1 files changed, 96 insertions, 0 deletions
diff --git a/source/qFix/qfix.h b/source/qFix/qfix.h
new file mode 100644
index 0000000..0a5d039
--- /dev/null
+++ b/source/qFix/qfix.h
@@ -0,0 +1,96 @@
+//------------------------------------------------------------------
+// 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
+