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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * 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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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/io.h>
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#include <stdlib.h>
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#include <inttypes.h>
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#include "timer0.h"
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#include "attitude.h"
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#include "eeprom.h"
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#include "mk3mag.h"
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// For the DebougOut alone.
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#include "output.h"
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uint8_t PWMTimeout = 12;
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ToMk3Mag_t toMk3Mag;
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/*********************************************/
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/*  Initialize Interface to MK3MAG Compass   */
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/*********************************************/
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void MK3MAG_init(void) {
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        // Port PC4 connected to PWM output from compass module
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        DDRC &= ~(1 << DDC4); // set as input
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        PORTC |= (1 << PORTC4); // pull up  to increase PWM counter also if nothing is connected
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        PWMTimeout = 0;
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        toMk3Mag.calState = 0;
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        toMk3Mag.orientation = 1;
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}
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/*********************************************/
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/*  Get PWM from MK3MAG                      */
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/*********************************************/
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void MK3MAG_periodicTask(void) {// called every 102.4 us by timer 0 ISR
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        static uint16_t PWMCount = 0;
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        static uint16_t beepDelay = 0;
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        // static uint16_t debugCounter = 0;
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        // The pulse width varies from 1ms (0°) to 36.99ms (359.9°)
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        // in other words 100us/° with a +1ms offset.
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        // The signal goes low for 65ms between pulses,
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        // so the cycle time is 65mS + the pulse width.
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        // pwm is high
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        // if (debugCounter++ == 5000) {
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    // DebugOut.Digital[0] ^= DEBUG_MK3MAG;
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        // debugCounter = 0;
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        // }
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        if (PINC & (1 << PINC4)) {
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                // If PWM signal is high increment PWM high counter
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                // This counter is incremented by a periode of 102.4us,
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                // i.e. the resoluton of pwm coded heading is approx. 1 deg.
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                PWMCount++;
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                // pwm overflow?
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                if (PWMCount > 400) {
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                        if (PWMTimeout)
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                                PWMTimeout--; // decrement timeout
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                        magneticHeading = -1; // unknown heading
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                        PWMCount = 0; // reset PWM Counter
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                }
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        } else { // pwm is low
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                // ignore pwm values values of 0 and higher than 37 ms;
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                if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms
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                        if (PWMCount < 10)
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                                magneticHeading = 0;
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                        else {
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                          magneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset
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                                //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd.
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                        }
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                        /*
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                         compassHeading - compassCourse on a -180..179 range.
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                         compassHeading 20 compassCourse 30 --> ((540 - 10)%360) - 180 = -10
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                         compassHeading 30 compassCourse 20 --> ((540 + 10)%360) - 180 = 10
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                         compassHeading 350 compassCourse 10 --> ((540 + 340)%360) - 180 = -20
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                         compassHeading 10 compassCourse 350 --> ((540 - 340)%360) - 180 = 20
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                         */
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                        //compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
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                        PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid
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                        // 12 * 362 counts * 102.4 us
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                }
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                PWMCount = 0; // reset pwm counter
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        }
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        if (!PWMTimeout) {
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                if (checkDelay(beepDelay)) {
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                        if (!beepTime)
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                                beep(50); // make noise with 10Hz to signal the compass problem
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                        beepDelay = setDelay(100);
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                }
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        }
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        debugOut.analog[12] = magneticHeading;
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}
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