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119 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
119 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
119 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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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 permitted |
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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 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
119 | killagreg | 44 | // |
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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57 | #include "91x_lib.h" |
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58 | #include "timer1.h" |
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59 | #include "uart1.h" |
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136 | killagreg | 60 | #include "config.h" |
119 | killagreg | 61 | |
62 | u32 CountMilliseconds; |
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63 | DateTime_t SystemTime; |
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64 | |||
65 | //---------------------------------------------------------------------------------------------------- |
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66 | void TIM1_IRQHandler(void) |
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67 | { |
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195 | killagreg | 68 | IENABLE; |
69 | |||
119 | killagreg | 70 | if(TIM_GetFlagStatus(TIM1, TIM_FLAG_OC1) == SET) |
71 | { |
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154 | killagreg | 72 | TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit |
119 | killagreg | 73 | TIM1->OC1R += 200; // Timerfreq is 200kHz, generate an interrupt every 1ms |
74 | CountMilliseconds++; |
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146 | killagreg | 75 | |
154 | killagreg | 76 | // generate SW Interrupt to make a regular timing |
195 | killagreg | 77 | // independent from the mainloop at the lowest IRQ priority |
154 | killagreg | 78 | VIC_SWITCmd(EXTIT3_ITLine, ENABLE); |
119 | killagreg | 79 | } |
195 | killagreg | 80 | |
81 | IDISABLE; |
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119 | killagreg | 82 | } |
83 | |||
84 | //---------------------------------------------------------------------------------------------------- |
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85 | // 1ms Timer |
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86 | //---------------------------------------------------------------------------------------------------- |
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87 | void TIMER1_Init(void) |
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88 | { |
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89 | TIM_InitTypeDef TIM_InitStructure; |
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90 | |||
120 | killagreg | 91 | UART1_PutString("\r\n Timer1 init..."); |
119 | killagreg | 92 | |
93 | #define TIM1_FREQ 200000 // 200kHz |
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94 | // TimerOCR set in IntHandler |
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95 | |||
96 | SCU_APBPeriphClockConfig(__TIM01, ENABLE); |
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97 | |||
120 | killagreg | 98 | TIM_DeInit(TIM1); |
119 | killagreg | 99 | TIM_StructInit(&TIM_InitStructure); |
100 | TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_1; |
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101 | TIM_InitStructure.TIM_OC1_Modes = TIM_TIMING; |
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102 | TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; |
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103 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM1_FREQ; // is only valid up to 48 MHz ! |
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104 | TIM_Init (TIM1, &TIM_InitStructure); |
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105 | |||
106 | TIM_ITConfig(TIM1, TIM_IT_OC1, ENABLE); |
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107 | TIM_CounterCmd(TIM1, TIM_START); |
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108 | |||
136 | killagreg | 109 | VIC_Config(TIM1_ITLine, VIC_IRQ, PRIORITY_TIMER1); |
119 | killagreg | 110 | VIC_ITCmd(TIM1_ITLine, ENABLE); |
111 | |||
112 | SystemTime.Year = 0; |
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113 | SystemTime.Month = 0; |
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114 | SystemTime.Day = 0; |
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115 | SystemTime.Hour = 0; |
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116 | SystemTime.Min = 0; |
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117 | SystemTime.Sec = 0; |
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118 | SystemTime.mSec = 0; |
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119 | SystemTime.Valid = 0; |
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120 | |||
121 | CountMilliseconds = 0; |
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122 | |||
120 | killagreg | 123 | UART1_PutString("ok"); |
119 | killagreg | 124 | |
125 | } |
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126 | |||
127 | // ----------------------------------------------------------------------- |
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128 | u32 SetDelay (u32 t) |
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129 | { |
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130 | return(CountMilliseconds + t -1); |
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131 | } |
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132 | |||
133 | // ----------------------------------------------------------------------- |
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134 | u8 CheckDelay(u32 t) |
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135 | { |
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136 | return(((t - CountMilliseconds)& 0x80000000) >> 27); |
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137 | } |
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138 | |||
139 | // ----------------------------------------------------------------------- |
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140 | // this function calculates the time difference of t to the current time in ms |
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141 | // if t < current time the delay is reportet as zero |
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142 | u32 GetDelay(u32 t) |
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143 | { |
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144 | u32 delay = 0; |
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145 | delay = t - CountMilliseconds; |
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146 | if(delay & 0x80000000) delay = 0; // avoid negative delay values |
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147 | return(delay); |
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148 | } |
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149 | |||
150 | // ----------------------------------------------------------------------- |
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151 | void Delay_ms(u32 w) |
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152 | { |
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243 | killagreg | 153 | u32 akt; |
154 | akt = CountMilliseconds + w; |
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155 | while(1) |
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156 | { |
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157 | if(akt<=CountMilliseconds) return; |
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158 | } |
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119 | killagreg | 159 | } |