blob: 0a5d03951df9e2f636d56655450b81ae1aa76515 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
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
|
