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/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/COPYING
0,0 → 1,674
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
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"This License" refers to version 3 of the GNU General Public License.
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License by making exceptions from one or more of its conditions.
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be treated as though they were included in this License, to the extent
that they are valid under applicable law. If additional permissions
apply only to part of the Program, that part may be used separately
under those permissions, but the entire Program remains governed by
this License without regard to the additional permissions.
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Notices displayed by works containing it; or
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All other non-permissive additional terms are considered "further
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holder fails to notify you of the violation by some reasonable means
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material under section 10.
9. Acceptance Not Required for Having Copies.
You are not required to accept this License in order to receive or
run a copy of the Program. Ancillary propagation of a covered work
occurring solely as a consequence of using peer-to-peer transmission
to receive a copy likewise does not require acceptance. However,
nothing other than this License grants you permission to propagate or
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not accept this License. Therefore, by modifying or propagating a
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10. Automatic Licensing of Downstream Recipients.
Each time you convey a covered work, the recipient automatically
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You may not impose any further restrictions on the exercise of the
rights granted or affirmed under this License. For example, you may
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rights granted under this License, and you may not initiate litigation
(including a cross-claim or counterclaim in a lawsuit) alleging that
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A "contributor" is a copyright holder who authorizes use under this
License of the Program or a work on which the Program is based. The
work thus licensed is called the contributor's "contributor version".
A contributor's "essential patent claims" are all patent claims
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but do not include claims that would be infringed only as a
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If you convey a covered work, knowingly relying on a patent license,
and the Corresponding Source of the work is not available for anyone
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available, or (2) arrange to deprive yourself of the benefit of the
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consistent with the requirements of this License, to extend the patent
license to downstream recipients. "Knowingly relying" means you have
actual knowledge that, but for the patent license, your conveying the
covered work in a country, or your recipient's use of the covered work
in a country, would infringe one or more identifiable patents in that
country that you have reason to believe are valid.
If, pursuant to or in connection with a single transaction or
arrangement, you convey, or propagate by procuring conveyance of, a
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you grant is automatically extended to all recipients of the covered
work and works based on it.
A patent license is "discriminatory" if it does not include within
the scope of its coverage, prohibits the exercise of, or is
conditioned on the non-exercise of one or more of the rights that are
specifically granted under this License. You may not convey a covered
work if you are a party to an arrangement with a third party that is
in the business of distributing software, under which you make payment
to the third party based on the extent of your activity of conveying
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parties who would receive the covered work from you, a discriminatory
patent license (a) in connection with copies of the covered work
conveyed by you (or copies made from those copies), or (b) primarily
for and in connection with specific products or compilations that
contain the covered work, unless you entered into that arrangement,
or that patent license was granted, prior to 28 March 2007.
Nothing in this License shall be construed as excluding or limiting
any implied license or other defenses to infringement that may
otherwise be available to you under applicable patent law.
12. No Surrender of Others' Freedom.
If conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot convey a
covered work so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you may
not convey it at all. For example, if you agree to terms that obligate you
to collect a royalty for further conveying from those to whom you convey
the Program, the only way you could satisfy both those terms and this
License would be to refrain entirely from conveying the Program.
13. Use with the GNU Affero General Public License.
Notwithstanding any other provision of this License, you have
permission to link or combine any covered work with a work licensed
under version 3 of the GNU Affero General Public License into a single
combined work, and to convey the resulting work. The terms of this
License will continue to apply to the part which is the covered work,
but the special requirements of the GNU Affero General Public License,
section 13, concerning interaction through a network will apply to the
combination as such.
14. Revised Versions of this License.
The Free Software Foundation may publish revised and/or new versions of
the GNU General Public License from time to time. Such new versions will
be similar in spirit to the present version, but may differ in detail to
address new problems or concerns.
Each version is given a distinguishing version number. If the
Program specifies that a certain numbered version of the GNU General
Public License "or any later version" applies to it, you have the
option of following the terms and conditions either of that numbered
version or of any later version published by the Free Software
Foundation. If the Program does not specify a version number of the
GNU General Public License, you may choose any version ever published
by the Free Software Foundation.
If the Program specifies that a proxy can decide which future
versions of the GNU General Public License can be used, that proxy's
public statement of acceptance of a version permanently authorizes you
to choose that version for the Program.
Later license versions may give you additional or different
permissions. However, no additional obligations are imposed on any
author or copyright holder as a result of your choosing to follow a
later version.
15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
16. Limitation of Liability.
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
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You should also get your employer (if you work as a programmer) or school,
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The GNU General Public License does not permit incorporating your program
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/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/COPYING.LESSER
0,0 → 1,165
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
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/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/Flight-Ctrl_MEGA644_V0_60.aps
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<AVRStudio><MANAGEMENT><ProjectName>Flight-Ctrl_MEGA644_V0_60</ProjectName><Created>19-Aug-2007 14:38:13</Created><LastEdit>17-Oct-2007 19:33:50</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>19-Aug-2007 14:38:13</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>Flight-Ctrl_MEGA644_V0_60.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60SalvoKompassACC\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>compass.c</SOURCEFILE><SOURCEFILE>math.c</SOURCEFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>compass.h</HEADERFILE><OTHERFILE>makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>makefile</EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Flight-Ctrl_MEGA644_V0_60.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS/><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -O0 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20070525\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20070525\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>compass.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>math.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>analog.c</FileName><Status>1</Status></File00003></Files><Workspace><File00000><Position>323 71 1035 624</Position><LineCol>17 0</LineCol></File00000><File00001><Position>336 71 1048 624</Position><LineCol>51 31</LineCol><State>Maximized</State></File00001><File00002><Position>384 138 934 510</Position><LineCol>229 0</LineCol></File00002><File00003><Position>406 160 956 532</Position><LineCol>0 0</LineCol></File00003></Workspace><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/GPS.c
0,0 → 1,638
/*
This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License and GNU Lesser General Public License for more details.
You should have received a copy of GNU General Public License (License_GPL.txt) and
GNU Lesser General Public License (License_LGPL.txt) along with this program.
If not, see <http://www.gnu.org/licenses/>.
Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de
*/
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Peter Muehlenbrock
Auswertung der Daten vom GPS im ublox Format
Hold Modus mit PID Regler
Rückstuerz zur Basis Funktion
Stand 13.10.2007
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
#include "main.h"
//#include "gps.h"
// Defines fuer ublox Messageformat um Auswertung zu steuern
#define UBLOX_IDLE 0
#define UBLOX_SYNC1 1
#define UBLOX_SYNC2 2
#define UBLOX_CLASS 3
#define UBLOX_ID 4
#define UBLOX_LEN1 5
#define UBLOX_LEN2 6
#define UBLOX_CKA 7
#define UBLOX_CKB 8
#define UBLOX_PAYLOAD 9
// ublox Protokoll Identifier
#define UBLOX_NAV_POSUTM 0x08
#define UBLOX_NAV_STATUS 0x03
#define UBLOX_NAV_VELED 0x12
#define UBLOX_NAV_CLASS 0x01
#define UBLOX_SYNCH1_CHAR 0xB5
#define UBLOX_SYNCH2_CHAR 0x62
signed int GPS_Nick = 0;
signed int GPS_Roll = 0;
short int ublox_msg_state = UBLOX_IDLE;
static uint8_t chk_a =0; //Checksum
static uint8_t chk_b =0;
short int gps_state,gps_sub_state; //Zustaende der Statemachine
short int gps_updte_flag;
signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol
signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters
signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel
signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y;
static unsigned int rx_len;
static unsigned int ptr_payload_data_end;
unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt
signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt
static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler
static uint8_t *ptr_payload_data;
static uint8_t *ptr_pac_status;
long int dist_flown;
short int Get_GPS_data(void);
NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt
NAV_STATUS_t actual_status; // Aktueller Nav Status
NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten
GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst
GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt
GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position
GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode
GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode
// Initialisierung
void GPS_Neutral(void)
{
ublox_msg_state = UBLOX_IDLE;
gps_state = GPS_CRTL_IDLE;
gps_sub_state = GPS_CRTL_IDLE;
actual_pos.status = 0;
actual_speed.status = 0;
actual_status.status = 0;
gps_home_position.status = 0; // Noch keine gueltige Home Position
gps_act_position.status = 0;
gps_rel_act_position.status = 0;
GPS_Nick = 0;
GPS_Roll = 0;
gps_updte_flag = 0;
gps_int_x = 0;
gps_int_y = 0;
gps_alive_cnt = 0;
}
// Home Position sichern falls Daten verfuegbar sind.
void GPS_Save_Home(void)
{
short int n;
n = Get_GPS_data();
if (n == 0) // Gueltige und aktuelle Daten ?
{
// Neue GPS Daten liegen vor
gps_home_position.utm_east = gps_act_position.utm_east;
gps_home_position.utm_north = gps_act_position.utm_north;
gps_home_position.utm_alt = gps_act_position.utm_alt;
gps_home_position.status = 1; // Home Position gueltig
}
}
// Relative Position zur Home Position bestimmen
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
short int Get_Rel_Position(void)
{
short int n = 0;
n = Get_GPS_data();
if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
{
gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north);
gps_rel_act_position.status = 1; // gueltige Positionsdaten
n = 0;
gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen.
}
else
{
n = 2; //keine gueltigen Daten vorhanden
gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist.
}
return (n);
}
// Daten aus aktuellen ublox Messages extrahieren
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig
short int Get_GPS_data(void)
{
short int n = 1;
if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist
if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0))
{
if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
{
gps_act_position.utm_east = actual_pos.utm_east/10;
gps_act_position.utm_north = actual_pos.utm_north/10;
gps_act_position.utm_alt = actual_pos.utm_alt/10;
gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
gps_act_position.heading = actual_speed.heading/100000;
gps_act_position.status = 1;
n = 0; //Daten gueltig
}
else
{
gps_act_position.status = 0; //Keine gueltigen Daten
n = 2;
}
actual_pos.status = 0; //neue ublox Messages anfordern
actual_status.status = 0;
actual_speed.status = 0;
}
return (n);
}
/*
Daten vom GPS im ublox MSG Format auswerten
Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen
// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein
*/
void Get_Ublox_Msg(uint8_t rx)
{
switch (ublox_msg_state)
{
case UBLOX_IDLE: // Zuerst Synchcharacters pruefen
if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1;
else ublox_msg_state = UBLOX_IDLE;
break;
case UBLOX_SYNC1:
if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2;
else ublox_msg_state = UBLOX_IDLE;
chk_a = 0,chk_b = 0;
break;
case UBLOX_SYNC2:
if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS;
else ublox_msg_state = UBLOX_IDLE;
break;
case UBLOX_CLASS: // Nur NAV Meldungen auswerten
switch (rx)
{
case UBLOX_NAV_POSUTM:
ptr_pac_status = &actual_pos.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden
else
{
ptr_payload_data = &actual_pos;
ptr_payload_data_end = &actual_pos.status;
ublox_msg_state = UBLOX_LEN1;
}
break;
case UBLOX_NAV_STATUS:
ptr_pac_status = &actual_status.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
else
{
ptr_payload_data = &actual_status;
ptr_payload_data_end = &actual_status.status;
ublox_msg_state = UBLOX_LEN1;
}
break;
case UBLOX_NAV_VELED:
ptr_pac_status = &actual_speed.status;
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE;
else
{
ptr_payload_data = &actual_speed;
ptr_payload_data_end = &actual_speed.status;
ublox_msg_state = UBLOX_LEN1;
}
break;
default:
ublox_msg_state = UBLOX_IDLE;
break;
}
chk_a = UBLOX_NAV_CLASS + rx;
chk_b = UBLOX_NAV_CLASS + chk_a;
break;
case UBLOX_LEN1: // Laenge auswerten
rx_len = rx;
chk_a += rx;
chk_b += chk_a;
ublox_msg_state = UBLOX_LEN2;
break;
case UBLOX_LEN2: // Laenge auswerten
rx_len = rx_len + (rx *256); // Laenge ermitteln
chk_a += rx;
chk_b += chk_a;
ublox_msg_state = UBLOX_PAYLOAD;
break;
case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen
if (rx_len > 0)
{
*ptr_payload_data = rx;
chk_a += rx;
chk_b += chk_a;
--rx_len;
if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end))
{
ptr_payload_data++;
ublox_msg_state = UBLOX_PAYLOAD;
}
else ublox_msg_state = UBLOX_CKA;
}
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
break;
case UBLOX_CKA: // Checksum pruefen
if (rx == chk_a) ublox_msg_state = UBLOX_CKB;
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler
break;
case UBLOX_CKB: // Checksum pruefen
if (rx == chk_b) *ptr_pac_status = 1; // Paket ok
ublox_msg_state = UBLOX_IDLE;
break;
default:
ublox_msg_state = UBLOX_IDLE;
break;
}
}
//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe
short int GPS_CRTL(short int cmd)
{
static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen
static signed int int_east,int_north; //Integrierer
static signed int dist_north,dist_east;
static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert)
static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert
signed int n,diff_v;
static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion
long signed int dev,n_l;
signed int dist_frm_start_east,dist_frm_start_north;
switch (cmd)
{
case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden.
if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
{
cnt++;
if (cnt > 500) // erst nach Verzoegerung
{
// Erst mal initialisieren
cnt = 0;
gps_tick = 0;
hold_fast = 0;
hold_reset_int = 0; // Integrator enablen
int_east = 0, int_north = 0;
gps_reg_x = 0, gps_reg_y = 0;
dist_east = 0, dist_north = 0;
diff_east_f = 0, diff_north_f= 0;
diff_east = 0, diff_north = 0;
dist_flown = 0;
gps_g2t_act_v = 0;
gps_sub_state = GPS_CRTL_IDLE;
// aktuelle positionsdaten abspeichern
if (gps_rel_act_position.status > 0)
{
gps_rel_start_position.utm_east = gps_rel_act_position.utm_east;
gps_rel_start_position.utm_north= gps_rel_act_position.utm_north;
gps_rel_start_position.status = 1; // gueltige Positionsdaten
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
gps_rel_hold_position.status = 1; // gueltige Positionsdaten
//Richtung zur Home Position bezogen auf Nordpol bestimmen
hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north);
// in Winkel 0...360 Grad umrechnen
if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home);
else hdng_2home = (270 - hdng_2home);
dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen
gps_state = GPS_CRTL_HOME_ACTIVE;
return (GPS_STST_OK);
}
else
{
gps_rel_start_position.status = 0; //Keine Daten verfuegbar
gps_state = GPS_CRTL_IDLE;
return(GPS_STST_ERR); // Keine Daten da
}
}
else return(GPS_STST_PEND); // noch warten
}
break;
// ******************************
case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden.
