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| - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 2 | // + Copyright (c) 04.2007 Holger Buss |
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| - | 3 | // + Nur für den privaten Gebrauch |
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| - | 4 | // + www.MikroKopter.com |
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| - | 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| - | 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| - | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| - | 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| - | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| - | 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| - | 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| - | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| - | 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| - | 18 | // + eindeutig als Ursprung verlinkt werden |
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| - | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| - | 21 | // + Benutzung auf eigene Gefahr |
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| - | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| - | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| - | 25 | // + mit unserer Zustimmung zulässig |
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| - | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| - | 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| - | 30 | // + this list of conditions and the following disclaimer. |
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| - | 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| - | 32 | // + from this software without specific prior written permission. |
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| - | 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| - | 34 | // + for non-commercial use (directly or indirectly) |
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| - | 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| - | 36 | // + with our written permission |
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| - | 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| - | 38 | // + clearly linked as origin |
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| - | 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| - | 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| - | 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| - | 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| - | 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| - | 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| - | 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| - | 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| - | 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| - | 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| - | 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | #include <avr/io.h> |
51 | #include <avr/io.h> |
| 2 | #include <stdlib.h> |
52 | #include <stdlib.h> |
| 3 | #include <inttypes.h> |
53 | #include <inttypes.h> |
| 4 | #include "timer0.h" |
54 | #include "timer0.h" |
| 5 | #include "fc.h" |
55 | #include "fc.h" |
| 6 | #include "rc.h" |
56 | #include "rc.h" |
| 7 | #include "eeprom.h" |
57 | #include "eeprom.h" |
| 8 | #include "mk3mag.h" |
58 | #include "mk3mag.h" |
| 9 | 59 | ||
| 10 | uint8_t PWMTimeout = 12; |
60 | uint8_t PWMTimeout = 12; |
| 11 | ToMk3Mag_t ToMk3Mag; |
61 | ToMk3Mag_t ToMk3Mag; |
| 12 | 62 | ||
| 13 | 63 | ||
| 14 | /*********************************************/ |
64 | /*********************************************/ |
| 15 | /* Initialize Interface to MK3MAG Compass */ |
65 | /* Initialize Interface to MK3MAG Compass */ |
| 16 | /*********************************************/ |
66 | /*********************************************/ |
| 17 | void MK3MAG_Init(void) |
67 | void MK3MAG_Init(void) |
| 18 | { |
68 | { |
| 19 | // Port PC4 connected to PWM output from compass module |
69 | // Port PC4 connected to PWM output from compass module |
| 20 | DDRC &= ~(1<<DDC4); // set as input |
70 | DDRC &= ~(1<<DDC4); // set as input |
| 21 | PORTC |= (1<<PORTC4); // pull up to increase PWM counter also if nothing is connected |
71 | PORTC |= (1<<PORTC4); // pull up to increase PWM counter also if nothing is connected |
| 22 | 72 | ||
| 23 | PWMTimeout = 0; |
73 | PWMTimeout = 0; |
| 24 | 74 | ||
| 25 | ToMk3Mag.CalState = 0; |
75 | ToMk3Mag.CalState = 0; |
| 26 | ToMk3Mag.Orientation = 1; |
76 | ToMk3Mag.Orientation = 1; |
| 27 | } |
77 | } |
| 28 | 78 | ||
| 29 | 79 | ||
| 30 | /*********************************************/ |
80 | /*********************************************/ |
| 31 | /* Get PWM from MK3MAG */ |
81 | /* Get PWM from MK3MAG */ |
| 32 | /*********************************************/ |
82 | /*********************************************/ |
| 33 | void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR |
83 | void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR |
| 34 | { |
84 | { |
| 35 | static uint16_t PWMCount = 0; |
85 | static uint16_t PWMCount = 0; |
| 36 | static uint16_t BeepDelay = 0; |
86 | static uint16_t BeepDelay = 0; |
| 37 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
87 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| 38 | // in other words 100us/° with a +1ms offset. |
88 | // in other words 100us/° with a +1ms offset. |
| 39 | // The signal goes low for 65ms between pulses, |
89 | // The signal goes low for 65ms between pulses, |
| 40 | // so the cycle time is 65mS + the pulse width. |
90 | // so the cycle time is 65mS + the pulse width. |
| 41 | 91 | ||
| 42 | // pwm is high |
92 | // pwm is high |
| 43 | 93 | ||
| 44 | if(PINC & (1<<PINC4)) |
94 | if(PINC & (1<<PINC4)) |
| 45 | { // If PWM signal is high increment PWM high counter |
95 | { // If PWM signal is high increment PWM high counter |
| 46 | // This counter is incremented by a periode of 102.4us, |
96 | // This counter is incremented by a periode of 102.4us, |
| 47 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
97 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
| 48 | PWMCount++; |
98 | PWMCount++; |
| 49 | // pwm overflow? |
99 | // pwm overflow? |
| 50 | if (PWMCount > 400) |
100 | if (PWMCount > 400) |
| 51 | { |
101 | { |
| 52 | if(PWMTimeout) PWMTimeout--; // decrement timeout |
102 | if(PWMTimeout) PWMTimeout--; // decrement timeout |
| 53 | CompassHeading = -1; // unknown heading |
103 | CompassHeading = -1; // unknown heading |
| 54 | PWMCount = 0; // reset PWM Counter |
104 | PWMCount = 0; // reset PWM Counter |
| 55 | } |
105 | } |
| 56 | 106 | ||
| 57 | } |
107 | } |
| 58 | else // pwm is low |
108 | else // pwm is low |
| 59 | { // ignore pwm values values of 0 and higher than 37 ms; |
109 | { // ignore pwm values values of 0 and higher than 37 ms; |
| 60 | if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
110 | if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
| 61 | { |
111 | { |
| 62 | if(PWMCount <10) CompassHeading = 0; |
112 | if(PWMCount <10) CompassHeading = 0; |
| 63 | else CompassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
113 | else CompassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
| 64 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
114 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| 65 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
115 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| 66 | // 12 * 362 counts * 102.4 us |
116 | // 12 * 362 counts * 102.4 us |
| 67 | } |
117 | } |
| 68 | PWMCount = 0; // reset pwm counter |
118 | PWMCount = 0; // reset pwm counter |
| 69 | } |
119 | } |
| 70 | if(!PWMTimeout) |
120 | if(!PWMTimeout) |
| 71 | { |
121 | { |
| 72 | if(CheckDelay(BeepDelay)) |
122 | if(CheckDelay(BeepDelay)) |
| 73 | { |
123 | { |
| 74 | if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem |
124 | if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem |
| 75 | BeepDelay = SetDelay(100); |
125 | BeepDelay = SetDelay(100); |
| 76 | } |
126 | } |
| 77 | } |
127 | } |
| 78 | } |
128 | } |
| 79 | 129 | ||
| 80 | 130 | ||
| 81 | 131 | ||
| 82 | 132 | ||