Subversion Repositories MK3Mag

Compare Revisions

Ignore whitespace Rev 17 → Rev 16

/trunk/Hex-Files/MK3Mag_MEGA168_V0_15.hex
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/trunk/Hex-Files/MK3Mag_MEGA168_V0_16.hex
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/trunk/Hex-Files/MK3Mag_MEGA168_V0_14.hex
0,0 → 1,489
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/trunk/main.c
54,15 → 54,15
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
signed int OffsetN, OffsetR, OffsetZ;
 
signed int OffsetN, OffsetR, OffsetZ;
signed int RawMagnet1a,RawMagnet1b; // raw AD-Data
signed int RawMagnet2a,RawMagnet2b;
signed int RawMagnet3a,RawMagnet3b;
signed int RawAccN = 0, RawAccR = 0, RawAccZ = 0;
signed int AccN = 0, AccR = 0, AccZ = 0;
signed int OffsetAccN = 0, OffsetAccR = 0, OffsetAccZ = 0;
signed int RawMagnet1a,RawMagnet1b; // raw AD-Data
signed int RawMagnet2a,RawMagnet2b;
signed int RawMagnet3a,RawMagnet3b;
signed int Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0;
signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur
signed int MagnetN,MagnetR,MagnetZ;
unsigned int PwmHeading = 0;
71,9 → 71,8
unsigned char ExternCalState = 0;
unsigned char AngleSource = 0;
unsigned char AccPresent = 0;
#include "main.h"
#define EE_KOMPATIBLE 1
 
uint16_t eeXmin EEMEM = 0;
uint16_t eeXmax EEMEM = 0;
uint16_t eeYmin EEMEM = 0;
83,7 → 82,6
uint16_t eeNoffset EEMEM = 0;
uint16_t eeRoffset EEMEM = 0;
uint16_t eeZoffset EEMEM = 0;
uint16_t eeKompatibel EEMEM = 0;
 
//############################################################################
//
113,7 → 111,6
{
double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
int heading;
heading = Heading;
if(!AngleSource)
{
if(AccN > 125) nick_rad = M_PI / 2;
231,6 → 228,7
}
}
 
 
void SetDebugValues(void)
{
DebugOut.Analog[0] = MagnetN;
282,13 → 280,12
AccZ = ((OffsetAccZ - (signed int) RawAccZ) + AccZ * 7) / 8;
}
 
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
char j3_state = 0,debounce = 1;
char j3_state = 0, debounce = 0;
DDRC = 0x00;
PORTC = 0x0c;
DDRD = 0xfe;
295,8 → 292,9
PORTD = 0xA8;
DDRB = 0x04;
PORTB = 0x35;
LED_ON;
 
UART_Init();
Timer0_Init();
ADC_Init();
304,8 → 302,6
sei();//Globale Interrupts Einschalten
Debug_Timer = SetDelay(100); // Sendeintervall
if(eeprom_read_word(&eeKompatibel) == EE_KOMPATIBLE)
{
Xmin = eeprom_read_word(&eeXmin);
Xmax = eeprom_read_word(&eeXmax);
Ymin = eeprom_read_word(&eeYmin);
315,12 → 311,6
OffsetAccN = eeprom_read_word(&eeNoffset);
OffsetAccR = eeprom_read_word(&eeRoffset);
OffsetAccZ = eeprom_read_word(&eeZoffset);
}
else
{
// UartPrint("not calibrated\n");
};
 
VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
VersionInfo.Nebenversion = VERSION_NEBENVERSION;
VersionInfo.PCKompatibel = 7;
335,7 → 325,7
if(RawAccR > 1000 && RawAccN > 1000) AccPresent = 0; else AccPresent = 1;
if(AccPresent)
{
// UartPrint("ACC\n");
uart_putchar ('A');uart_putchar ('C');uart_putchar ('C');uart_putchar ('\n');
}
PORTC &= ~0x0c;
Delay_ms(100);
343,14 → 333,13
RawAccR = MessAD(2);
RawAccN = MessAD(3);
RawAccZ = MessAD(6);
UART_InterruptEnable();
while (1)
{
FLIP_LOW;
Delay_ms(2);
RawMagnet1a = MessAD(0);
RawMagnet2a = -MessAD(1);
RawMagnet3a = MessAD(7);
RawMagnet1b = MessAD(0);
RawMagnet2b = -MessAD(1);
RawMagnet3b = MessAD(7);
AccMeasurement();
Delay_ms(1);
 
/trunk/main.h
71,7 → 71,6
extern uint16_t eeYmax EEMEM;
extern uint16_t eeZmin EEMEM;
extern uint16_t eeZmax EEMEM;
void SetDebugValues(void);
 
#endif //_MAIN_H
 
/trunk/makefile
3,7 → 3,7
MCU = atmega168
#-------------------------------------------------------------------
HAUPT_VERSION = 0
NEBEN_VERSION = 16
NEBEN_VERSION = 15
#-------------------------------------------------------------------
 
# Output format. (can be srec, ihex, binary)
/trunk/timer0.h
12,5 → 12,4
void Delay_ms(unsigned int);
unsigned int SetDelay (unsigned int t);
char CheckDelay (unsigned int t);
void Timer0_Init(void);
 
/trunk/twislave.c
163,7 → 163,7
ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll;
AngleSource = 1;
break;
case I2C_CMD_READ_HEADING_INTERNAL_ACC:
case I2C_CMD_READ_HEADING_INTERNAL:
I2C_TxBuffer = (unsigned char *)&I2C_Heading;
I2C_TxBufferSize = sizeof(I2C_Heading);
I2C_RxBufferSize = 0;
/trunk/twislave.h
42,7 → 42,7
unsigned char Dummy2;
} ;
 
#define I2C_CMD_READ_HEADING_INTERNAL_ACC 0x05
#define I2C_CMD_READ_HEADING 0x05
 
struct str_I2C_Heading
{
57,6 → 57,8
int AccZ;
};
 
#define I2C_CMD_READ_HEADING_INTERNAL 0x07
 
extern unsigned char Tx_Idx, Rx_Idx, I2C_Direction;
 
extern struct str_I2C_Heading I2C_Heading;
/trunk/uart.c
311,13 → 311,6
{
}
 
void UART_InterruptEnable(void)
{
UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt
// TX-Interrupt Freigabe
UCSRB |= (1<<TXCIE);
}
 
//############################################################################
//INstallation der Seriellen Schnittstelle
void UART_Init (void)
328,7 → 321,13
UCR=(1 << TXEN) | (1 << RXEN);
// UART Double Speed (U2X)
USR |= (1<<U2X);
// RX-Interrupt Freigabe
 
UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt
 
// TX-Interrupt Freigabe
UCSRB |= (1<<TXCIE);
 
//Teiler wird gesetzt
UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 );
//öffnet einen Kanal für printf (STDOUT)
449,7 → 448,7
{
if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden
{
SetDebugValues();
SetDebugValues();
SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));
Debug_Timer = SetDelay(250); // Sendeintervall
}
475,12 → 474,3
}
}
 
void UartPrint(unsigned char *this_text)
{
unsigned char i = 0;
while(this_text[i] != 0)
{
uart_putchar(this_text[i++]);
}
}
 
/trunk/uart.h
12,9 → 12,6
extern void SendUart(void);
 
void DatenUebertragung(void);
void BearbeiteRxDaten(void);
void UartPrint(unsigned char *this_text);
void UART_InterruptEnable(void);
 
struct str_DebugOut
{