if (gps_state != GPS_CRTL_HOLD_ACTIVE)
{
cnt++;
if (cnt > 500) // erst nach Verzoegerung
{
cnt = 0;
// aktuelle positionsdaten abspeichern
if (gps_rel_act_position.status > 0)
{
hold_fast = 0;
hold_reset_int = 0; // Integrator enablen
int_east = 0, int_north = 0;
gps_reg_x = 0, gps_reg_y = 0;
dist_east = 0, dist_north = 0;
diff_east_f = 0, diff_north_f= 0;
diff_east = 0, diff_north = 0;
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east;
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north;
gps_rel_hold_position.status = 1; // gueltige Positionsdaten
gps_state = GPS_CRTL_HOLD_ACTIVE;
return (GPS_STST_OK);
}
else
{
gps_rel_hold_position.status = 0; //Keine Daten verfuegbar
gps_state = GPS_CRTL_IDLE;
return(GPS_STST_ERR); // Keine Daten da
}
}
else return(GPS_STST_PEND); // noch warten
}
break;
case GPS_CMD_STOP: // Lageregelung beenden
cnt = 0;
GPS_Nick = 0;
GPS_Roll = 0;
gps_int_x = 0;
gps_int_y = 0;
gps_sub_state = GPS_CRTL_IDLE;
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_OK);
break;
default:
return (GPS_STST_ERR);
break;
}
switch (gps_state)
{
case GPS_CRTL_IDLE:
cnt = 0;
return (GPS_STST_OK);
break;
case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis
//Der Sollwert des Lagereglers wird der Homeposition angenaehert
if (gps_rel_start_position.status >0)
{
if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist
{
gps_tick++;
int d1,d2,d3;
d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east );
d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north );
d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel
if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel
{
if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz
{
if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen
dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit
gps_sub_state = GPS_HOME_FAST_IN_TOL;
}
else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz
{
if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren
dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
gps_sub_state = GPS_HOME_FAST_OUTOF_TOL;
}
hold_fast = 1; // Regler fuer schnellen Flug
hold_reset_int = 1; // Integrator ausschalten
dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000);
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
}
else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen
{
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL))
{
dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit
gps_sub_state = GPS_HOME_RMPDWN_IN_TOL;
}
else
{
dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen
gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL;
}
hold_fast = 0; // Wieder normal regeln
hold_reset_int = 1; // Integrator ausschalten
dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000);
dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000);
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt
}
else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt)
{
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln
{
gps_sub_state = GPS_HOME_IN_TOL;
hold_fast = 0; // Wieder normal regeln
hold_reset_int = 0; // Integrator wieder aktivieren
if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN;
else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN;
if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN;
else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN;
if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN))
{
gps_rel_hold_position.utm_east = 0;
gps_rel_hold_position.utm_north = 0;
gps_sub_state = GPS_HOME_FINISHED;
}
}
else gps_sub_state = GPS_HOME_OUTOF_TOL;
}
}
gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung
return (GPS_STST_OK);
}
else // Keine GPS Daten verfuegbar, deswegen Abbruch
{
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
}
break;
case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet
if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen
{
gps_updte_flag = 0;
// ab hier wird geregelt
diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen
diff_north = -dist_north;
dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east;
dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north;
int_east += dist_east;
int_north += dist_north;
diff_east += dist_east; // Differenz zur vorhergehenden East Position
diff_north += dist_north; // Differenz zur vorhergehenden North Position
if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen
{
diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern
diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern
}
else // schwache Filterung
{
diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern
diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern
}
#define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung
if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten
{
int_east -= dist_east;
int_north -= dist_north;
}
if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten
{
int_east = 0;
int_north = 0;
}
// Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind
// desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1
signed long dist,int_east1,int_north1;
int phi;
phi = arctan_i(abs(dist_north),abs(dist_east));
dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln
if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer
{
diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10
if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen
}
else
{
diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10
if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen
}
int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung
if (hold_fast > 0) diff_p = GPS_PROP_FAST_V;
else diff_p = GPS_PROP_NRML_V;
//I Werte begrenzen
#define INT1_MAX (20 * GPS_V)
int_east1 = ((((long)int_east) * Parameter_UserParam2)/32);
int_north = ((((long)int_north) * Parameter_UserParam2)/32);
if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;
//PID Regler Werte aufsummieren
gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse
gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse
//Ziel-Richtung bezogen auf Nordpol bestimmen
GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y);
// in Winkel 0...360 Grad umrechnen
if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt);
else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt);
// Relative Richtung in bezug auf Nordachse des Kopters errechen
//n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
n= KompassValue;
GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n;
if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360;
else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt;
else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt;
// Regelabweichung aus x,y zu Ziel in Distanz umrechnen
if (abs(gps_reg_x) > abs(gps_reg_y) )
{
dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen
dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt));
}
else
{
dev = (long)gps_reg_y;
dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt));
}
GPS_dist_2trgt = (int) dev;
// Winkel und Distanz in Nick und Rollgroessen umrechnen
GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000);
GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000);
if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V);
else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V);
if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V);
else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V);
//Kleine Werte verstaerken, Grosse abschwaechen
n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V));
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
GPS_Roll = (int) n_l;
n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V));
n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000;
GPS_Nick = (int) n_l;
if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen
{
GPS_Roll = 0;
GPS_Nick = 0;
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
break;
}
else
{
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
return (GPS_STST_OK);
}
}
else
{
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen
return (GPS_STST_OK);
}
break;
default:
gps_state = GPS_CRTL_IDLE;
return (GPS_STST_ERR);
break;
}
return (GPS_STST_ERR);
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/License.txt
0,0 → 1,52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-profit use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be
// + clearly linked and named as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/License_GPL.txt
0,0 → 1,674
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
them if you wish), that you receive source code or can get it if you
want it, that you can change the software or use pieces of it in new
free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you
these rights or asking you to surrender the rights. Therefore, you have
certain responsibilities if you distribute copies of the software, or if
you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must pass on to the recipients the same
freedoms that you received. You must make sure that they, too, receive
or can get the source code. And you must show them these terms so they
know their rights.
Developers that use the GNU GPL protect your rights with two steps:
(1) assert copyright on the software, and (2) offer you this License
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For the developers' and authors' protection, the GPL clearly explains
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The precise terms and conditions for copying, distribution and
modification follow.
