Subversion Repositories MK3Mag

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + MK3Mag 3D-Compass
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// + ATMEGA168 mit 8MHz
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// + (c) 05.2008 Holger Buss
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// + Nur für den privaten Gebrauch
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// + Keine Garantie auf Fehlerfreiheit
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// + Kommerzielle Nutzung nur mit meiner Zustimmung
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// + Der Code ist für die Hardware MK3Mag entwickelt worden
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// + www.mikrokopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "main.h"
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volatile unsigned int CountMilliseconds = 0;
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volatile unsigned char Timer0Overflow;
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unsigned int I2C_Timeout = 0;
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unsigned int SIO_Timeout = 0;
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enum {
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  STOP             = 0,
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  CK               = 1,
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  CK8              = 2,
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  CK64             = 3,
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  CK256            = 4,
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  CK1024           = 5,
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  T0_FALLING_EDGE  = 6,
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  T0_RISING_EDGE   = 7
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};
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SIGNAL(SIG_OVERFLOW0)
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{
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 static unsigned char cnt;
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 static unsigned int cmps_cnt;
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 TCNT0 -= 101;  // reload
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 Timer0Overflow++;
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 if(++cmps_cnt == 380)
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 {
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  PORTB |= 0x04;
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  cmps_cnt = 0;
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 }
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 else
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 if(cmps_cnt == PwmHeading)
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 {
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  PORTB &= ~0x04;
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 }
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 if(!--cnt)
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  {
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   cnt = 10;
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   CountMilliseconds += 1;
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   if(I2C_Timeout) I2C_Timeout--;
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   if(SIO_Timeout) SIO_Timeout--;
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  }
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}
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void Timer0_Init(void)
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{
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 TCCR0B = TIMER_TEILER;  // Starten des Timers
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// TCNT0 = 100;  // reload
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 TIM0_START;
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 TIMER2_INT_ENABLE;
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}
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unsigned int SetDelay(unsigned int t)
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{
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  return(CountMilliseconds + t - 1);                                            
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}
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char CheckDelay (unsigned int t)
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{
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  return(((t - CountMilliseconds) & 0x8000) >> 8);
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}
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void Delay_ms(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt));
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}