunk/timer0.h |
|---|
| 12,4 → 12,5 |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| void Timer0_Init(void); |
| /trunk/twislave.c |
|---|
| 163,7 → 163,7 |
| ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
| AngleSource = 1; |
| break; |
| case I2C_CMD_READ_HEADING_INTERNAL: |
| case I2C_CMD_READ_HEADING_INTERNAL_ACC: |
| I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
| I2C_TxBufferSize = sizeof(I2C_Heading); |
| I2C_RxBufferSize = 0; |
| /trunk/twislave.h |
|---|
| 42,7 → 42,7 |
| unsigned char Dummy2; |
| } ; |
| #define I2C_CMD_READ_HEADING 0x05 |
| #define I2C_CMD_READ_HEADING_INTERNAL_ACC 0x05 |
| struct str_I2C_Heading |
| { |
| 57,8 → 57,6 |
| int AccZ; |
| }; |
| #define I2C_CMD_READ_HEADING_INTERNAL 0x07 |
| extern unsigned char Tx_Idx, Rx_Idx, I2C_Direction; |
| extern struct str_I2C_Heading I2C_Heading; |
| /trunk/uart.c |
|---|
| 311,6 → 311,13 |
| { |
| } |
| void UART_InterruptEnable(void) |
| { |
| UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| 321,13 → 328,7 |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
| //öffnet einen Kanal für printf (STDOUT) |
| 448,7 → 449,7 |
| { |
| if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
| { |
| SetDebugValues(); |
| SetDebugValues(); |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| Debug_Timer = SetDelay(250); // Sendeintervall |
| } |
| 474,3 → 475,12 |
| } |
| } |
| void UartPrint(unsigned char *this_text) |
| { |
| unsigned char i = 0; |
| while(this_text[i] != 0) |
| { |
| uart_putchar(this_text[i++]); |
| } |
| } |
| /trunk/uart.h |
|---|
| 12,6 → 12,9 |
| extern void SendUart(void); |
| void DatenUebertragung(void); |
| void BearbeiteRxDaten(void); |
| void UartPrint(unsigned char *this_text); |
| void UART_InterruptEnable(void); |
| struct str_DebugOut |
| { |