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Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/License_LPGL.txt
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GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/README_Gps.txt
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*********************************************************************
GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl
Stand 14.10.2007
Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt
*********************************************************************
Hardware-Voraussetzungen:
Kalibrierter Kompass vom Typ CMPS03, waagrecht eingebaut
GPS Modul vom Typ ublox, Die Meldungungen "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED"
mussen mit 4 HZ Updaterate aktiviert sein. Anschluss an RX Port der FlightCRtl. Baudrate ist 57600 wie beim Kopter Tool.
Software-Voraussetzungen:
in fc.h müsen die Neutralwerte ACC_NICK_NEUTRAL und ACC_ROLL_NEUTRAL
eingetragen werden. Hierzu den Kopter waagrecht ausrichten (Wasserwaage) und mit dem Mikrokoptertool
die Neutralwerte (Fenster ACC Sensor, jeweils die dargestellten Werte ohne Klammern) ermitteln.
Alternativ kann die Variable ACC_NEUTRAL_FIXED auf 0 gesetzt werden, dann wird die Lage beim Kalibrieren als Neutrallage
genommen (wie bei Holgers SW).
In timer0.h muss die Ausrichtung des Kompasses bezogen auf die Nordachse des Kopters
eingetragen sein. KOMPASS_OFFSET legt diesen Wert fest.
Hexfiles:
Ich habe bewußt keinen Hexfile generiert, da die Neutralwerte spezifisch je Kopter sind.
Die SW muß also individuell compiliert werden und der Hexfile in die FlightCrtl eingebaut werden.
Der Lohn für die Muehe ist eine sehr driftarme Fluglageregelung sowie eine von der Startausrichtung
unabhängige waagrechte Lage in der Luft.
Alle Einstellungen beziehen sich auf AVR Studio von Atmel und den WIN_AVR Compiler.
Parametrierung:
Der GPS Hold Regler ist ein PID Regler, der ueber die UserParameter1(P), 2(I) und D(3) gesteuert wird.
UserParameter1 beschreibt den P-Anteil, UserParameter2 den I-Anteil und UserParameter3 den D-Anteil.
Hier kann und muss gespielt werden.Alle Parameter koennen direkt im Mikrokoptertool in den Settings eingestellt werden.
Standardwerte bei kaum Wind sind 8 für den P-Anteil, 1 für den I-Anteil und 12 für den D-Anteil.
Standardwerte bei leichtem verhältnissen sind 12 für den P-Anteil, 2 für den I-Anteil und 18 für den D-Anteil.
Standardwerte bei rauheren verhältnissen sind 16 für den P-Anteil, 2 für den I-Anteil und 20 für den D-Anteil.
Je größer die Werte des "ruckeliger" reagiert die Regelung aber desto schneller und stärker greift sie auch.
Wenn alle 0 sind, ist der Regler deaktiviert.
Voraussetzungen für GPS_Hold:
Neben den genannten HW und SW Voraussetzungen muß beim Kalibrieren das GPS MOdul bereits Positionsdaten liefern.
Nur dann wird die Home Position abgespeichert und nur dann wird GPS_Hold aktiviert.
Kenntlich gemacht wird dies durch einen etwas längeren Piepser nach dem Kalibrieren.
Das GPS Aktiv Flag im Setting muss aktiviert sein.
Eine Ausrichtung des Kopters nach Nord etc. ist nicht erforderlich.
Aktivierung GPS_Hold im Flug:
Wenn alle genannten Voraussetzungen erfüllt sind, wird GPS Hold im Flug automatisch aktiviert, sobald der Nick und Roll Stick
fürca. 500msec in Neutrallage sind. Weicht einer der Sticks davon ab (Parameter GPS_STICK_HOLDOFF) oder liefert das GPS Modul oder fällt der
Kompass aus wird GPS_Hold sofort deaktiviert.
Damit kann jederzeit die manuelle Kontrolle wieder übernommen werden.
GPS_Hold regelt nur horizontale Abweichungen, keine Hoehe.
Der Magnetkompass wird nur in waagrechter Lage dazu benutzt einen internen aus dem Giergyro ermittelten "Ersatz"kompasswert
nach zu kalibrieren. Daher funktioniert die Bstimmung der Kopterausrichtung in jeder Lebenslage, sofern nur ab und zu
der Magnetkompass in die waagrechte Lage kommt.
Ein 3D Kompass ist damit überflüssig.
GPS Rücksturz zur Basis (GPS Home) Funktion
Voraussetzungen wie bei GPS Hold.
Die Funktion kann im Flug aktiviert werden durch Setzen des Hoehenreglerschalters.
Holgers Code habe ich so abgeändert daß der Höhenregler mit "Parameter_MaxHoehe" ab 50 aktiviert wird.
Mit einem Schalter mit Neutrallage können damit die Funktionen
Alles aus - Hoehenregler ein, GPS Home Aus - Hoehenregler Ein UND GPS Home ein
aktiviert werden. Ist noch nicht die beste Lösung und werde ich noch anpassen
Weitere Änderungen:
Bei Unterschreiten der eingestellten Warnschwelle für UBAT ertönt zunächst wie gewohnt der Piepser. Geht die Spannung weiter
runter wird zwangsweise die Gaseinstellung langsam reduziert um den Kopter zum Landen zu bringen
Bekannte Schwächen:
Bei längerer Neigung weicht der Ersatzkompass ab, was zu Lageregelungsfehlern bis zum Ausbrechen führen kann.

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/Settings.h
--- _Settings.h (nonexistent)
+++ _Settings.h (revision 308)
@@ -0,0 +1,50 @@
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Testmodi
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#define MOTOR_OFF 0
+#define MOTOR_TEST 0
+
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Abstimmung
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#define ACC_AMPLIFY 16
+#define FAKTOR_P 1
+#define FAKTOR_I 0.0001
+
+
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Debug-Interface
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein?
