| /tags/V0.21b/Compass.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="avr_ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="analog.h"></File><File path="analog.c"></File><File path="twislave.c"></File><File path="twislave.h"></File></Project> |
| /tags/V0.21b/Compassl.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="avr_ctrl" x="true"></e></ViewState></pd> |
| /tags/V0.21b/Hex-Files/BootLoader_MEGA168_8MHZ_V0.2.hex |
|---|
| 0,0 → 1,61 |
| :1038000011241FBECFEFD4E0DEBFCDBF11E0A0E09A |
| :10381000B1E0EEEAFBE302C005900D92A030B107E3 |
| :10382000D9F711E0A0E0B1E001C01D92A238B107C4 |
| :10383000E1F70C943B1C0C941D1C0895982F80916B |
| :10384000C00085FFFCCF9093C60008958091C00012 |
| :103850008823E4F78091C600992708958DE40E949B |
| :103860001E1C8BE40E941E1C82E40E941E1C8CE421 |
| :103870000E941E1C0895CFEFD4E0DEBFCDBFE0E074 |
| :10388000F0E004917F01992494BE98E10FB6F8947A |
| :1038900090936000109260000FBE9092C50080E18E |
| :1038A0008093C4008091C00082608093C000909398 |
| :1038B000C10086E08093C200EF01192D8091C00005 |
| :1038C00087FF0DC0113031F48091C6008A3A89F12A |
| :1038D00010E005C08091C6008B3109F411E0CE01E3 |
| :1038E00021968436910500F10F3F41F0002331F01D |
| :1038F000E0910001F0910101099516C08AE00E9453 |
| :103900001E1C8DE00E941E1C86E50E941E1C80E38A |
| :103910000E941E1C8EE20E941E1C82E30E941E1C3E |
| :103920008AE30E941E1C05C080E29EE40197F1F725 |
| :10393000C5CF0E942E1C0E94261C813611F489E5F9 |
| :1039400033C1813471F40E94261CE82EFF24FE2C22 |
| :10395000EE240E94261C9927E82AF92AF694E79477 |
| :10396000F1C0823641F489E50E941E1C80E00E946D |
| :103970001E1C80E819C1823409F075C00E94261C03 |
| :103980000E94261CD82E0E94261C082FB2E0AB2EC7 |
| :10399000B1E0BB2E10E0E5010894A11CB11C1D157F |
| :1039A00018F40E94261C01C08FEF88831F5F17FF49 |
| :1039B000F2CF38E7931609F0D4C0063409F03DC0C1 |
| :1039C0008FEFE81687E3F80608F033C0CD2DA70186 |
| :1039D00066277727440F551F661F771F6A017B01F3 |
| :1039E000A2E0B1E011E08D9199272D913327322F7C |
| :1039F0002227822B932B0C01FA0110935700E89594 |
| :103A000011244E5F5F4F6F4F7F4FC25061F785E0CB |
| :103A1000F60180935700E89507B600FCFDCF81E1E1 |
| :103A200080935700E89576956795579547957A0165 |
| :103A300089C080E00E941E1C85C0053409F082C048 |
| :103A4000F7012D2DA2E0B1E0E1BD8F2F992782BDB6 |
| :103A50008D9180BD3196FA9AF99AF999FECF21504D |
| :103A600099F77F016FC0873609F03DC00E94261C80 |
| :103A70000E94261CC82F0E94261C863419F5C701F7 |
| :103A8000AA27BB276C017D01CC0CDD1CEE1CFF1CA2 |
| :103A9000F60105911491802F0E941E1C812F9927F9 |
| :103AA0000E941E1C82E090E0A0E0B0E0C80ED91E8B |
| :103AB000EA1EFB1EC25061F7F694E794D794C794B0 |
| :103AC000760139CF853409F036CFE1BC8F2D9927A7 |
| :103AD00082BDF89A0894E11CF11C80B50E941E1C5E |
| :103AE000C15099F728CF853601F598E7991651F519 |
| :103AF00080E090E0A0E0B0E023E0FC0120935700DC |
| :103B0000E89507B600FCFDCF80589F4FAF4FBF4FE1 |
| :103B10008F3F37E3930730E0A30730E0B30768F344 |
| :103B200081E180935700E8950DC0853469F488E100 |
| :103B300090E02CE00FB6F894A895809360000FBE3B |
| :103B4000209360008DE030C08035E1F38C34D1F3F8 |
| :103B5000803711F483E528C0843729F488E70E9470 |
| :103B60001E1C80E021C0843521F40E94261C982E62 |
| :103B7000E9CF8B3109F4DDCE8A3A09F4DACE863505 |
| :103B800029F480E30E941E1C82E30EC0833741F4B7 |
| :103B900086E00E941E1C84E90E941E1C8EE104C067 |
| :0E3BA0008B3109F4C8CE8FE30E941E1CC4CEE8 |
| :0400000300003800C1 |
| :00000001FF |
| /tags/V0.21b/Hex-Files/MK3Mag_MEGA168_V0_21b_SVN48.hex |
|---|
| 0,0 → 1,604 |
| :100000000C946B000C9486000C9486000C94860073 |
| :100010000C9486000C9486000C9486000C94860048 |
| :100020000C9486000C9486000C9486000C94860038 |
| :100030000C9486000C9486000C9486000C94860028 |
| :100040000C94090C0C9486000C9431080C948600D6 |
| :100050000C94FB070C9486000C9486000C9486008C |
| :100060000C94120D0C94860007BAA57A2C3BDA90FA |
| :10007000C5BC8BFC663CFD10F8BD4D83923DB63A85 |
| :100080009EBE5BBFCA3FC90FDA000829573F9F2DAC |
| :1000900049CBA5310F76C73493F27E37D00D013AA4 |
| :1000A000B60B613D2AAAAB3F0000003F8000000074 |
| :1000B000083B3BD74ABC846E023D2FC1FEBD9A313E |
| :1000C000743DDA3D83BE117FC73E4CBBE5BEAAAA94 |
| :1000D0006C3F8000000011241FBECFEFD4E0DEBFD4 |
| :1000E000CDBF13E0A0E0B1E0E2E8F3E202C005908A |
| :1000F0000D92A431B107D9F714E0A4E1B3E001C037 |
| :100100001D92A738B107E1F70C946A060C94000021 |
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| :10013000809162039091630320915C0330915D0391 |
| :10014000821B930B909361038093600380918103E2 |
| :10015000909182032091830330918403821B930B3F |
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| :10018000590BCA01AA2797FDA095BA2F4AE0880FFC |
| :10019000991FAA1FBB1F4A95D1F7442737FD4095E9 |
| :1001A000542FBC01CD010E94661130932903209386 |
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| :10031000CB01BC01CD010E94AF0EDC01CB0120E07E |
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| /tags/V0.21b/License.txt |
|---|
| 0,0 → 1,56 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /tags/V0.21b/analog.c |
|---|
| 0,0 → 1,117 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <util/delay.h> |
| #include "analog.h" |
| uint8_t AccPresent = 0; |
| void ADC_Init(void) |
| { |
| // The analog inputs have a VREF of 5V and a resolution of 10 bit (0...1024 counts) |
| // i.e. 4.88mV/Count |
| // set PortC 0,1,2,3 as input |
