WebSVN - FlightCtrl - Path Comparison - /branches/ Rev 1800 and /branches/ Rev 1801

Ignore whitespace Rev 1800 → Rev 1801

/branches/dongfang_FC_rewrite/backup/main.h
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/branches/dongfang_FC_rewrite/backup/readme.txt
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/branches/dongfang_FC_rewrite/backup/controlMixer.h
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/branches/dongfang_FC_rewrite/backup/dongfangMath.c
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/branches/dongfang_FC_rewrite/backup/commands.txt
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/branches/dongfang_FC_rewrite/backup/commands.c
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/branches/dongfang_FC_rewrite/backup/dongfangMath.h
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/branches/dongfang_FC_rewrite/backup/commands.h
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/branches/dongfang_FC_rewrite/backup/navi-lang.txt
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/branches/dongfang_FC_rewrite/backup/invenSense.c
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/branches/dongfang_FC_rewrite/backup/dynamic_calibration_scrap.txt
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/branches/dongfang_FC_rewrite/backup/printf_P.c
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/branches/dongfang_FC_rewrite/backup/invenSense.h
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/branches/dongfang_FC_rewrite/backup/printf_P.h
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/branches/dongfang_FC_rewrite/backup/gps.c
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/branches/dongfang_FC_rewrite/backup/fc-0.74_bugs.txt
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/branches/dongfang_FC_rewrite/backup/spi.c
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/branches/dongfang_FC_rewrite/backup/uart1.c
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/branches/dongfang_FC_rewrite/backup/ubx.c
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/branches/dongfang_FC_rewrite/backup/gps.h
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/branches/dongfang_FC_rewrite/backup/spi.h
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/branches/dongfang_FC_rewrite/backup/uart1.h
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/branches/dongfang_FC_rewrite/backup/analog.c
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/branches/dongfang_FC_rewrite/backup/ubx.h
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/branches/dongfang_FC_rewrite/backup/rc.c
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/branches/dongfang_FC_rewrite/backup/menu.c
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/branches/dongfang_FC_rewrite/backup/analog.h
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/branches/dongfang_FC_rewrite/backup/configuration.c
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/branches/dongfang_FC_rewrite/backup/rc.h
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/branches/dongfang_FC_rewrite/backup/menu.h
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/branches/dongfang_FC_rewrite/backup/configuration.h
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/branches/dongfang_FC_rewrite/backup/flight.c
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/branches/dongfang_FC_rewrite/backup/userparams.txt
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/branches/dongfang_FC_rewrite/backup/ENC-03_FC1.3.c
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/branches/dongfang_FC_rewrite/backup/twimaster.c
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/branches/dongfang_FC_rewrite/backup/License.txt
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/branches/dongfang_FC_rewrite/backup/mk3mag.c
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/branches/dongfang_FC_rewrite/backup/flight.h
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/branches/dongfang_FC_rewrite/backup/externalControl.c
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/branches/dongfang_FC_rewrite/backup/ENC-03_FC1.3.h
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/branches/dongfang_FC_rewrite/backup/twimaster.h
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/branches/dongfang_FC_rewrite/backup/attitudeControl.c
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/branches/dongfang_FC_rewrite/backup/mk3mag.h
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/branches/dongfang_FC_rewrite/backup/displays.txt
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/branches/dongfang_FC_rewrite/backup/externalControl.h
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/branches/dongfang_FC_rewrite/backup/attitudeControl.h
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/branches/dongfang_FC_rewrite/backup/makefile
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/branches/dongfang_FC_rewrite/backup/mm3.c
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 /branches/dongfang_FC_rewrite/makefile
 ,8 → 15,8
 #OPTIONS
 # Use one of the extensions for a gps solution
-EXT = NAVICTRL
-#EXT = MK3MAG
+#EXT = NAVICTRL
+EXT = MK3MAG
 # Use optional one the RCs if EXT = NAVICTRL has been used
 #RC = DSL
 ,17 → 28,17
 #GYRO_PITCHROLL_CORRECTION=0.83f
 #GYRO_YAW_CORRECTION=0.93f
-GYRO=ADXRS610_FC2.0
-GYRO_HW_NAME=ADXR
-GYRO_HW_FACTOR=1.2288f
-GYRO_PITCHROLL_CORRECTION=1.0f
-GYRO_YAW_CORRECTION=1.0f
+#GYRO=ADXRS610_FC2.0
+#GYRO_HW_NAME=ADXR
+#GYRO_HW_FACTOR=1.2288f
+#GYRO_PITCHROLL_CORRECTION=1.0f
+#GYRO_YAW_CORRECTION=1.0f
-#GYRO=invenSense
-#GYRO_HW_NAME=Isense
-#GYRO_HW_FACTOR=0.6827f
-#GYRO_PITCHROLL_CORRECTION=0.93f
-#GYRO_YAW_CORRECTION=0.97f
+GYRO=invenSense
+GYRO_HW_NAME=Isense
+GYRO_HW_FACTOR=0.6827f
+GYRO_PITCHROLL_CORRECTION=0.93f
+GYRO_YAW_CORRECTION=0.97f
 #GYRO=
 #GYRO=invenSense
 ,7 → 255,6
 ##LDFLAGS += -T./linkerfile/avr5.x
 # Programming support using avrdude. Settings and variables.
 # Programming hardware: alf avr910 avrisp bascom bsd