+#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet
+
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Sender
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ #define K_NICK 0
+ #define K_ROLL 1
+ #define K_GAS 2
+ #define K_GIER 3
+ #define K_POTI1 4
+ #define K_POTI2 5
+ #define K_POTI3 6
+ #define K_POTI4 7
+// +++++++++++++++++++++++++++++++
+// + Getestete Settings:
+// +++++++++++++++++++++++++++++++
+// Setting: Kamera
+// Stick_P:3
+// Stick_D:0
+// Gyro_P: 175
+// Gyro_I: 175
+// Ki_Anteil: 10
+// +++++++++++++++++++++++++++++++
+// + Getestete Settings:
+// +++++++++++++++++++++++++++++++
+// Setting: Normal
+// Stick_P:2
+// Stick_D:8
+// Gyro_P: 80
+// Gyro_I: 150
+// Ki_Anteil: 5
+

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/analog.c
0,0 → 1,156
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0;
volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0;
volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0;
volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0;
volatile long Luftdruck = 32000;
volatile int StartLuftdruck;
volatile unsigned int MessLuftdruck = 1023;
unsigned char DruckOffsetSetting;
volatile int HoeheD = 0;
volatile char messanzahl_Druck;
volatile int tmpLuftdruck;
volatile unsigned int ZaehlMessungen = 0;
//#######################################################################################
//
void ADC_Init(void)
//#######################################################################################
{
ADMUX = 0;//Referenz ist extern
ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE);
//Free Running Mode, Division Factor 128, Interrupt on
}
void SucheLuftruckOffset(void)
{
unsigned int off;
for(off=0; off < 250;off++)
{
OCR0A = off;
Delay_ms(50);
printf(".");
if(MessLuftdruck < 900) break;
}
DruckOffsetSetting = off;
Delay_ms(200);
}
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
static unsigned char kanal=0,state = 0;
signed int wert;
ANALOG_OFF;
switch(state++)
{
case 0:
wert = (signed int) AdNeutralGier - ADC;
AccumulateGier += wert; //
MessanzahlGier++;
Mess_Integral_Gier += wert;// / 16;
Mess_Integral_Gier2 += wert;
// GyroKomp_Int += wert;
kanal = 1;
ZaehlMessungen++;
break;
case 1:
wert = (signed int) ADC - AdNeutralRoll;
Mess_IntegralRoll += wert;
Mess_IntegralRoll2 += wert;
if(ADC < 10) wert = -700;
if(ADC > 1000) wert = +700;
AccumulateRoll += wert;
MessanzahlRoll++;
kanal = 2;
break;
case 2:
wert = (signed int) ADC - AdNeutralNick;
Mess_IntegralNick += wert;
Mess_IntegralNick2 += wert;
if(ADC < 10) wert = -700;
if(ADC > 1000) wert = +700;
AccumulateNick += wert;
MessanzahlNick++;
kanal = 4;
break;
case 3:
UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
kanal = 6;
break;
case 4:
Aktuell_ay = NeutralAccY - ADC;
accumulate_AccRoll += Aktuell_ay;
messanzahl_AccRoll++;
kanal = 7;
break;
case 5:
Aktuell_ax = ADC - NeutralAccX;
accumulate_AccNick += Aktuell_ax;
messanzahl_AccNick++;
kanal = 5;
state = 6;
break;
case 6:
accumulate_AccHoch = (signed int) ADC - NeutralAccZ;
accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4;
if(accumulate_AccHoch > 1)
{
if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
}
else if(accumulate_AccHoch < -1)
{
if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
}
messanzahl_AccHoch = 1;
Aktuell_az = ADC;
Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren
Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
// Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen
/* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
kanal = 3;
state = 7;
}
else
{
kanal = 0;
state = 0;
}*/
kanal = 3;
state = 7;
break;
case 7:
tmpLuftdruck += ADC;
if(++messanzahl_Druck >= 5)
{
MessLuftdruck = ADC;
messanzahl_Druck = 0;
HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert
Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
HoehenWert = StartLuftdruck - Luftdruck;
tmpLuftdruck = 0;
}
kanal = 0;
state = 0;
break;
default:
kanal = 0;
state = 0;
break;
}
ADMUX = kanal;
ANALOG_ON;
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/analog.h
0,0 → 1,23
/*#######################################################################################
#######################################################################################*/
extern volatile int UBat;
extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch;
extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch;
extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az;
extern volatile long Luftdruck;
extern volatile char messanzahl_Druck;
extern volatile unsigned int ZaehlMessungen;
extern unsigned char DruckOffsetSetting;
extern volatile int HoeheD;
extern volatile unsigned int MessLuftdruck;
extern volatile int StartLuftdruck;
extern unsigned int ReadADC(unsigned char adc_input);
extern void ADC_Init(void);
extern void SucheLuftruckOffset(void);
#define ANALOG_OFF ADCSRA=0
#define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE)

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/compass.c
0,0 → 1,150
/*
Copyright 2007, Niklas Nold
This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de
*/
#include "main.h"
MM3_struct MM3;
//############################################################################
//Initialisierung der SPI-Schnittstelle
void init_spi(void)
//############################################################################
{
SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator
//SPSR = (1<<SPI2X);
DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
PORTD &= ~(1<<PD3); // J5 auf Low
MM3.AXIS = MM3_X;
MM3.STATE = MM3_RESET;
}
//############################################################################
//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
void MM3_timer0(void)
//############################################################################
{
switch (MM3.STATE)
{
case MM3_RESET:
PORTB |= (1<<PB2); // J8 auf High, MM3 Reset
MM3.STATE = MM3_START_TRANSFER;
return;
case MM3_START_TRANSFER:
PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High)
if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50)
else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024)
MM3.STATE = MM3_WAIT_DRDY;
return;
case MM3_WAIT_DRDY:
if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
return; // Jetzt gehts weiter in SIGNAL (SIG_SPI)
case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in °
MM3.NickGrad = asin_i((float)Aktuell_ax/220*200);
MM3.RollGrad = asin_i((float)Aktuell_ay/220*200);
MM3.AXIS = MM3_X;
MM3.STATE = MM3_RESET;
return;
}
}
//############################################################################
//SPI byte ready
SIGNAL (SIG_SPI)
//############################################################################
{
switch (MM3.STATE)
{
case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken
if (MM3.AXIS == MM3_X)
{
MM3.x_axis = SPDR;
MM3.x_axis <<= 8;
}
else if (MM3.AXIS == MM3_Y)
{
MM3.y_axis = SPDR;
MM3.y_axis <<= 8;
}
else // if (MM3.AXIS == MM3_Z)
{
MM3.z_axis = SPDR;
MM3.z_axis <<= 8;
}
SPDR=0x00; // Übertragung von 2. Byte auslösen
MM3.STATE=MM3_BYTE2;
return;
case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da
if (MM3.AXIS == MM3_X)
{
MM3.x_axis |= SPDR;
MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen
MM3.AXIS = MM3_Y;
MM3.STATE = MM3_RESET;
}
else if (MM3.AXIS == MM3_Y)
{
MM3.y_axis |= SPDR;
MM3.y_axis -= OFF_Y;
MM3.AXIS = MM3_Z;
MM3.STATE = MM3_RESET;
}
else // if (MM3.AXIS == MM3_Z)
{
MM3.z_axis |= SPDR;
MM3.z_axis -= OFF_Z;
MM3.STATE = MM3_TILT;
}
return;
}
}
signed int MM3_heading(void)
{
float sin_nick, cos_nick, sin_roll, cos_roll;
signed int x_corr, y_corr;
signed int heading;
// Berechung von sinus und cosinus
sin_nick = sin_i(MM3.NickGrad);
cos_nick = cos_i(MM3.NickGrad);
sin_roll = sin_i(MM3.RollGrad);
cos_roll = cos_i(MM3.RollGrad);
// Neigungskompensation
x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick);
y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis));
// Winkelberechnung
heading = atan2_i(x_corr, y_corr);
return (heading);
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/compass.h
0,0 → 1,41
typedef struct
{
uint8_t STATE;
unsigned int DRDY;
uint8_t AXIS;
signed int x_axis;
signed int y_axis;
signed int z_axis;
signed int NickGrad;
signed int RollGrad;
}MM3_struct;
extern MM3_struct MM3;
void init_spi(void);
void MM3_timer0(void);
signed int MM3_heading(void);
#define Int2Grad_Faktor 1024
// Die Werte der Statemachine
#define MM3_RESET 0
#define MM3_START_TRANSFER 1
#define MM3_WAIT_DRDY 2
#define MM3_DRDY 4
#define MM3_BYTE2 8
#define MM3_X 16
#define MM3_Y 32
#define MM3_Z 64
#define MM3_TILT 128
// Die Werte der Kompasskalibrierung
// OFFSET: (Maximaler Wert + minimaler Wert) / 2
#define OFF_X -11
#define OFF_Y 30
#define OFF_Z 18

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/eeprom.c
--- fc.c (nonexistent)
+++ fc.c (revision 308)
@@ -0,0 +1,833 @@
+/*#######################################################################################
+Flight Control
+#######################################################################################*/
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Copyright (c) 04.2007 Holger Buss
+// + Nur für den privaten Gebrauch
+// + www.MikroKopter.com
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
+// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
+// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
+// + bzgl. der Nutzungsbedingungen aufzunehmen.
+// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
+// + Verkauf von Luftbildaufnahmen, usw.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
+// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
+// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
+// + eindeutig als Ursprung verlinkt werden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
+// + Benutzung auf eigene Gefahr
+// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
+// + mit unserer Zustimmung zulässig
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
+// + this list of conditions and the following disclaimer.
+// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
+// + from this software without specific prior written permission.
+// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
+// + for non-commercial use (directly or indirectly)
+// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
+// + with our written permission
+// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
+// + clearly linked as origin
+// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
+// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// + POSSIBILITY OF SUCH DAMAGE.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 6.10.2007
+/*
+Driftkompensation fuer Gyros verbessert
+Linearsensor mit fixem Neutralwert
+Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsunabhaengige Kompassfunktion
+*/
+
+#include "main.h"
+
+unsigned char h,m,s;
+volatile unsigned char Timeout = 0;
+volatile int MesswertNick,MesswertRoll,MesswertGier;
+volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0;
+volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
+volatile float NeutralAccZ = 0;
+unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0;
+volatile long IntegralNick = 0,IntegralNick2 = 0;
+volatile long IntegralRoll = 0,IntegralRoll2 = 0;
+volatile long Integral_Gier = 0;
+volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
+volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
+volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
+volatile long Mess_Integral_Hoch = 0;
+volatile int KompassValue = 0;
+volatile int KompassStartwert = 0;
+volatile int KompassRichtung = 0;
+unsigned char MAX_GAS,MIN_GAS;
+unsigned char Notlandung = 0;
+unsigned char HoehenReglerAktiv = 0;
+
+float GyroFaktor;
+float IntegralFaktor;
+
+uint8_t gps_cmd = GPS_CMD_STOP;
+
+volatile int DiffNick,DiffRoll;
+int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
+volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
+unsigned char MotorWert[5];
+volatile unsigned char SenderOkay = 0;
+int StickNick = 0,StickRoll = 0,StickGier = 0;
+char MotorenEin = 0;
+int HoehenWert = 0;
+int SollHoehe = 0;
+int w,v;
+
+float Kp = FAKTOR_P;
+float Ki = FAKTOR_I;
+
+unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250
+unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250
+unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32
+unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
+unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250
+unsigned char Parameter_Gyro_P = 50; // Wert : 10-250
+unsigned char Parameter_Gyro_I = 150; // Wert : 0-250
+unsigned char Parameter_Gier_P = 2; // Wert : 1-20
+unsigned char Parameter_I_Faktor = 10; // Wert : 1-20
+unsigned char Parameter_UserParam1 = 0;
+unsigned char Parameter_UserParam2 = 0;
+unsigned char Parameter_UserParam3 = 0;
+unsigned char Parameter_UserParam4 = 0;
+unsigned char Parameter_ServoNickControl = 100;
+struct mk_param_struct EE_Parameter;
+
+void Piep(unsigned char Anzahl)
+{
+ while(Anzahl--)
+ {
+ if(MotorenEin) return; //auf keinen Fall im Flug!
+ beeptime = 100;
+ Delay_ms(250);
+ }
+}
+
+//############################################################################
+// Nullwerte ermitteln
+void SetNeutral(void)
+//############################################################################
+{
+ unsigned int timer;
+ NeutralAccX = 0;
+ NeutralAccY = 0;
+ NeutralAccZ = 0;
+ AdNeutralNick = 0;
+ AdNeutralRoll = 0;
+ AdNeutralGier = 0;
+ GPS_Neutral();
+ CalibrierMittelwert();
+ timer = SetDelay(5);
+ while (!CheckDelay(timer));
+ CalibrierMittelwert();
+ if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
+ {
+ if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
+ }
+ AdNeutralNick= abs(MesswertNick);
+ AdNeutralRoll= abs(MesswertRoll);
+ AdNeutralGier= abs(MesswertGier);
+ NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY;
+ NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY;
+ NeutralAccZ = Aktuell_az;
+
+ Mess_IntegralNick = 0;
+ Mess_IntegralNick2 = 0;
+ Mess_IntegralRoll = 0;
+ Mess_IntegralRoll2 = 0;
+ Mess_Integral_Gier = 0;
+ MesswertNick = 0;
+ MesswertRoll = 0;
+ MesswertGier = 0;
+ StartLuftdruck = Luftdruck;
+ HoeheD = 0;
+ Mess_Integral_Hoch = 0;
+ KompassStartwert = KompassValue;
+ beeptime = 50;
+}
+
+//############################################################################
+// Bildet den Mittelwert aus den Messwerten
+void Mittelwert(void)
+//############################################################################
+{
+ // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
+ ANALOG_OFF;
+ if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick);
+ if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll);
+ if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier);
+ if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L;
+ if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L;
+ if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L;
+ AccumulateNick = 0; MessanzahlNick = 0;
+ AccumulateRoll = 0; MessanzahlRoll = 0;
+ AccumulateGier = 0; MessanzahlGier = 0;
+ accumulate_AccRoll = 0;messanzahl_AccRoll = 0;
+ accumulate_AccNick = 0;messanzahl_AccNick = 0;
+ accumulate_AccHoch = 0;messanzahl_AccHoch = 0;
+ Integral_Gier = Mess_Integral_Gier;
+ IntegralNick = Mess_IntegralNick;
+ IntegralRoll = Mess_IntegralRoll;
+ IntegralNick2 = Mess_IntegralNick2;
+ IntegralRoll2 = Mess_IntegralRoll2;
+ // ADC einschalten
+ ANALOG_ON;
+
+//------------------------------------------------------------------------------
+ if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200);
+ else
+ if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200);
+
+ if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200);
+ else
+ if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200);
+//------------------------------------------------------------------------------
+ if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
+ if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
+ if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
+ if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
+ if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
+ if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
+ if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
+ if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
+}
+
+//############################################################################
+// Messwerte beim Ermitteln der Nullage
+void CalibrierMittelwert(void)
+//############################################################################
+{
+ // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
+ ANALOG_OFF;
+ if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick);
+ if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll);
+ if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier);
+ if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick);
+ if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll;
+ if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch;
+ AccumulateNick = 0; MessanzahlNick = 0;
+ AccumulateRoll = 0; MessanzahlRoll = 0;
+ AccumulateGier = 0; MessanzahlGier = 0;
+ accumulate_AccRoll = 0;messanzahl_AccRoll = 0;