| DDRC &= ~((1<<DDC3)|(1<<DDC2)|(1<<DDC1)|(1<<DDC0)); |
| // set PortC 0,1,2,3 as tri state |
| PORTC &= ~((1<<PORTC3)|(1<<PORTC2)|(1<<PORTC1)|(1<<PORTC0)); |
| // port PD5 and PD6 control the current direction of the test coils of the sensors |
| DDRD |= ((1<<DDD5)|(1<<DDD6)); |
| FLIP_LOW; |
| // disable internal reference voltage and right adjust bits in ADCW |
| ADMUX = 0x00; |
| // clear start conversion bit (ADSC = 0) |
| // disable ADC Auto Trigger Enable (ADATE = 0) |
| // disable interrupt (ADIE = 0) |
| ADCSRA &= ~((1<<ADSC)|(1<<ADATE)|(1<<ADIE)); |
| // Enable ADC (ADEN = 1) with SYSCLK/128 (ADPS2 = 1, ADPS1 = 1, ADPS0 = 1) and clear ready flag (ADIF = 1) |
| ADCSRA |= ((1<<ADEN)|(1<<ADIF)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)); |
| ADMUX = 0x00; // select ADC0 |
| ADCSRA |= (1<<ADSC); // start conversion |
| // Check if acceleration sensor is present |
| // The output of the LIS3L02AL (MK3MAG V1.0) and the LIS344ALH (MK3MAG V1.1) is Vdd/5 +/- 10% per 1g. |
| // The Vdd is 3.0V at this board therefore the sensitivity is 0.6V/g +/-10% that corresponds to 123 counts. |
| // The offsets at 0g is VDD/2 (1.5V) that is 307 counts. |
| // that yields to an ADC range of 184 to 430 counts. |
| // pullup PC2(AccX) and PC3 (AccY) |
| PORTC |= ((1<<PORTC3)|(1<<PORTC2)); |
| _delay_ms(10.0); |
| // if ADC2 and ADC 3 is larger than 1000 counts (4.88V) no load is at the pins |
| if((ADC_GetValue(ADC2) > 1000) && (ADC_GetValue(ADC3) > 1000)) AccPresent = 0; |
| else AccPresent = 1; |
| // set port back to tristate |
| PORTC &= ~((1<<PORTC3)|(1<<PORTC2)); |
| } |
| uint16_t ADC_GetValue(ADChannel_t channel) |
| { |
| uint16_t value = 0; |
| ADMUX = channel; // set muxer bits |
| ADCSRA |= (1<<ADIF); // clear ready-flag |
| ADCSRA |= (1<<ADSC); // start conversion |
| while (((ADCSRA & (1<<ADIF)) == 0)); // wait for end of conversion |
| value = ADCW; // read adc result |
| return(value); |
| } |
| /tags/V0.21b/analog.h |
|---|
| 0,0 → 1,39 |
| #ifndef _ANALOG_H_ |
| #define _ANALOG_H_ |
| #include <inttypes.h> |
| #include <avr/io.h> |
| #define FLIP_HIGH PORTD |= ((1<<PORTD5)|(1<<PORTD6)) |
| #define FLIP_LOW PORTD &= ~((1<<PORTD5)|(1<<PORTD6)) |
| typedef enum |
| { |
| ADC0 = 0, |
| ADC1 = 1, |
| ADC2 = 2, |
| ADC3 = 3, |
| ADC4 = 4, |
| ADC5 = 5, |
| ADC6 = 6, |
| ADC7 = 7, |
| REF1V1 = 14, |
| AGND = 15 |
| } ADChannel_t; |
| #define MAG_X ADC0 |
| #define MAG_Y ADC1 |
| #define MAG_Z ADC7 |
| #define ACC_X ADC2 |
| #define ACC_Y ADC3 |
| #define ACC_Z ADC6 |
| extern uint8_t AccPresent; |
| void ADC_Init(void); |
| uint16_t ADC_GetValue(ADChannel_t channel); |
| #endif // _ANALOG_H_ |
| /tags/V0.21b/led.c |
|---|
| 0,0 → 1,67 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "led.h" |
| void LED_Init(void) |
| { |
| // Set PD7 as output |
| DDRD |= (1<<DDD7); |
| // set port pon to GND |
| PORTD &= ~((1<<PORTD7)); |
| } |
| /tags/V0.21b/led.h |
|---|
| 0,0 → 1,12 |
| #ifndef _LED_H_ |
| #define _LED_H_ |
| #include <avr/io.h> |
| #define LED_GRN_ON PORTD |= (1<<PORTD7) |
| #define LED_GRN_OFF PORTD &= ~(1<<PORTD7) |
| #define LED_GRN_TOGGLE PORTD ^= (1<<PORTD7) |
| void LED_Init(void); |
| #endif //_LED_H_ |
| /tags/V0.21b/main.c |
|---|
| 0,0 → 1,492 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/interrupt.h> |
| #include <math.h> |
| #include <stdlib.h> |
| #include <stdio.h> |
| #include "main.h" |
| #include "timer0.h" |
| #include "twislave.h" |
| #include "led.h" |
| #include "analog.h" |
| #include "uart.h" |
| #define CALIBRATION_VERSION 1 |
| AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC; |
| Orientation_t Orientation = ORIENTATION_FC; |
| uint16_t Led_Timer = 0; |
| typedef struct |
| { |
| int16_t Range; |
| int16_t Offset; |
| } Scaling_t; |
| typedef struct |
| { |
| Scaling_t MagX; |
| Scaling_t MagY; |
| Scaling_t MagZ; |
| Scaling_t AccX; |
| Scaling_t AccY; |
| Scaling_t AccZ; |
| unsigned char Version; |
| } Calibration_t; |
| Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
| Calibration_t Calibration; // calibration data in RAM |
| // magnet sensor variable |
| int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data |
| int16_t RawMagnet2a, RawMagnet2b; |
| int16_t RawMagnet3a, RawMagnet3b; |
| int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling |
| int16_t MagX = 0, MagY = 0, MagZ = 0; // rescaled magnetic field readings |
| // acceleration sensor variables |
| int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0; // raw acceleration readings |
| int16_t AccX = 0, AccY = 0, AccZ = 0; // rescaled acceleration readings |
| int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0; // nick and roll angle from acc |
| int16_t Heading = -1; // the current compass heading in deg |
| void CalcFields(void) |
| { |
| UncalMagX = (RawMagnet1a - RawMagnet1b); |
| UncalMagY = (RawMagnet3a - RawMagnet3b); |
| UncalMagZ = (RawMagnet2a - RawMagnet2b); |
| if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range); |
| else MagX = 0; |
| if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range); |
| else MagY = 0; |
| if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range); |
| else MagZ = 0; |
| if(AccPresent) |
| { |
| AccX = (RawAccX - Calibration.AccX.Offset); |
