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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 51 | #include <avr/io.h> |
51 | #include <avr/io.h> |
| 52 | #include <stdlib.h> |
52 | #include <stdlib.h> |
| 53 | #include <inttypes.h> |
53 | #include <inttypes.h> |
| 54 | #include "timer0.h" |
54 | #include "timer0.h" |
| 55 | // #include "rc.h" |
- | |
| 56 | #include "attitude.h" |
55 | #include "attitude.h" |
| 57 | #include "eeprom.h" |
56 | #include "eeprom.h" |
| 58 | #include "mk3mag.h" |
57 | #include "mk3mag.h" |
| Line -... | Line 58... | ||
| - | 58 | ||
| - | 59 | // For the DebougOut alone. |
|
| - | 60 | #include "output.h" |
|
| 59 | 61 | ||
| 60 | uint8_t PWMTimeout = 12; |
62 | uint8_t PWMTimeout = 12; |
| Line 61... | Line -... | ||
| 61 | ToMk3Mag_t ToMk3Mag; |
- | |
| 62 | 63 | ToMk3Mag_t ToMk3Mag; |
|
| 63 | 64 | ||
| 64 | /*********************************************/ |
65 | /*********************************************/ |
| 65 | /* Initialize Interface to MK3MAG Compass */ |
66 | /* Initialize Interface to MK3MAG Compass */ |
| 66 | /*********************************************/ |
- | |
| 67 | void MK3MAG_Init(void) |
67 | /*********************************************/ |
| 68 | { |
68 | void MK3MAG_Init(void) { |
| 69 | // Port PC4 connected to PWM output from compass module |
69 | // Port PC4 connected to PWM output from compass module |
| Line 70... | Line 70... | ||
| 70 | DDRC &= ~(1<<DDC4); // set as input |
70 | DDRC &= ~(1 << DDC4); // set as input |
| Line 71... | Line 71... | ||
| 71 | 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 |
| 72 | 72 | ||
| 73 | PWMTimeout = 0; |
73 | PWMTimeout = 0; |
| Line 74... | Line -... | ||
| 74 | - | ||
| 75 | ToMk3Mag.CalState = 0; |
74 | |
| 76 | ToMk3Mag.Orientation = 1; |
75 | ToMk3Mag.CalState = 0; |
| 77 | } |
76 | ToMk3Mag.Orientation = 1; |
| 78 | 77 | } |
|
| 79 | - | ||
| 80 | /*********************************************/ |
78 | |
| 81 | /* Get PWM from MK3MAG */ |
79 | /*********************************************/ |
| - | 80 | /* Get PWM from MK3MAG */ |
|
| 82 | /*********************************************/ |
81 | /*********************************************/ |
| 83 | void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR |
82 | void MK3MAG_Update(void) {// called every 102.4 us by timer 0 ISR |
| 84 | { |
83 | static uint16_t PWMCount = 0; |
| 85 | static uint16_t PWMCount = 0; |
84 | static uint16_t BeepDelay = 0; |
| 86 | static uint16_t BeepDelay = 0; |
85 | static uint16_t debugCounter = 0; |
| 87 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
86 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| 88 | // in other words 100us/° with a +1ms offset. |
87 | // in other words 100us/° with a +1ms offset. |
| 89 | // The signal goes low for 65ms between pulses, |
88 | // The signal goes low for 65ms between pulses, |
| 90 | // so the cycle time is 65mS + the pulse width. |
89 | // so the cycle time is 65mS + the pulse width. |
| 91 | 90 | ||
| 92 | // pwm is high |
91 | // pwm is high |
| 93 | 92 | ||
| 94 | if(PINC & (1<<PINC4)) |
93 | if (PINC & (1 << PINC4)) { |
| 95 | { // If PWM signal is high increment PWM high counter |
94 | // If PWM signal is high increment PWM high counter |
| 96 | // This counter is incremented by a periode of 102.4us, |
95 | // This counter is incremented by a periode of 102.4us, |
| 97 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
96 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
| 98 | PWMCount++; |
97 | PWMCount++; |
| 99 | // pwm overflow? |
98 | // pwm overflow? |
| 100 | if (PWMCount > 400) |
99 | if (PWMCount > 400) { |
| 101 | { |
- | |
| 102 | if(PWMTimeout) PWMTimeout--; // decrement timeout |
- | |
| 103 | compassHeading = -1; // unknown heading |
100 | if (PWMTimeout) |
| 104 | PWMCount = 0; // reset PWM Counter |
101 | PWMTimeout--; // decrement timeout |
| 105 | } |
102 | compassHeading = -1; // unknown heading |
| 106 | 103 | PWMCount = 0; // reset PWM Counter |
|
| 107 | } |
104 | } |
| - | 105 | } else { // pwm is low |
|
| 108 | else // pwm is low |
106 | // ignore pwm values values of 0 and higher than 37 ms; |
| 109 | { // ignore pwm values values of 0 and higher than 37 ms; |
107 | if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
| 110 | if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
108 | if (PWMCount < 10) |
| 111 | { |
109 | compassHeading = 0; |
| 112 | if(PWMCount <10) compassHeading = 0; |
110 | else |
| 113 | else compassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
111 | compassHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| 114 | compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
112 | compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| - | 113 | 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 |
114 | // 12 * 362 counts * 102.4 us |
| 116 | // 12 * 362 counts * 102.4 us |
- | |
| 117 | } |
115 | } |
| 118 | PWMCount = 0; // reset pwm counter |
116 | PWMCount = 0; // reset pwm counter |
| 119 | } |
117 | DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| 120 | if(!PWMTimeout) |
118 | DebugOut.Digital[1] &= ~DEBUG_MK3MAG; |
| - | 119 | } if (!PWMTimeout) { |
|
| - | 120 | if (CheckDelay(BeepDelay)) { |
|
| 121 | { |
121 | if (!BeepTime) |
| 122 | if(CheckDelay(BeepDelay)) |
- | |
| 123 | { |
122 | BeepTime = 100; // make noise with 10Hz to signal the compass problem |
| Line 124... | Line -... | ||
| 124 | if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem |
- | |
| 125 | BeepDelay = SetDelay(100); |
- | |