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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 example: 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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| 51 | #include <avr/io.h> |
1 | #include <avr/io.h> |
| 52 | #include <stdlib.h> |
2 | #include <stdlib.h> |
| 53 | #include <inttypes.h> |
3 | #include <inttypes.h> |
| 54 | #include "timer0.h" |
4 | #include "timer0.h" |
| 55 | #include "attitude.h" |
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| 56 | #include "eeprom.h" |
5 | #include "eeprom.h" |
| 57 | #include "mk3mag.h" |
6 | #include "mk3mag.h" |
| Line 58... | Line -... | ||
| 58 | - | ||
| 59 | // For the DebougOut alone. |
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| 60 | #include "output.h" |
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| 61 | 7 | ||
| - | 8 | uint8_t PWMTimeout = 12; |
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| - | 9 | // This will updated in interrupt handler. Should not be processed by main, other than just atomic copy. |
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| 62 | uint8_t PWMTimeout = 12; |
10 | volatile uint16_t volatileMagneticHeading; |
| Line 63... | Line 11... | ||
| 63 | ToMk3Mag_t toMk3Mag; |
11 | ToMk3Mag_t toMk3Mag; |
| 64 | 12 | ||
| 65 | /*********************************************/ |
13 | /*********************************************/ |
| Line 99... | Line 47... | ||
| 99 | PWMCount++; |
47 | PWMCount++; |
| 100 | // pwm overflow? |
48 | // pwm overflow? |
| 101 | if (PWMCount > 400) { |
49 | if (PWMCount > 400) { |
| 102 | if (PWMTimeout) |
50 | if (PWMTimeout) |
| 103 | PWMTimeout--; // decrement timeout |
51 | PWMTimeout--; // decrement timeout |
| 104 | magneticHeading = -1; // unknown heading |
52 | volatileMagneticHeading = -1; // unknown heading |
| 105 | PWMCount = 0; // reset PWM Counter |
53 | PWMCount = 0; // reset PWM Counter |
| 106 | } |
54 | } |
| 107 | } else { // pwm is low |
55 | } else { // pwm is low |
| 108 | // ignore pwm values values of 0 and higher than 37 ms; |
56 | // ignore pwm values values of 0 and higher than 37 ms; |
| 109 | if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
57 | if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
| 110 | if (PWMCount < 10) |
58 | if (PWMCount < 10) |
| 111 | magneticHeading = 0; |
59 | volatileMagneticHeading = 0; |
| 112 | else { |
60 | else { |
| 113 | magneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
61 | volatileMagneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| 114 | //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
62 | //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
| 115 | } |
63 | } |
| 116 | /* |
64 | /* |
| 117 | compassHeading - compassCourse on a -180..179 range. |
65 | compassHeading - compassCourse on a -180..179 range. |
| 118 | compassHeading 20 compassCourse 30 --> ((540 - 10)%360) - 180 = -10 |
66 | compassHeading 20 compassCourse 30 --> ((540 - 10)%360) - 180 = -10 |
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| 132 | if (!beepTime) |
80 | if (!beepTime) |
| 133 | beep(50); // make noise with 10Hz to signal the compass problem |
81 | beep(50); // make noise with 10Hz to signal the compass problem |
| 134 | beepDelay = setDelay(100); |
82 | beepDelay = setDelay(100); |
| 135 | } |
83 | } |
| 136 | } |
84 | } |
| 137 | - | ||
| 138 | debugOut.analog[12] = magneticHeading; |
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| 139 | } |
85 | } |