| AccY = (RawAccY - Calibration.AccY.Offset); |
| AccZ = (Calibration.AccZ.Offset - RawAccZ); |
| #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL |
| // acc mode assumes orientation like FC |
| if(AccX > 136) AccAttitudeNick = -800; |
| else |
| if(AccX < -136) AccAttitudeNick = 800; |
| else AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI); |
| if(AccY > 136) AccAttitudeRoll = 800; |
| else |
| if(AccY < -136) AccAttitudeRoll = -800; |
| else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
| #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z) |
| // acc mode assumes orientation like FC |
| if(AccY > 136) AccAttitudeNick = 800; |
| else |
| if(AccY < -136) AccAttitudeNick = -800; |
| else AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
| if(AccX > 136) AccAttitudeRoll = 800; |
| else |
| if(AccX < -136) AccAttitudeRoll = -800; |
| else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI); |
| #endif |
| } |
| } |
| void CalcHeading(void) |
| { |
| double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0; |
| int16_t nick, roll; |
| int16_t heading = -1; |
| // blink code for normal operation |
| if(CheckDelay(Led_Timer)) |
| { |
| if(Calibration.Version != CALIBRATION_VERSION) LED_GRN_TOGGLE; |
| else LED_GRN_ON; |
| Led_Timer = SetDelay(150); |
| } |
| switch(Orientation) |
| { |
| case ORIENTATION_NC: |
| Cx = MagX; |
| Cy = MagY; |
| Cz = MagZ; |
| break; |
| case ORIENTATION_FC: |
| // rotation of 90 deg compared to NC setup |
| Cx = MagY; |
| Cy = -MagX; |
| Cz = MagZ; |
| break; |
| } |
| // calculate nick and roll angle in rad |
| switch(AttitudeSource) |
| { |
| case ATTITUDE_SOURCE_I2C: |
| cli(); // stop interrupts |
| nick = I2C_WriteAttitude.Nick; |
| roll = I2C_WriteAttitude.Roll; |
| sei(); // start interrupts |
| break; |
| case ATTITUDE_SOURCE_UART: |
| cli(); // stop interrupts |
| nick = ExternData.Attitude[NICK]; |
| roll = ExternData.Attitude[ROLL]; |
| sei(); // start interrupts |
| break; |
| case ATTITUDE_SOURCE_ACC: |
| nick = AccAttitudeNick; |
| roll = AccAttitudeRoll; |
| break; |
| default: |
| nick = 0; |
| roll = 0; |
| break; |
| } |
| nick_rad = ((double)nick) * M_PI / (double)(1800.0); |
| roll_rad = ((double)roll) * M_PI / (double)(1800.0); |
| // calculate attitude correction |
| Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad); |
| Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad); |
| DebugOut.Analog[27] = (int16_t)Hx; |
| DebugOut.Analog[28] = (int16_t)Hy; |
| // calculate Heading |
| heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI); |
| // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation |
| // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Calibration.Version != CALIBRATION_VERSION) heading = -1; // Version of the calibration Data does not match |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| cli(); // stop interrupts |
| if(abs(heading) < 361) Heading = heading; |
| else (Heading = -1); |
| sei(); // start interrupts |
| } |
| void Calibrate(void) |
| { |
| uint8_t cal; |
| static uint8_t calold = 0; |
| static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| static uint8_t blinkcount = 0; |
| static uint8_t invert_blinking = 0; |
| // check both sources of communication for calibration request |
| if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
| else cal = ExternData.CalState; |
| if(cal > 5) cal = 0; |
| // blink code for current calibration state |
| if(cal) |
| { |
| if(CheckDelay(Led_Timer) || (cal != calold)) |
| { |
| if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
| else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON; |
| // end of blinkcount sequence |
| if((blinkcount + 1 ) >= (2 * cal)) |
| { |
| blinkcount = 0; |
| Led_Timer = SetDelay(1500); |
| } |
| else |
| { |
| blinkcount++; |
| Led_Timer = SetDelay(100); |
| } |
| } |
| } |
| else |
| { |
| if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
| } |
| // calibration state machine |
| switch(cal) |
| { |
| case 1: // 1st step of calibration |
| // initialize ranges |
| // used to change the orientation of the MK3MAG in the horizontal plane |
| Xmin = 10000; |
| Xmax = -10000; |
| Ymin = 10000; |
| Ymax = -10000; |
| Zmin = 10000; |
| Zmax = -10000; |
| Calibration.AccX.Offset = RawAccX; |
| Calibration.AccY.Offset = RawAccY; |
| Calibration.AccZ.Offset = RawAccZ; |
| invert_blinking = 0; |
| break; |
| case 2: // 2nd step of calibration |
| // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| if(UncalMagX < Xmin) Xmin = UncalMagX; |
| if(UncalMagX > Xmax) Xmax = UncalMagX; |
| if(UncalMagY < Ymin) Ymin = UncalMagY; |
| if(UncalMagY > Ymax) Ymax = UncalMagY; |
| invert_blinking = 1; |
| break; |
| case 3: // 3rd step of calibration |
| // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| invert_blinking = 0; |
| break; |
| case 4: |
| // find Min and Max of the Z-Sensor |
| if(UncalMagZ < Zmin) Zmin = UncalMagZ; |
| if(UncalMagZ > Zmax) Zmax = UncalMagZ; |
| invert_blinking = 1; |
| break; |
| case 5: |
| // Save values |
| if(cal != calold) // avoid continously writing of eeprom! |
| { |
| Calibration.MagX.Range = Xmax - Xmin; |
| Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| Calibration.MagY.Range = Ymax - Ymin; |
| Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| Calibration.MagZ.Range = Zmax - Zmin; |
| Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
| if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150)) |
| { |
| Calibration.Version = CALIBRATION_VERSION; |
| // indicate write process by setting the led off for 2 seconds |
| LED_GRN_OFF; |
| eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
| Led_Timer = SetDelay(2000); |
| // reset blinkcode |
| blinkcount = 0; |
| } |
| } |
| invert_blinking = 0; |
| break; |
| default: |
| break; |
| } |
| calold = cal; |
| } |
| void SetDebugValues(void) |
| { |
| DebugOut.Analog[0] = MagX; |
| DebugOut.Analog[1] = MagY; |
| DebugOut.Analog[2] = MagZ; |
| DebugOut.Analog[3] = UncalMagX; |
| DebugOut.Analog[4] = UncalMagY; |
| DebugOut.Analog[5] = UncalMagZ; |
| switch(AttitudeSource) |
| { |
| case ATTITUDE_SOURCE_ACC: |
| DebugOut.Analog[6] = AccAttitudeNick; |
| DebugOut.Analog[7] = AccAttitudeRoll; |
| break; |
| case ATTITUDE_SOURCE_UART: |
| DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
| DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
| break; |
| case ATTITUDE_SOURCE_I2C: |
| DebugOut.Analog[6] = I2C_WriteAttitude.Nick; |
| DebugOut.Analog[7] = I2C_WriteAttitude.Roll; |
| break; |
| } |
| DebugOut.Analog[8] = Calibration.MagX.Offset; |
| DebugOut.Analog[9] = Calibration.MagX.Range; |
| DebugOut.Analog[10] = Calibration.MagY.Offset; |
| DebugOut.Analog[11] = Calibration.MagY.Range; |
| DebugOut.Analog[12] = Calibration.MagZ.Offset; |
| DebugOut.Analog[13] = Calibration.MagZ.Range; |
| if(I2C_WriteCal.CalByte) DebugOut.Analog[14] = I2C_WriteCal.CalByte; |
| else DebugOut.Analog[14] = ExternData.CalState; |
| DebugOut.Analog[15] = Heading; |
| DebugOut.Analog[16] = ExternData.UserParam[0]; |
| DebugOut.Analog[17] = ExternData.UserParam[1]; |
| DebugOut.Analog[18] = AccX; |
| DebugOut.Analog[19] = AccY; |
| DebugOut.Analog[20] = AccZ; |
| DebugOut.Analog[21] = RawAccX; |
| DebugOut.Analog[22] = RawAccY; |
| DebugOut.Analog[23] = RawAccZ; |
| DebugOut.Analog[24] = Calibration.AccX.Offset; |
| DebugOut.Analog[25] = Calibration.AccY.Offset; |
| DebugOut.Analog[26] = Calibration.AccZ.Offset; |
| DebugOut.Analog[29] = AttitudeSource; |
| } |
| void AccMeasurement(void) |
| { |
| if(AccPresent) |
| { |
| RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2; |
| RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2; |
| RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2; |
| } |
| else |
| { |
| RawAccX = 0; |
| RawAccY = 0; |
| RawAccZ = 0; |
| } |
| } |
| int main (void) |
| { |
| // reset input pullup |
| DDRC &=~((1<<DDC6)); |
| PORTC |= (1<<PORTC6); |
| LED_Init(); |
| TIMER0_Init(); |
| USART0_Init(); |
| ADC_Init(); |
| I2C_Init(); |
| sei(); // enable globale interrupts |
| if(AccPresent) |
| { |
| USART0_Print("ACC present\n"); |
| } |
| LED_GRN_ON; |
| Led_Timer = SetDelay(200); |
| // read calibration info from eeprom |
| eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
| ExternData.CalState = 0; |
| I2C_WriteCal.CalByte = 0; |
| // main loop |
| while (1) |
| { |
| FLIP_LOW; |
| Delay_ms(2); |
| RawMagnet1a = ADC_GetValue(MAG_X); |
| RawMagnet2a = -ADC_GetValue(MAG_Y); |
| RawMagnet3a = ADC_GetValue(MAG_Z); |
| AccMeasurement(); |
| Delay_ms(1); |
| FLIP_HIGH; |
| Delay_ms(2); |
| RawMagnet1b = ADC_GetValue(MAG_X); |
| RawMagnet2b = -ADC_GetValue(MAG_Y); |
| RawMagnet3b = ADC_GetValue(MAG_Z); |
| AccMeasurement(); |
| Delay_ms(1); |
| CalcFields(); |
| if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
| else CalcHeading(); |
| // check data from USART |
| USART0_ProcessRxData(); |
| if(NC_Connected) NC_Connected--; |
| if(FC_Connected) FC_Connected--; |
| // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data |
| if(!FC_Connected && ! NC_Connected) |
| { |
| AttitudeSource = ATTITUDE_SOURCE_ACC; |
| Orientation = ORIENTATION_FC; |
| } |
| if(PC_Connected) |
| { |
| USART0_EnableTXD(); |
| USART0_TransmitTxData(); |
| PC_Connected--; |
| } |
| else |
| { |
| USART0_DisableTXD(); |
| } |
| } // while(1) |
| } |
| /tags/V0.21b/main.h |
|---|
| 0,0 → 1,34 |
| #ifndef _MAIN_H_ |
| #define _MAIN_H_ |
| #include <avr/eeprom.h> |
| #include <inttypes.h> |
| typedef enum |
| { |
| ATTITUDE_SOURCE_I2C, |
| ATTITUDE_SOURCE_UART, |
| ATTITUDE_SOURCE_ACC |
| } AttitudeSource_t; |
| typedef enum |
| { |
| ORIENTATION_NC = 0, |
| ORIENTATION_FC = 1 |
| } Orientation_t; |
| extern int16_t Heading; |
| extern AttitudeSource_t AttitudeSource; |
| extern Orientation_t Orientation; |
| extern int16_t MagX, MagY, MagZ; |
| void SetDebugValues(void); |
| #endif //_MAIN_H_ |
| /tags/V0.21b/makefile |
|---|
| 0,0 → 1,420 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega168 |
| F_CPU = 8000000 |
| #------------------------------------------------------------------- |
| BOARD = 10 |
| #BOARD = 11 |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 21 |
| VERSION_PATCH = 1 |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol Minor Version |