+ accumulate_AccNick = 0;messanzahl_AccNick = 0;
+ accumulate_AccHoch = 0;messanzahl_AccHoch = 0;
+ // ADC einschalten
+ ANALOG_ON;
+ if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
+ if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
+ if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
+ if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
+ if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
+ if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
+ if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
+ if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
+}
+
+//############################################################################
+// Senden der Motorwerte per I2C-Bus
+void SendMotorData(void)
+//############################################################################
+{
+ if(MOTOR_OFF || !MotorenEin)
+ {
+ Motor_Hinten = 0;
+ Motor_Vorne = 0;
+ Motor_Rechts = 0;
+ Motor_Links = 0;
+ if(MotorTest[0]) Motor_Vorne = MotorTest[0];
+ if(MotorTest[1]) Motor_Hinten = MotorTest[1];
+ if(MotorTest[2]) Motor_Links = MotorTest[2];
+ if(MotorTest[3]) Motor_Rechts = MotorTest[3];
+ }
+
+ DebugOut.Analog[12] = Motor_Vorne;
+ DebugOut.Analog[13] = Motor_Hinten;
+ DebugOut.Analog[14] = Motor_Links;
+ DebugOut.Analog[15] = Motor_Rechts;
+
+ //Start I2C Interrupt Mode
+ twi_state = 0;
+ motor = 0;
+ i2c_start();
+}
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Konstanten
+// + 0-250 -> normale Werte
+// + 251 -> Poti1
+// + 252 -> Poti2
+// + 253 -> Poti3
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+void DefaultKonstanten1(void)
+{
+ EE_Parameter.Kanalbelegung[K_NICK] = 1;
+ EE_Parameter.Kanalbelegung[K_ROLL] = 2;
+ EE_Parameter.Kanalbelegung[K_GAS] = 3;
+ EE_Parameter.Kanalbelegung[K_GIER] = 4;
+ EE_Parameter.Kanalbelegung[K_POTI1] = 5;
+ EE_Parameter.Kanalbelegung[K_POTI2] = 6;
+ EE_Parameter.Kanalbelegung[K_POTI3] = 7;
+ EE_Parameter.Kanalbelegung[K_POTI4] = 8;
+ EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01;
+ EE_Parameter.Hoehe_MinGas = 30;
+ EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1
+ EE_Parameter.Hoehe_P = 10; // Wert : 0-32
+ EE_Parameter.Luftdruck_D = 70; // Wert : 0-250
+ EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250
+ EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50
+ EE_Parameter.Stick_P = 2; //2 // Wert : 1-6
+ EE_Parameter.Stick_D = 4; //8 // Wert : 0-64
+ EE_Parameter.Gier_P = 16; // Wert : 1-20
+ EE_Parameter.Gas_Min = 15; // Wert : 0-32
+ EE_Parameter.Gas_Max = 250; // Wert : 33-250
+ EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64
+ EE_Parameter.KompassWirkung = 16; // Wert : 0-250
+ EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250
+ EE_Parameter.Gyro_I = 150; // Wert : 0-250
+ EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250
+ EE_Parameter.NotGas = 100; // Wert : 0-250 // Gaswert bei Empangsverlust
+ EE_Parameter.NotGasZeit = 60; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
+ EE_Parameter.UfoAusrichtung = 0; // X oder + Formation
+ EE_Parameter.I_Faktor = 5;
+ EE_Parameter.UserParam1 = 16; //zur freien Verwendung, derzeit P-Anteil GPS
+ EE_Parameter.UserParam2 = 2; //zur freien Verwendung, derzeit I-Anteil GPS
+ EE_Parameter.UserParam3 = 12; //zur freien Verwendung, derzeit D-Anteil GPS
+ EE_Parameter.UserParam4 = 0; //zur freien Verwendung
+ EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos
+ EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo
+ EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
+ EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag
+ EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag
+ EE_Parameter.ServoNickRefresh = 5;
+ memcpy(EE_Parameter.Name, "Normal\0", 12);
+}
+
+void DefaultKonstanten2(void)
+{
+ EE_Parameter.Kanalbelegung[K_NICK] = 1;
+ EE_Parameter.Kanalbelegung[K_ROLL] = 2;
+ EE_Parameter.Kanalbelegung[K_GAS] = 3;
+ EE_Parameter.Kanalbelegung[K_GIER] = 4;
+ EE_Parameter.Kanalbelegung[K_POTI1] = 5;
+ EE_Parameter.Kanalbelegung[K_POTI2] = 6;
+ EE_Parameter.Kanalbelegung[K_POTI3] = 7;
+ EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01;
+ EE_Parameter.Hoehe_MinGas = 30;
+ EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1
+ EE_Parameter.Hoehe_P = 10; // Wert : 0-32
+ EE_Parameter.Luftdruck_D = 50; // Wert : 0-250
+ EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250
+ EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50
+ EE_Parameter.Stick_P = 2; //2 // Wert : 1-6
+ EE_Parameter.Stick_D = 0; //8 // Wert : 0-64
+ EE_Parameter.Gier_P = 16; // Wert : 1-20
+ EE_Parameter.Gas_Min = 15; // Wert : 0-32
+ EE_Parameter.Gas_Max = 250; // Wert : 33-250
+ EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64
+ EE_Parameter.KompassWirkung = 64; // Wert : 0-250
+ EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250
+ EE_Parameter.Gyro_I = 175; // Wert : 0-250
+ EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250
+ EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust
+ EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
+ EE_Parameter.UfoAusrichtung = 0; // X oder + Formation
+ EE_Parameter.I_Faktor = 5;
+ EE_Parameter.UserParam1 = 12; //zur freien Verwendung
+ EE_Parameter.UserParam2 = 2; //zur freien Verwendung
+ EE_Parameter.UserParam3 = 16; //zur freien Verwendung
+ EE_Parameter.UserParam4 = 0; //zur freien Verwendung
+ EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos
+ EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo
+ EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
+ EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag
+ EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag
+ EE_Parameter.ServoNickRefresh = 5;
+ memcpy(EE_Parameter.Name, "Kamera\0", 12);
+}
+
+
+//############################################################################
+// Trägt ggf. das Poti als Parameter ein
+void ParameterZuordnung(void)
+//############################################################################
+{
+
+ #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
+ CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255);
+ CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
+ CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
+ CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255);
+ CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255);
+ CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
+ CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255);
+ CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
+ CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
+ CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
+ CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
+ CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
+
+ CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
+ CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
+ CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
+
+ Ki = (float) Parameter_I_Faktor * 0.0001;
+ MAX_GAS = EE_Parameter.Gas_Max;
+ MIN_GAS = EE_Parameter.Gas_Min;
+}
+
+//############################################################################
+//
+void MotorRegler(void)
+//############################################################################
+{
+ int motorwert,pd_ergebnis,h,tmp_int;
+ int GierMischanteil,GasMischanteil;
+ static long SummeNick=0,SummeRoll=0;
+ static long sollGier = 0,tmp_long,tmp_long2;
+ static int IntegralFehlerNick = 0;
+ static int IntegralFehlerRoll = 0;
+ static unsigned int RcLostTimer;
+ static unsigned char delay_neutral = 0;
+ static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
+ static unsigned int modell_fliegt = 0;
+ static int hoehenregler = 0;
+ static char TimerWerteausgabe = 0;
+ static char NeueKompassRichtungMerken = 0;