 /branches/dongfang_FC_rewrite/mk3mag.c
 ,80 → 52,77
 #include <stdlib.h>
 #include <inttypes.h>
 #include "timer0.h"
-// #include "rc.h"
 #include "attitude.h"
 #include "eeprom.h"
 #include "mk3mag.h"
+// For the DebougOut alone.
+#include "output.h"
 uint8_t PWMTimeout = 12;
 ToMk3Mag_t ToMk3Mag;
 /*********************************************/
 /*  Initialize Interface to MK3MAG Compass   */
 /*********************************************/
-void MK3MAG_Init(void)
-{
-  // Port PC4 connected to PWM output from compass module
-  DDRC &= ~(1<<DDC4); // set as input
-  PORTC |= (1<<PORTC4); // pull up  to increase PWM counter also if nothing is connected
+void MK3MAG_Init(void) {
+        // Port PC4 connected to PWM output from compass module
+        DDRC &= ~(1 << DDC4); // set as input
+        PORTC |= (1 << PORTC4); // pull up  to increase PWM counter also if nothing is connected
-  PWMTimeout = 0;
+        PWMTimeout = 0;
-  ToMk3Mag.CalState = 0;
-  ToMk3Mag.Orientation = 1;
+        ToMk3Mag.CalState = 0;
+        ToMk3Mag.Orientation = 1;
 }
 /*********************************************/
 /*  Get PWM from MK3MAG                      */
 /*********************************************/
-void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR
-{
-  static uint16_t PWMCount = 0;
-  static uint16_t BeepDelay = 0;
-  // The pulse width varies from 1ms (0°) to 36.99ms (359.9°)
-  // in other words 100us/° with a +1ms offset.
-  // The signal goes low for 65ms between pulses,
-  // so the cycle time is 65mS + the pulse width.
+void MK3MAG_Update(void) {// called every 102.4 us by timer 0 ISR
+        static uint16_t PWMCount = 0;
+        static uint16_t BeepDelay = 0;
+        static uint16_t debugCounter = 0;
+        // The pulse width varies from 1ms (0°) to 36.99ms (359.9°)
+        // in other words 100us/° with a +1ms offset.
+        // The signal goes low for 65ms between pulses,
+        // so the cycle time is 65mS + the pulse width.
-  // pwm is high
+        // pwm is high
-  if(PINC & (1<<PINC4))
-    {   // If PWM signal is high increment PWM high counter
-      // This counter is incremented by a periode of 102.4us,
-      // i.e. the resoluton of pwm coded heading is approx. 1 deg.
-      PWMCount++;
-      // pwm overflow?
-      if (PWMCount > 400)
-        {
-          if(PWMTimeout) PWMTimeout--; // decrement timeout
-          compassHeading = -1; // unknown heading
-          PWMCount = 0; // reset PWM Counter
+        if (PINC & (1 << PINC4)) {
+                // If PWM signal is high increment PWM high counter
+                // This counter is incremented by a periode of 102.4us,
+                // i.e. the resoluton of pwm coded heading is approx. 1 deg.
+                PWMCount++;
+                // pwm overflow?
+                if (PWMCount > 400) {
+                        if (PWMTimeout)
+                                PWMTimeout--; // decrement timeout
+                        compassHeading = -1; // unknown heading
+                        PWMCount = 0; // reset PWM Counter
+                }
+        } else { // pwm is low
+         // ignore pwm values values of 0 and higher than 37 ms;
+                if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms
+                        if (PWMCount < 10)
+                                compassHeading = 0;
+                        else
+                                compassHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset
+                        compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
+                        PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid
+                        // 12 * 362 counts * 102.4 us
+                }
+                PWMCount = 0; // reset pwm counter
+                DebugOut.Digital[0] ^= DEBUG_MK3MAG;
+                DebugOut.Digital[1] &= ~DEBUG_MK3MAG;
+        } if (!PWMTimeout) {
+                if (CheckDelay(BeepDelay)) {
+                        if (!BeepTime)
+                                BeepTime = 100; // make noise with 10Hz to signal the compass problem
+                        BeepDelay = SetDelay(100);
+                        DebugOut.Digital[1] |= DEBUG_MK3MAG;
+                }
         }
-    }
-  else // pwm is low
-    {   // ignore pwm values values of 0 and higher than 37 ms;
-      if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms
-        {
-          if(PWMCount <10) compassHeading = 0;
-          else compassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset
-          compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
-          PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid
-          // 12 * 362 counts * 102.4 us
-        }
-      PWMCount = 0; // reset pwm counter
-    }
-  if(!PWMTimeout)
-    {
-      if(CheckDelay(BeepDelay))
-        {
-          if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem
-          BeepDelay = SetDelay(100);
-        }
-    }
 }

 /branches/dongfang_FC_rewrite/output.c
 ,7 → 92,7
  * Set to 0 for using outputs as the usual flashing lights.
  * Set to one of the DEBUG_... constants in output.h for using the outputs as debug lights.
  */
-#define DIGITAL_DEBUG_MASK 0
+#define DIGITAL_DEBUG_MASK DEBUG_MK3MAG
 // invert means: An "1" bit in digital debug data will feed NO base current to output transistor.
 #define DIGITAL_DEBUG_INVERT 0

/branches/dongfang_FC_rewrite/output.h
19,6 → 19,7
#define DEBUG_ACC0THORDER 8
#define DEBUG_COMMANDREPEATED 16
#define DEBUG_PRESSURERANGE 32
#define DEBUG_MK3MAG 64

void output_init(void);
void output_update(void);

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Ignore whitespace Rev 1800 → Rev 1801