| NC_I2C_COMPATIBLE = 2 # I2C Protocol Version |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_PATCH), 0) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c timer0.c analog.c twislave.c led.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| CDEFS = -DF_CPU=$(F_CPU)UL |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -g -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += $(CDEFS) |
| CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DBOARD=$(BOARD) -DNC_I2C_COMPATIBLE=$(NC_I2C_COMPATIBLE) |
| ifeq ($(AVR_CTRL_PLATINE), 1) |
| CFLAGS += -DAVR_CTRL_PLATINE=$(AVR_CTRL_PLATINE) |
| endif |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| #AVRDUDE_FLAGS += -V -E noreset |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| # $(REMOVE) $(TARGET).eep |
| # $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /tags/V0.21b/timer0.c |
|---|
| 0,0 → 1,167 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint16_t I2C_Timeout = 0; |
| /*****************************************************/ |
| /* Initialize Timer 0 */ |
| /*****************************************************/ |
| void TIMER0_Init(void) |
| { |
| // set PB2 as output for the PWM used to signal compass heading |
| DDRB |= (1<<DDB2); |
| PORTB &= ~(1<<PORTB2); |
| // Timer/Counter 0 Control Register A |
| // Normal Timer Counter Mode (Bits WGM02 = 0, WGM01 = 0, WGM00 = 0) |
| // OC0A disconnected (Bits COM0A1 = 0, COM0A0 = 0) |
| // OC0B disconnected (Bits COM0B1 = 0, COM0B0 = 0) |
| TCCR0A &= ~((1<<COM0A1)|(1<<COM0A0)|(1<<COM0B1)|(1<<COM0B0)|(1<<WGM01)|(1<<WGM00)); |
| // Timer/Counter 0 Control Register B |
| // set clock devider for timer 0 to SYSKLOCK/8 = 8MHz / 8 = 1MHz |
| // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
| TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)|(1<<CS02)); |
| TCCR0B = (1<<CS01)|(0<<CS00); |
| // init Timer/Counter 0 Register |
| TCNT0 = 0; |
| // Timer/Counter 0 Interrupt Mask Register |
| // enable timer overflow interrupt only |
| TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
| TIMSK0 |= (1<<TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| ISR(TIMER0_OVF_vect) |
| { |
| static uint8_t cnt; |
| static uint16_t cmps_cnt; |
| // reload timer register so that overflow occurs after 100 increments at 1 MHz |
| // resulting in a calling rate of this ISR of 10kHz or 0.1 ms. |
| TCNT0 -= 101; |
| // disable PWM when bad compass heading value |
| if(Heading < 0) |
| { |
| PORTB &= ~(1<<PORTB2); |
| cmps_cnt = 0; |
| } |
| else |
| { |
| // if a periode of 38.0 ms is over |
| if(++cmps_cnt >= 380) |
| { |
| // set PWM out to high |
| PORTB |= (1<<PORTB2); |
| // reset periode counter |
| cmps_cnt = 0; |
| } |
| // if the delay in 0.1 ms is equal to Heading + 10 |
| else if(cmps_cnt >= (Heading + 10)) |
| { |
| // set PWM out to low |
| PORTB &= ~(1<<PORTB2); |
| } |
| } |
| if(!--cnt) |
| { |
| // every 10th run (1kHz or 1ms) |
| cnt = 10; |
| CountMilliseconds++; |
| if(I2C_Timeout) I2C_Timeout--; |
| } |
| } |
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay (uint16_t t) |
| { |
| return(CountMilliseconds + t - 1); |
| } |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) |
| { |
| return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(uint16_t wait) |
| { |
| uint16_t t_stop; |
| t_stop = SetDelay(wait); |
| while (!CheckDelay(t_stop)); |
| } |
| /tags/V0.21b/timer0.h |
|---|
| 0,0 → 1,17 |
| #ifndef _TIMER0_H |
| #define _TIMER0_H |
| #include <inttypes.h> |
| extern volatile uint16_t CountMilliseconds; |
| extern volatile uint16_t I2C_Timeout; |
| void TIMER0_Init(void); |
| uint16_t SetDelay (uint16_t t); |
| int8_t CheckDelay(uint16_t t); |
| void Delay_ms(uint16_t wait); |
| #endif //_TIMER0_H |
| /tags/V0.21b/twislave.c |
|---|
| 0,0 → 1,291 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "twislave.h" |
| #include "uart.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "led.h" |
| volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
| volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
| volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
| volatile uint8_t I2C_PrimRxBuffer[10]; |
| uint8_t NC_Connected = 0; |
| I2C_Heading_t I2C_Heading; |
| I2C_WriteAttitude_t I2C_WriteAttitude; |
| I2C_Mag_t I2C_Mag; |
| I2C_Version_t I2C_Version; |
| I2C_WriteCal_t I2C_WriteCal; |
| void I2C_Init(void) |
| { |
| uint8_t sreg; |
| // backup status register |
| sreg = SREG; |
| // disable global interrupts |
| cli(); |
| // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
| // set PB4 (SCK) and PB5 (MISO) as input pull up |
| DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
| PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
| // set PC4 (SDA) and PC5 (SCL) as input tristate |
| DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
| PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
| I2C_TxBuffer = 0; |
| Tx_Idx = 0; |
| I2C_TxBufferSize = 0; |
| I2C_RxBuffer = 0; |
| Rx_Idx = 0; |
| I2C_RxBufferSize = 0; |
| TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
| TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
| // set own address |
| // set own address in the upper 7 bits |
| TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
| // TWI Control Register |
| // enable TWI Acknowledge Bit (TWEA = 1) |
| // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
| // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
