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| 12 | hbuss | 1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
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| 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
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| 4 | #######################################################################################*/ |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Copyright (c) 05.2008 Holger Buss |
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| 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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| 7 | hbuss | 8 | // + Nur für den privaten Gebrauch |
| 12 | hbuss | 9 | // + www.MikroKopter.com |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 12 | // + mit unserer Zustimmung zulässig |
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| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
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| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 24 | // + eindeutig als Ursprung verlinkt werden |
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| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 27 | // + Benutzung auf eigene Gefahr |
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| 28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 33 | // + this list of conditions and the following disclaimer. |
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| 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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| 42 | // + In case of doubt please contact: info@MikroKopter.de |
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| 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
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| 44 | // + clearly linked as origin |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 57 | #include "main.h" |
| 58 | volatile unsigned int CountMilliseconds = 0; |
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| 59 | volatile unsigned char Timer0Overflow; |
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| 60 | unsigned int I2C_Timeout = 0; |
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| 61 | unsigned int SIO_Timeout = 0; |
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| 62 | |||
| 63 | |||
| 64 | enum { |
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| 65 | STOP = 0, |
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| 66 | CK = 1, |
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| 67 | CK8 = 2, |
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| 68 | CK64 = 3, |
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| 69 | CK256 = 4, |
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| 70 | CK1024 = 5, |
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| 71 | T0_FALLING_EDGE = 6, |
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| 72 | T0_RISING_EDGE = 7 |
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| 73 | }; |
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| 74 | |||
| 75 | |||
| 76 | SIGNAL(SIG_OVERFLOW0) |
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| 77 | { |
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| 78 | static unsigned char cnt; |
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| 79 | static unsigned int cmps_cnt; |
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| 7 | hbuss | 80 | TCNT0 -= 101; // reload |
| 1 | ingob | 81 | Timer0Overflow++; |
| 82 | |||
| 83 | if(++cmps_cnt == 380) |
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| 84 | { |
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| 85 | PORTB |= 0x04; |
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| 86 | cmps_cnt = 0; |
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| 87 | } |
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| 88 | else |
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| 89 | if(cmps_cnt == PwmHeading) |
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| 90 | { |
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| 91 | PORTB &= ~0x04; |
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| 92 | } |
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| 93 | |||
| 94 | if(!--cnt) |
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| 95 | { |
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| 96 | cnt = 10; |
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| 97 | CountMilliseconds += 1; |
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| 98 | if(I2C_Timeout) I2C_Timeout--; |
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| 99 | if(SIO_Timeout) SIO_Timeout--; |
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| 100 | } |
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| 101 | } |
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| 102 | |||
| 103 | |||
| 104 | void Timer0_Init(void) |
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| 105 | { |
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| 106 | TCCR0B = TIMER_TEILER; // Starten des Timers |
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| 107 | // TCNT0 = 100; // reload |
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| 108 | TIM0_START; |
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| 109 | TIMER2_INT_ENABLE; |
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| 110 | } |
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| 111 | |||
| 112 | |||
| 113 | unsigned int SetDelay(unsigned int t) |
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| 114 | { |
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| 115 | return(CountMilliseconds + t - 1); |
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| 116 | } |
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| 117 | |||
| 118 | char CheckDelay (unsigned int t) |
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| 119 | { |
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| 120 | return(((t - CountMilliseconds) & 0x8000) >> 8); |
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| 121 | } |
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| 122 | |||
| 123 | void Delay_ms(unsigned int w) |
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| 124 | { |
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| 125 | unsigned int akt; |
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| 126 | akt = SetDelay(w); |
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| 127 | while (!CheckDelay(akt)); |
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| 128 | } |