| 1,6 → 1,6 |
|---|
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| 8,15 → 8,15 |
|---|
| // + 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 |
| // + 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. |
| // + 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, |
| // + 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 |
| 29,19 → 29,19 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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 |
| 52,77 → 52,125 |
|---|
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile unsigned char Timer0Overflow; |
| unsigned int I2C_Timeout = 0; |
| unsigned int SIO_Timeout = 0; |
| |
| |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint16_t I2C_Timeout = 0; |
| |
| |
| SIGNAL(SIG_OVERFLOW0) |
| /*****************************************************/ |
| /* Initialize Timer 0 */ |
| /*****************************************************/ |
| void TIMER0_Init(void) |
| { |
| static unsigned char cnt; |
| static unsigned int cmps_cnt; |
| TCNT0 -= 101; // reload |
| Timer0Overflow++; |
| uint8_t sreg = SREG; |
| |
| if(++cmps_cnt == 380) |
| { |
| PORTB |= 0x04; |
| cmps_cnt = 0; |
| } |
| else |
| if(cmps_cnt == PwmHeading) |
| { |
| PORTB &= ~0x04; |
| } |
| |
| if(!--cnt) |
| { |
| cnt = 10; |
| CountMilliseconds += 1; |
| if(I2C_Timeout) I2C_Timeout--; |
| if(SIO_Timeout) SIO_Timeout--; |
| } |
| // disable all interrupts before reconfiguration |
| cli(); |
| |
| // 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); |
| |
| SREG = sreg; |
| } |
| |
| |
| void Timer0_Init(void) |
| // ----------------------------------------------------------------------- |
| ISR(TIMER0_OVF_vect) |
| { |
| TCCR0B = TIMER_TEILER; // Starten des Timers |
| // TCNT0 = 100; // reload |
| TIM0_START; |
| TIMER2_INT_ENABLE; |
| 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 &= ~(PORTB2); |
| cmps_cnt = 0; |
| } |
| else |
| { |
| // if a periode of 38.0 ms is over |
| if(++cmps_cnt >= 380) |
| { |
| // set PWM out to high |
| PORTB |= 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 &= ~(PORTB2); |
| } |
| } |
| |
| if(!--cnt) |
| { |
| // every 10th run (1kHz or 1ms) |
| cnt = 10; |
| CountMilliseconds++; |
| if(I2C_Timeout) I2C_Timeout--; |
| } |
| } |
| |
| |
| unsigned int SetDelay(unsigned int t) |
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay (uint16_t t) |
| { |
| return(CountMilliseconds + t - 1); |
| return(CountMilliseconds + t - 1); |
| } |
| |
| char CheckDelay (unsigned int t) |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) |
| { |
| return(((t - CountMilliseconds) & 0x8000) >> 8); |
| return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
| } |
| |
| void Delay_ms(unsigned int w) |
| // ----------------------------------------------------------------------- |
| void Delay_ms(uint16_t wait) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| uint16_t t_stop; |
| t_stop = SetDelay(wait); |
| while (!CheckDelay(t_stop)); |
| } |
| |
| |
| |
| |