| // enable TWI (TWEN = 1) |
| // enable TWI Interrupt (TWIE = 1) |
| TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
| // update version info |
| I2C_Version.Major = VERSION_MAJOR; |
| I2C_Version.Minor = VERSION_MINOR; |
| I2C_Version.Patch = VERSION_PATCH; |
| I2C_Version.Compatible = NC_I2C_COMPATIBLE; |
| // resore status register |
| SREG = sreg; |
| } |
| // send ACK after recieving a byte / ACK is expected after transmitting a byte |
| #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
| #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| // switched to the non adressed slave mode |
| #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
| #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
| ISR (TWI_vect) |
| { |
| uint8_t data; |
| static uint8_t crc; |
| // check event |
| switch (TW_STATUS) |
| { |
| case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
| Rx_Idx = 0xFF; // reset rx buffer pointer |
| TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
| return; |
| case TW_SR_DATA_ACK: // data has been received and ack has been returned |
| data = TWDR; |
| if (Rx_Idx == 0xFF) |
| { // if the first byte after slave addressing was received |
| switch(data) |
| { |
| case I2C_CMD_VERSION: |
| I2C_TxBuffer = (uint8_t *)&I2C_Version; |
| I2C_TxBufferSize = sizeof(I2C_Version); |
| I2C_RxBuffer = 0; |
| I2C_RxBufferSize = 0; |
| break; |
| case I2C_CMD_WRITE_CAL: |
| I2C_TxBuffer = (uint8_t *)&I2C_WriteCal; |
| I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
| I2C_RxBufferSize = sizeof(I2C_WriteCal); |
| break; |
| case I2C_CMD_READ_MAG: |
| I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
| I2C_TxBufferSize = sizeof(I2C_Mag); |
| I2C_RxBuffer = 0; |
| I2C_RxBufferSize = 0; |
| I2C_Mag.MagX = MagX; |
| I2C_Mag.MagY = MagY; |
| I2C_Mag.MagZ = MagZ; |
| break; |
| case I2C_CMD_READ_HEADING: |
| I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
| I2C_TxBufferSize = sizeof(I2C_Heading); |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
| I2C_Heading.Heading = Heading; |
| AttitudeSource = ATTITUDE_SOURCE_I2C; |
| Orientation = ORIENTATION_NC; |
| NC_Connected = 255; |
| break; |
| default: // unknown command id |
| I2C_RxBuffer = 0; |
| I2C_RxBufferSize = 0; |
| I2C_TxBuffer = 0; |
| I2C_TxBufferSize = 0; |
| break; |
| } |
| Rx_Idx = 0; // set rx buffer index to start of the buffer |
| crc = data; |
| } |
| else // Rx_Idx != 0xFF |
| { |
| // fill receiver buffer with the byte that has been received |
| // if buffer exist and there is still some free space |
| if(Rx_Idx < I2C_RxBufferSize) |
| { |
| I2C_PrimRxBuffer[Rx_Idx] = data; |
| crc += data; |
| } |
| else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
| { // if checksum matched |
| if(crc == data) |
| { // and RxBuffer exist |
| if(I2C_RxBuffer != 0) |
| { // copy data to rx buffer |
| for(data = 0; data < I2C_RxBufferSize; data++) |
| { |
| I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
| } |
| } |
| DebugOut.Analog[31]++; |
| } |
| else |
| { |
| DebugOut.Analog[30]++; |
| } |
| } |
| // else ignore data |
| Rx_Idx++; |
| } |
| TWCR_ACK; |
| return; |
| case TW_ST_SLA_ACK: // slave transmitter selected |
| // reset index to start of tx buffer |
| Tx_Idx = 0; |
| crc = 0; |
| // if tx buffer exist and there is at least one byte to transfer |
| if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
| { |
| data = I2C_TxBuffer[Tx_Idx]; |
| } |
| else |
| { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
| data = 0x00; |
| } |
| crc += data; |
| Tx_Idx++; |
| TWDR = data; |
| TWCR_ACK; |
| return; |
| case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
| // put next byte from tx buffer to the data register |
| if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
| { |
| data = I2C_TxBuffer[Tx_Idx]; |
| crc += data; |
| } |
| else if (Tx_Idx == I2C_TxBufferSize) |
| { // send crc byte at the end |
| data = crc; |
| } |
| else |
| { |
| data = 0x00; |
| } |
| Tx_Idx++; |
| TWDR = data; |
| TWCR_ACK; |
| return; |
| case TW_BUS_ERROR: // Bus-Error |
| TWCR_CLEARBUS; // free bus, reset to nonselected slave |
| return; |
| case TW_ST_DATA_NACK: // data transmitted, NACK received |
| case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
| case TW_SR_STOP: // stop or repeated start condition received while selected |
| default: |
| TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
| return; |
| } |
| } |
| /tags/V0.21b/twislave.h |
|---|
| 0,0 → 1,63 |
| #ifndef _TWI_SLAVE_H_ |
| #define _TWI_SLAVE_H_ |
| #include <inttypes.h> |
| #define I2C_SLAVE_ADDRESS 0x50 |
| #define I2C_CMD_VERSION 0x01 |
| #define I2C_CMD_READ_MAG 0x02 |
| #define I2C_CMD_READ_HEADING 0x03 |
| #define I2C_CMD_WRITE_CAL 0x04 |
| #define I2C_CMD_WRITE_EEPROM 0x0A |
| #define I2C_CMD_READ_EEPROM 0x0B |
| typedef struct |
| { |
| uint8_t Major; |
| uint8_t Minor; |
| uint8_t Patch; |
| uint8_t Compatible; |
| } I2C_Version_t; |
| typedef struct |
| { |
| int16_t MagX; |
| int16_t MagY; |
| int16_t MagZ; |
| } I2C_Mag_t; |
| typedef struct |
| { |
| int16_t Nick; |
| int16_t Roll; |
| } I2C_WriteAttitude_t; |
| typedef struct |
| { |
| uint8_t CalByte; |
| uint8_t Dummy1; |
| uint8_t Dummy2; |
| } I2C_WriteCal_t; |
