Rev 7 | Rev 13 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 12 | hbuss | 1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
||
| 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
||
| 4 | #######################################################################################*/ |
||
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 6 | // + Copyright (c) 05.2008 Holger Buss |
||
| 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
||
| 7 | hbuss | 8 | // + Nur für den privaten Gebrauch |
| 12 | hbuss | 9 | // + www.MikroKopter.com |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
| 12 | // + mit unserer Zustimmung zulässig |
||
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
| 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
||
| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
||
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
| 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
| 24 | // + eindeutig als Ursprung verlinkt werden |
||
| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 27 | // + Benutzung auf eigene Gefahr |
||
| 28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
| 33 | // + this list of conditions and the following disclaimer. |
||
| 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
||
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
| 36 | // + from this software without specific prior written permission. |
||
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
| 38 | // + for non-commercial use (directly or indirectly) |
||
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
| 40 | // + with our written permission |
||
| 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
||
| 42 | // + In case of doubt please contact: info@MikroKopter.de |
||
| 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
||
| 44 | // + clearly linked as origin |
||
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
||
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 57 | #include "main.h" |
| 58 | volatile unsigned int CountMilliseconds = 0; |
||
| 59 | volatile unsigned char Timer0Overflow; |
||
| 60 | unsigned int I2C_Timeout = 0; |
||
| 61 | unsigned int SIO_Timeout = 0; |
||
| 62 | |||
| 63 | |||
| 64 | enum { |
||
| 65 | STOP = 0, |
||
| 66 | CK = 1, |
||
| 67 | CK8 = 2, |
||
| 68 | CK64 = 3, |
||
| 69 | CK256 = 4, |
||
| 70 | CK1024 = 5, |
||
| 71 | T0_FALLING_EDGE = 6, |
||
| 72 | T0_RISING_EDGE = 7 |
||
| 73 | }; |
||
| 74 | |||
| 75 | |||
| 76 | SIGNAL(SIG_OVERFLOW0) |
||
| 77 | { |
||
| 78 | static unsigned char cnt; |
||
| 79 | static unsigned int cmps_cnt; |
||
| 7 | hbuss | 80 | TCNT0 -= 101; // reload |
| 1 | ingob | 81 | Timer0Overflow++; |
| 82 | |||
| 83 | if(++cmps_cnt == 380) |
||
| 84 | { |
||
| 85 | PORTB |= 0x04; |
||
| 86 | cmps_cnt = 0; |
||
| 87 | } |
||
| 88 | else |
||
| 89 | if(cmps_cnt == PwmHeading) |
||
| 90 | { |
||
| 91 | PORTB &= ~0x04; |
||
| 92 | } |
||
| 93 | |||
| 94 | if(!--cnt) |
||
| 95 | { |
||
| 96 | cnt = 10; |
||
| 97 | CountMilliseconds += 1; |
||
| 98 | if(I2C_Timeout) I2C_Timeout--; |
||
| 99 | if(SIO_Timeout) SIO_Timeout--; |
||
| 100 | } |
||
| 101 | } |
||
| 102 | |||
| 103 | |||
| 104 | void Timer0_Init(void) |
||
| 105 | { |
||
| 106 | TCCR0B = TIMER_TEILER; // Starten des Timers |
||
| 107 | // TCNT0 = 100; // reload |
||
| 108 | TIM0_START; |
||
| 109 | TIMER2_INT_ENABLE; |
||
| 110 | } |
||
| 111 | |||
| 112 | |||
| 113 | unsigned int SetDelay(unsigned int t) |
||
| 114 | { |
||
| 115 | return(CountMilliseconds + t - 1); |
||
| 116 | } |
||
| 117 | |||
| 118 | char CheckDelay (unsigned int t) |
||
| 119 | { |
||
| 120 | return(((t - CountMilliseconds) & 0x8000) >> 8); |
||
| 121 | } |
||
| 122 | |||
| 123 | void Delay_ms(unsigned int w) |
||
| 124 | { |
||
| 125 | unsigned int akt; |
||
| 126 | akt = SetDelay(w); |
||
| 127 | while (!CheckDelay(akt)); |
||
| 128 | } |