97 lines
1.9 KiB
C
97 lines
1.9 KiB
C
|
//------------------------------------------------------------------
|
||
|
|
// qfix.h
|
||
|
|
//
|
||
|
|
// This file contains general includes and definitions for the
|
||
|
|
// family of qfix boards.
|
||
|
|
//
|
||
|
|
// Copyright 2004-2006 by KTB mechatronics GmbH
|
||
|
|
// Author: Stefan Enderle
|
||
|
|
//------------------------------------------------------------------
|
||
|
|
|
||
|
|
#ifndef qfix_h
|
||
|
|
#define qfix_h
|
||
|
|
|
||
|
|
|
||
|
|
#include <inttypes.h>
|
||
|
|
#include <avr/io.h>
|
||
|
|
#include <avr/interrupt.h>
|
||
|
|
|
||
|
|
|
||
|
|
/* defines for compatibility */
|
||
|
|
#ifndef cbi
|
||
|
|
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
|
||
|
|
#endif
|
||
|
|
#ifndef sbi
|
||
|
|
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
|
||
|
|
#endif
|
||
|
|
#ifndef BV
|
||
|
|
#define BV _BV
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/** Returns the absolute value of a
|
||
|
|
*/
|
||
|
|
inline
|
||
|
|
int abs(int a)
|
||
|
|
{
|
||
|
|
if (a>=0) return a;
|
||
|
|
else return -a;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/** Sleeps for sec seconds. (Note: this is tuned for
|
||
|
|
* an Atmel ATmega32 running with 8 MHz.)
|
||
|
|
*/
|
||
|
|
inline
|
||
|
|
void sleep(int sec)
|
||
|
|
{
|
||
|
|
for (int s=0; s<sec; s++) {
|
||
|
|
for (long int i=0; i<702839; i++) {
|
||
|
|
asm volatile("nop");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/** Sleeps for msec milliseconds. (Note: this is tuned for
|
||
|
|
* an Atmel ATmega32 running with 8 MHz.)
|
||
|
|
*/
|
||
|
|
inline
|
||
|
|
void msleep(int msec)
|
||
|
|
{
|
||
|
|
for (int s=0; s<msec; s++) {
|
||
|
|
for (long int i=0; i<703; i++) {
|
||
|
|
asm volatile("nop");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/** Translates the given number into a string which ends
|
||
|
|
* with 0.
|
||
|
|
*/
|
||
|
|
inline
|
||
|
|
void num2str(int num, char* str)
|
||
|
|
{
|
||
|
|
bool showZero = false;
|
||
|
|
int i=0;
|
||
|
|
int n=abs(num);
|
||
|
|
|
||
|
|
if (num<0) str[i++]='-';
|
||
|
|
|
||
|
|
if (n>=10000 || showZero) { str[i++]=(n/10000)+'0'; n=n % 10000; showZero=true; }
|
||
|
|
if (n>=1000 || showZero) { str[i++]=(n/1000) +'0'; n=n % 1000; showZero=true; }
|
||
|
|
if (n>=100 || showZero) { str[i++]=(n/100) +'0'; n=n % 100; showZero=true; }
|
||
|
|
if (n>=10 || showZero) { str[i++]=(n/10) +'0'; n=n % 10; showZero=true; }
|
||
|
|
str[i++]=n +'0'; // last digit
|
||
|
|
str[i++]=0; // ending 0
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|