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| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * 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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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1612 | dongfang | 36 | // + with our written permission |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | #include <avr/io.h> |
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| 52 | #include <stdlib.h> |
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| 53 | #include <inttypes.h> |
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| 54 | #include "timer0.h" |
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| 1775 | - | 55 | #include "attitude.h" |
| 1612 | dongfang | 56 | #include "eeprom.h" |
| 57 | #include "mk3mag.h" |
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| 58 | |||
| 1801 | - | 59 | // For the DebougOut alone. |
| 60 | #include "output.h" |
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| 61 | |||
| 1612 | dongfang | 62 | uint8_t PWMTimeout = 12; |
| 1969 | - | 63 | ToMk3Mag_t toMk3Mag; |
| 1612 | dongfang | 64 | |
| 65 | /*********************************************/ |
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| 66 | /* Initialize Interface to MK3MAG Compass */ |
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| 67 | /*********************************************/ |
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| 2039 | - | 68 | void MK3MAG_init(void) { |
| 1801 | - | 69 | // Port PC4 connected to PWM output from compass module |
| 70 | DDRC &= ~(1 << DDC4); // set as input |
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| 71 | PORTC |= (1 << PORTC4); // pull up to increase PWM counter also if nothing is connected |
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| 72 | PWMTimeout = 0; |
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| 2039 | - | 73 | toMk3Mag.calState = 0; |
| 74 | toMk3Mag.orientation = 1; |
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| 1612 | dongfang | 75 | } |
| 76 | |||
| 77 | /*********************************************/ |
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| 78 | /* Get PWM from MK3MAG */ |
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| 79 | /*********************************************/ |
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| 2039 | - | 80 | void MK3MAG_periodicTask(void) {// called every 102.4 us by timer 0 ISR |
| 1801 | - | 81 | static uint16_t PWMCount = 0; |
| 1887 | - | 82 | static uint16_t beepDelay = 0; |
| 2041 | - | 83 | // static uint16_t debugCounter = 0; |
| 1801 | - | 84 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| 85 | // in other words 100us/° with a +1ms offset. |
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| 86 | // The signal goes low for 65ms between pulses, |
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| 87 | // so the cycle time is 65mS + the pulse width. |
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| 88 | // pwm is high |
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| 1612 | dongfang | 89 | |
| 2041 | - | 90 | // if (debugCounter++ == 5000) { |
| 91 | // DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
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| 92 | // debugCounter = 0; |
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| 93 | // } |
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| 1805 | - | 94 | |
| 1801 | - | 95 | if (PINC & (1 << PINC4)) { |
| 96 | // If PWM signal is high increment PWM high counter |
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| 97 | // This counter is incremented by a periode of 102.4us, |
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| 98 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
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| 99 | PWMCount++; |
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| 100 | // pwm overflow? |
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| 101 | if (PWMCount > 400) { |
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| 102 | if (PWMTimeout) |
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| 103 | PWMTimeout--; // decrement timeout |
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| 2041 | - | 104 | magneticHeading = -1; // unknown heading |
| 1801 | - | 105 | PWMCount = 0; // reset PWM Counter |
| 106 | } |
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| 107 | } else { // pwm is low |
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| 1805 | - | 108 | // ignore pwm values values of 0 and higher than 37 ms; |
| 1801 | - | 109 | if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
| 110 | if (PWMCount < 10) |
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| 2041 | - | 111 | magneticHeading = 0; |
| 1805 | - | 112 | else { |
| 2041 | - | 113 | magneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| 1845 | - | 114 | //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
| 1805 | - | 115 | } |
| 116 | /* |
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| 117 | compassHeading - compassCourse on a -180..179 range. |
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| 118 | compassHeading 20 compassCourse 30 --> ((540 - 10)%360) - 180 = -10 |
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| 119 | compassHeading 30 compassCourse 20 --> ((540 + 10)%360) - 180 = 10 |
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| 120 | compassHeading 350 compassCourse 10 --> ((540 + 340)%360) - 180 = -20 |
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| 121 | compassHeading 10 compassCourse 350 --> ((540 - 340)%360) - 180 = 20 |
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| 122 | */ |
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| 123 | //compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
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| 1801 | - | 124 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| 125 | // 12 * 362 counts * 102.4 us |
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| 126 | } |
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| 127 | PWMCount = 0; // reset pwm counter |
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| 1805 | - | 128 | } |
| 2041 | - | 129 | |
| 1805 | - | 130 | if (!PWMTimeout) { |
| 1887 | - | 131 | if (checkDelay(beepDelay)) { |
| 132 | if (!beepTime) |
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| 2044 | - | 133 | beep(50); // make noise with 10Hz to signal the compass problem |
| 1887 | - | 134 | beepDelay = setDelay(100); |
| 1801 | - | 135 | } |
| 1612 | dongfang | 136 | } |
| 2044 | - | 137 | |
| 138 | debugOut.analog[12] = magneticHeading; |
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| 1612 | dongfang | 139 | } |
| 140 |