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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 7 | hbuss | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + MK3Mag 3D-Compass |
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| 3 | // + ATMEGA168 mit 8MHz |
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| 4 | // + (c) 05.2008 Holger Buss |
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| 5 | // + Nur für den privaten Gebrauch |
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| 6 | // + Keine Garantie auf Fehlerfreiheit |
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| 7 | // + Kommerzielle Nutzung nur mit meiner Zustimmung |
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| 8 | // + Der Code ist für die Hardware MK3Mag entwickelt worden |
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| 9 | // + www.mikrokopter.com |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 11 | #include "main.h" |
| 12 | volatile unsigned int CountMilliseconds = 0; |
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| 13 | volatile unsigned char Timer0Overflow; |
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| 14 | unsigned int I2C_Timeout = 0; |
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| 15 | unsigned int SIO_Timeout = 0; |
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| 16 | |||
| 17 | |||
| 18 | enum { |
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| 19 | STOP = 0, |
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| 20 | CK = 1, |
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| 21 | CK8 = 2, |
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| 22 | CK64 = 3, |
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| 23 | CK256 = 4, |
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| 24 | CK1024 = 5, |
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| 25 | T0_FALLING_EDGE = 6, |
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| 26 | T0_RISING_EDGE = 7 |
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| 27 | }; |
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| 28 | |||
| 29 | |||
| 30 | SIGNAL(SIG_OVERFLOW0) |
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| 31 | { |
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| 32 | static unsigned char cnt; |
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| 33 | static unsigned int cmps_cnt; |
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| 7 | hbuss | 34 | TCNT0 -= 101; // reload |
| 1 | ingob | 35 | Timer0Overflow++; |
| 36 | |||
| 37 | if(++cmps_cnt == 380) |
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| 38 | { |
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| 39 | PORTB |= 0x04; |
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| 40 | cmps_cnt = 0; |
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| 41 | } |
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| 42 | else |
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| 43 | if(cmps_cnt == PwmHeading) |
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| 44 | { |
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| 45 | PORTB &= ~0x04; |
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| 46 | } |
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| 47 | |||
| 48 | if(!--cnt) |
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| 49 | { |
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| 50 | cnt = 10; |
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| 51 | CountMilliseconds += 1; |
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| 52 | if(I2C_Timeout) I2C_Timeout--; |
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| 53 | if(SIO_Timeout) SIO_Timeout--; |
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| 54 | } |
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| 55 | } |
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| 56 | |||
| 57 | |||
| 58 | void Timer0_Init(void) |
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| 59 | { |
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| 60 | TCCR0B = TIMER_TEILER; // Starten des Timers |
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| 61 | // TCNT0 = 100; // reload |
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| 62 | TIM0_START; |
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| 63 | TIMER2_INT_ENABLE; |
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| 64 | } |
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| 65 | |||
| 66 | |||
| 67 | unsigned int SetDelay(unsigned int t) |
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| 68 | { |
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| 69 | return(CountMilliseconds + t - 1); |
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| 70 | } |
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| 71 | |||
| 72 | char CheckDelay (unsigned int t) |
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| 73 | { |
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| 74 | return(((t - CountMilliseconds) & 0x8000) >> 8); |
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| 75 | } |
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| 76 | |||
| 77 | void Delay_ms(unsigned int w) |
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| 78 | { |
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| 79 | unsigned int akt; |
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| 80 | akt = SetDelay(w); |
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| 81 | while (!CheckDelay(akt)); |
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| 82 | } |