Rev 1775 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
||
| 3 | // + Nur für den privaten Gebrauch |
||
| 4 | // + www.MikroKopter.com |
||
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
||
| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
| 18 | // + eindeutig als Ursprung verlinkt werden |
||
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 21 | // + Benutzung auf eigene Gefahr |
||
| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
| 25 | // + mit unserer Zustimmung zulässig |
||
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
| 30 | // + this list of conditions and the following disclaimer. |
||
| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
| 32 | // + from this software without specific prior written permission. |
||
| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
| 34 | // + for non-commercial use (directly or indirectly) |
||
| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
| 36 | // + with our written permission |
||
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
| 38 | // + clearly linked as origin |
||
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
||
| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
||
| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 51 | #include <avr/io.h> |
||
| 52 | #include <stdlib.h> |
||
| 53 | #include <inttypes.h> |
||
| 54 | #include "timer0.h" |
||
| 55 | #include "rc.h" |
||
| 56 | #include "eeprom.h" |
||
| 57 | #include "mk3mag.h" |
||
| 58 | |||
| 59 | uint8_t PWMTimeout = 12; |
||
| 60 | ToMk3Mag_t ToMk3Mag; |
||
| 61 | |||
| 62 | |||
| 63 | /*********************************************/ |
||
| 64 | /* Initialize Interface to MK3MAG Compass */ |
||
| 65 | /*********************************************/ |
||
| 66 | void MK3MAG_Init(void) |
||
| 67 | { |
||
| 68 | // Port PC4 connected to PWM output from compass module |
||
| 69 | DDRC &= ~(1<<DDC4); // set as input |
||
| 70 | PORTC |= (1<<PORTC4); // pull up to increase PWM counter also if nothing is connected |
||
| 71 | |||
| 72 | PWMTimeout = 0; |
||
| 73 | |||
| 74 | ToMk3Mag.CalState = 0; |
||
| 75 | ToMk3Mag.Orientation = 1; |
||
| 76 | } |
||
| 77 | |||
| 78 | |||
| 79 | /*********************************************/ |
||
| 80 | /* Get PWM from MK3MAG */ |
||
| 81 | /*********************************************/ |
||
| 82 | void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR |
||
| 83 | { |
||
| 84 | static uint16_t PWMCount = 0; |
||
| 85 | static uint16_t BeepDelay = 0; |
||
| 86 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
||
| 87 | // in other words 100us/° with a +1ms offset. |
||
| 88 | // The signal goes low for 65ms between pulses, |
||
| 89 | // so the cycle time is 65mS + the pulse width. |
||
| 90 | |||
| 91 | // pwm is high |
||
| 92 | |||
| 93 | if(PINC & (1<<PINC4)) |
||
| 94 | { // If PWM signal is high increment PWM high counter |
||
| 95 | // This counter is incremented by a periode of 102.4us, |
||
| 96 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
||
| 97 | PWMCount++; |
||
| 98 | // pwm overflow? |
||
| 99 | if (PWMCount > 400) |
||
| 100 | { |
||
| 101 | if(PWMTimeout) PWMTimeout--; // decrement timeout |
||
| 102 | CompassHeading = -1; // unknown heading |
||
| 103 | PWMCount = 0; // reset PWM Counter |
||
| 104 | } |
||
| 105 | |||
| 106 | } |
||
| 107 | else // pwm is low |
||
| 108 | { // ignore pwm values values of 0 and higher than 37 ms; |
||
| 109 | if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
||
| 110 | { |
||
| 111 | if(PWMCount <10) CompassHeading = 0; |
||
| 112 | else CompassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
||
| 113 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
||
| 114 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
||
| 115 | // 12 * 362 counts * 102.4 us |
||
| 116 | } |
||
| 117 | PWMCount = 0; // reset pwm counter |
||
| 118 | } |
||
| 119 | if(!PWMTimeout) |
||
| 120 | { |
||
| 121 | if(CheckDelay(BeepDelay)) |
||
| 122 | { |
||
| 123 | if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem |
||
| 124 | BeepDelay = SetDelay(100); |
||
| 125 | } |
||
| 126 | } |
||
| 127 | } |
||
| 128 | |||
| 129 | |||
| 130 |