| typedef struct |
| { |
| int16_t Heading; |
| } I2C_Heading_t; |
| extern uint8_t NC_Connected; |
| extern I2C_Heading_t I2C_Heading; |
| extern I2C_WriteAttitude_t I2C_WriteAttitude; |
| extern I2C_Mag_t I2C_Mag; |
| extern I2C_Version_t I2C_Version; |
| extern I2C_WriteCal_t I2C_WriteCal; |
| void I2C_Init(void); |
| #endif // _TWI_SLAVE_H_ |
| /tags/V0.21b/uart.c |
|---|
| 0,0 → 1,639 |
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include <stdarg.h> |
| #include <string.h> |
| #include "main.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #include "twislave.h" |
| // slave addresses |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| #define FALSE 0 |
| #define TRUE 1 |
| // keep buffers as small as possible |
| #define TXD_BUFFER_LEN 100 |
| #define RXD_BUFFER_LEN 30 |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| volatile uint8_t *pRxData = 0; |
| volatile uint8_t RxDataLen = 0; |
| // send flags |
| #define RQST_VERSION_INFO 0x01 |
| #define RQST_DEBUG_DATA 0x02 |
| #define RQST_DEBUG_LABEL 0x04 |
| #define RQST_COMPASS_HEADING 0x08 |
| #define RQST_EXTERN_CTRL 0x10 |
| uint8_t RequestFlags = 0x00; |
| uint8_t RequestDebugLabel = 0; |
| uint8_t ConfirmFrame = 0; |
| uint8_t PC_Connected = 0; |
| uint8_t FC_Connected = 0; |
| DebugOut_t DebugOut; |
| ExternData_t ExternData; |
| ExternControl_t ExternControl; |
| UART_VersionInfo_t UART_VersionInfo; |
| uint16_t DebugData_Timer; |
| uint16_t DebugData_Interval = 500; |
| const uint8_t ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "Magnet X ", //0 |
| "Magnet Y ", |
| "Magnet Z ", |
| "RawMagnet X ", |
| "RawMagnet Y ", |
| "RawMagnet Z ", //5 |
| "Attitude Nick ", |
| "Attitude Roll ", |
| "Magnet X Offset ", |
| "Magnet X Range ", |
| "Magnet Y Offset ", //10 |
| "Magnet Y Range ", |
| "Magnet Z Offset ", |
| "Magnet Z Range ", |
| "Calstate ", |
| "Heading ", //15 |
| "User0 ", |
| "User1 ", |
| "Acc X ", |
| "Acc Y ", |
| "Acc Z ", //20 |
| "RawAcc X ", |
| "RawAcc Y ", |
| "RawAcc Z ", |
| "Acc X Offset ", |
| "Acc Y Offset ", //25 |
| "Acc Z Offset ", |
| "Analog27 ", |
| "Analog28 ", |
| "Analog29 ", |
| "I2C Error ", //30 |
| "I2C Okay " |
| }; |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
| // disable all interrupts before configuration |
| cli(); |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin tristate |
| DDRD &= ~(1 << DDD0); |
| PORTD &= ~(1 << PORTD0); |
| // set TXD0 (PD1) as an output pin |
| DDRD |= (1 << DDD1); |
| PORTD &= ~(1 << PORTD1); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| // USART0 Control and Status Register A, B, C |
| // enable double speed operation |
| UCSR0A |= (1 << U2X0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| // enable receiver and transmitter |
| UCSR0B |= (1 << RXEN0); |
| UCSR0B |= (1 << TXEN0); |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = 0; |
| RxDataLen = 0; |
| // no bytes to send |
| txd_complete = TRUE; |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| USART0_putchar ('\n'); |
| USART0_putchar ('C'); |
| USART0_putchar ('P'); |
| USART0_putchar (':'); |
| USART0_putchar ('V'); |
| USART0_putchar (0x30 + VERSION_MAJOR); |
| USART0_putchar ('.'); |
| USART0_putchar (0x30 + VERSION_MINOR/10); |
| USART0_putchar (0x30 + VERSION_MINOR%10); |
| USART0_putchar ('a' + VERSION_PATCH); |
| USART0_putchar ('\n'); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| // --------------------------------------------------------------------------------- |
| void USART0_EnableTXD(void) |
| { |
| DDRD |= (1<<DDD1); // set TXD pin as output |
| PORTD &= ~(1 << PORTD1); |
| UCSR0B |= (1 << TXEN0); // enable TX in USART |
| UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
| } |
| // --------------------------------------------------------------------------------- |
| void USART0_DisableTXD(void) |
| { |
| while(!txd_complete){ }; |
| UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
| DDRD &= ~(1<<DDD1); // set TXD pin as input |
| PORTD &= ~(1 << PORTD1); |
| } |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART_TX_vect) |
| { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = TRUE; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART_RX_vect) |
| { |
| static uint16_t crc; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| static uint8_t ptr_rxd_buffer = 0; |
| c = UDR0; // catch the received byte |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) |
| { |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(uint8_t cmd, uint8_t address, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
| { |
| va_list ap; |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| uint8_t *pdata = 0; |
| int len = 0; |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = 'a' + address; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| va_start(ap, numofbuffers); |
| if(numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else c = 0; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(void) |
| { |
| uint8_t a,b,c,d; |
| uint8_t x,y,z; |
| uint8_t ptrIn = 3; |
| uint8_t ptrOut = 3; |
| uint8_t len = ReceivedBytes - 6; |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| //if(ptrIn > ReceivedBytes - 3) break; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) rxd_buffer[ptrOut++] = x; else break; |
| if(len--) rxd_buffer[ptrOut++] = y; else break; |
| if(len--) rxd_buffer[ptrOut++] = z; else break; |
| } |
| pRxData = &rxd_buffer[3]; |
| RxDataLen = ptrOut - 3; |
| } |
| // -------------------------------------------------------------------------- |
| int16_t USART0_putchar (int8_t c) |
| { |
| // if tx is not enabled return immediatly |
| if(!(UCSR0B & (1 << TXEN0))) return (0); |
| if (c == '\n') USART0_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void USART0_ProcessRxData(void) |
| { |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| Decode64(); // decode data block in rxd_buffer |
| switch(rxd_buffer[1]-'a') // check Slave Address |
| { |
| case MK3MAG_ADDRESS: |
| switch(rxd_buffer[2]) // check for CmdID |
| { |
| case 'w': // old style |
| case 'k': // Attitude info from FC |
| memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
| RequestFlags |= RQST_COMPASS_HEADING; |
| AttitudeSource = ATTITUDE_SOURCE_UART; |
| Orientation = ExternData.Orientation; |
| FC_Connected = 255; |
| break; |
| default: |
| // unsupported command |
| break; |
| } // case MK3MAG_ADDRESS: |
| default: // any Slave Adress |
| switch(rxd_buffer[2]) // check for CmdID |
| { |
| case 'b': // extern control |
| memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| // use right arrow at display for switching the calstate |
| if(ExternControl.RemoteButtons & KEY2) |
| { |
| ExternData.CalState++; |
| if(ExternData.CalState == 6) ExternData.CalState = 0; |
| } |
| ConfirmFrame = ExternControl.Frame; |
| PC_Connected = 255; |
| break; |
| case 'd': // request for the debug data |
| DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA; |
| PC_Connected = 255; |
| break; |
| case 'v': // request version and board release |
| RequestFlags |= RQST_VERSION_INFO; |
| PC_Connected = 255; |
| break; |
| case 'h': // request lcd data |
| PC_Connected = 255; |
| break; |
| case 'a':// Labels of the Analog Debug outputs |
| RequestDebugLabel = pRxData[0]; |
| RequestFlags |= RQST_DEBUG_LABEL; |
| PC_Connected = 255; |
| break; |
| case 'g':// get extern control data |
| RequestFlags |= RQST_EXTERN_CTRL; |
| PC_Connected = 255; |
| break; |
| default: |
| // unsupported command |
| break; |
| } |
| break; // default: |
| } |
| // unlock the rxd buffer after processing |
| pRxData = 0; |
| RxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void USART0_TransmitTxData(void) |
| { |
| if(!(UCSR0B & (1 << TXEN0))) return; |
| if(!txd_complete) return; |
| if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
| { |
| SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), (uint8_t *) ANALOG_LABEL[RequestDebugLabel], 16); |
| RequestDebugLabel = 0xFF; |
| RequestFlags &= ~RQST_DEBUG_LABEL; |
| } |
| if(ConfirmFrame && txd_complete) |
| { |
| SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(( (DebugData_Interval>0 && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
| { |
| SetDebugValues(); |
| SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| RequestFlags &= ~RQST_DEBUG_DATA; |
| } |
| if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
| { |
| SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
| RequestFlags &= ~RQST_EXTERN_CTRL; |
| } |
| if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
| { |
| SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); // send compass heading to FC |
| RequestFlags &= ~RQST_COMPASS_HEADING; |
| } |
| if((RequestFlags & RQST_VERSION_INFO) && txd_complete) |
| { |
| SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
| RequestFlags &= ~RQST_VERSION_INFO; |
| } |
| } |
| void USART0_Print(int8_t *msg) |
| { |
| uint8_t i = 0; |
| while(msg[i] != 0) |
| { |
| USART0_putchar(msg[i++]); |
| } |
| } |
| /tags/V0.21b/uart.h |
|---|
| 0,0 → 1,76 |
| #ifndef _UART_H_ |
| #define _UART_H_ |
| #include <inttypes.h> |
| #define NICK 0 |
| #define ROLL 1 |
| #define BAUD_RATE 57600 |
| extern uint16_t DebugData_Timer; |
| void USART0_Init (void); |
| void USART0_EnableTXD(void); |
| void USART0_DisableTXD(void); |
| void USART0_TransmitTxData(void); |
| void USART0_ProcessRxData(void); |
| int16_t USART0_putchar(int8_t c); |
| void USART0_Print(int8_t *msg); |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| } DebugOut_t; |
| extern DebugOut_t DebugOut; |
| typedef struct |
| { |
| int16_t Attitude[2]; // nick and roll angle in 0.1 deg |
| uint8_t UserParam[2]; |
| uint8_t CalState; |
| uint8_t Orientation; |
| } ExternData_t; |
| extern ExternData_t ExternData; |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint8_t RemoteButtons; |
| int8_t Nick; |
| int8_t Roll; |
| int8_t Yaw; |
| uint8_t Gas; |
| int8_t Height; |
| uint8_t free; |
| uint8_t Frame; |
| uint8_t Config; |
| } ExternControl_t; |
| extern ExternControl_t ExternControl; |
| typedef struct |
| { |
| uint8_t SWMajor; |
| uint8_t SWMinor; |
| uint8_t ProtoMajor; |
| uint8_t ProtoMinor; |
| uint8_t SWPatch; |
| uint8_t Reserved[5]; |
| } UART_VersionInfo_t; |
| extern uint8_t PC_Connected; |
| extern uint8_t FC_Connected; |
| #endif //_UART_H_ |
| /tags/V0.21b |
|---|
| Property changes: |
| Added: tsvn:logminsize |
| +8 |
| \ No newline at end of property |