+ Mittelwert();
+//****** GPS Daten holen ***************
+ short int n;
+ if (gps_alive_cnt > 0) gps_alive_cnt--; //Dekrementieren. Wenn 0 kommen keine ausreichenden GPS Meldungen (Timeout)
+ n = Get_Rel_Position();
+ if (n == 0)
+ {
+ ROT_ON; //led blitzen lassen
+ }
+//******PROVISORISCH***************
+ GRN_ON;
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gaswert ermitteln
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
+ if(GasMischanteil < 0) GasMischanteil = 0;
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Empfang schlecht
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(SenderOkay < 100)
+ {
+ if(!PcZugriff) beeptime = 500;
+ if(RcLostTimer) RcLostTimer--;
+ else
+ {
+ MotorenEin = 0;
+ Notlandung = 0;
+ }
+ ROT_ON;
+ if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken
+ {
+ GasMischanteil = EE_Parameter.NotGas;
+ Notlandung = 1;
+ PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
+ PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
+ PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
+/* Poti1 = 65;
+ Poti2 = 48;
+ Poti3 = 0;
+*/ }
+ else MotorenEin = 0;
+ }
+ else
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Emfang gut
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(SenderOkay > 140)
+ {
+ Notlandung = 0;
+ RcLostTimer = EE_Parameter.NotGasZeit * 50;
+ if(GasMischanteil > 40)
+ {
+ if(modell_fliegt < 0xffff) modell_fliegt++;
+ }
+ if((modell_fliegt < 200) || (GasMischanteil < 40))
+ {
+ SummeNick = 0;
+ SummeRoll = 0;
+ Mess_Integral_Gier = 0;
+ Mess_Integral_Gier2 = 0;
+ }
+ if((GasMischanteil > 200) && MotorenEin == 0)
+ {
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// auf Nullwerte kalibrieren
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte
+ {
+ unsigned char setting;
+ if(++delay_neutral > 200) // nicht sofort
+ {
+ GRN_OFF;
+ SetNeutral();
+ MotorenEin = 0;
+ delay_neutral = 0;
+ modell_fliegt = 0;
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
+ {
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
+ eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken
+ }
+ ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
+ Piep(GetActiveParamSetNumber());
+ if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
+ {
+ if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
+ }
+ GPS_Save_Home(); //Daten sind jetzt hoffentlich verfuegbar
+ if (gps_home_position.status > 0 )
+ {
+ Delay_ms(1000); //akustisch verkuenden dass GPS Home Daten da sind
+ beeptime = 2000;
+ Delay_ms(500);
+ }
+ }
+ }
+ else delay_neutral = 0;
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gas ist unten
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(GasMischanteil < 35)
+ {
+ // Starten
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
+ {
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Einschalten
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(++delay_einschalten > 200)
+ {
+ delay_einschalten = 200;
+ modell_fliegt = 1;
+ MotorenEin = 1;
+ sollGier = 0;
+ Mess_Integral_Gier = 0;
+ Mess_Integral_Gier2 = 0;
+ Mess_IntegralNick = 0;
+ Mess_IntegralRoll = 0;
+ Mess_IntegralNick2 = IntegralNick;
+ Mess_IntegralRoll2 = IntegralRoll;
+ SummeNick = 0;
+ SummeRoll = 0;
+ }
+ }
+ else delay_einschalten = 0;
+ //Auf Neutralwerte setzen
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Auschalten
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
+ {
+ if(++delay_ausschalten > 200) // nicht sofort
+ {
+ MotorenEin = 0;
+ delay_ausschalten = 200;
+ modell_fliegt = 0;
+ }
+ }
+ else delay_ausschalten = 0;
+ }
+ }
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// neue Werte von der Funke
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(!NewPpmData-- || Notlandung)
+ {
+ ParameterZuordnung();
+ StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P;
+ StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
+ StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P;
+ StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
+ StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
+
+ GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0;
+ IntegralFaktor = ((float) Parameter_Gyro_I) / 44000;
+
+ if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0;
+ if(GyroFaktor < 0) GyroFaktor = 0;
+ if(IntegralFaktor < 0) IntegralFaktor = 0;
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Bei Empfangsausfall im Flug
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(Notlandung)
+ {
+ StickGier = 0;
+ StickNick = 0;
+ StickRoll = 0;
+ GyroFaktor = 0.1;
+ IntegralFaktor = 0.005;
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gyro-Drift kompensieren
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#define DRIFT_FAKTOR 3
+ if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR)
+ {
+ IntegralFehlerNick = IntegralNick2 - IntegralNick;
+ IntegralFehlerRoll = IntegralRoll2 - IntegralRoll;
+ ZaehlMessungen = 0;
+ if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++;
+ if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--;
+ if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++;
+ if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--;
+ //if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--;
+ //if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++;
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ Mess_IntegralNick2 = IntegralNick;
+ Mess_IntegralRoll2 = IntegralRoll;
+ Mess_Integral_Gier2 = Integral_Gier;
+ ANALOG_ON; // ADC einschalten
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Integrale auf ACC-Signal abgleichen
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16;
+ tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16;
+#define AUSGLEICH 500
+ if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH;
+ if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH;
+ if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH;
+ if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH;
+
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ Mess_IntegralNick -= tmp_long;
+ Mess_IntegralRoll -= tmp_long2;
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gieren
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ sollGier = StickGier;
+ if(abs(StickGier) > 30)
+ {
+ if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1;
+ }
+ tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo
+ Mess_Integral_Gier -= tmp_int;
+ if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen
+ if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000;
+
+ ANALOG_ON; // ADC einschalten
+
+
+
+// Salvo 6.10.2007
+ // GPS Home aktivieren wenn Knueppel in Ruhelage und Hoehenschalter aktiviert ist
+ //GPS Hold Aktiveren wenn Knueppel in Ruhelage sind
+ if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(StickRoll) < GPS_STICK_HOLDOFF) && (abs(StickNick) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0))
+ {
+ if (Parameter_MaxHoehe > 200)
+ {
+ if ( gps_cmd == GPS_CMD_REQ_HOLD) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet
+ else gps_cmd = GPS_CMD_REQ_HOME;
+ n = GPS_CRTL(gps_cmd);
+ }
+ else
+ {
+ if ( gps_cmd == GPS_CMD_REQ_HOME) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet
+ else gps_cmd = GPS_CMD_REQ_HOLD;
+ n= GPS_CRTL(gps_cmd);
+ }
+ }
+ else (n= GPS_CRTL(GPS_CMD_STOP)); //GPS Lageregelung beenden
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Kompass
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
+ {
+ if(NeueKompassRichtungMerken)
+ {
+ KompassStartwert = KompassValue;
+ NeueKompassRichtungMerken = 0;
+ }
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten
+ ANALOG_ON; // ADC einschalten
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Debugwerte zuordnen
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+DebugOut.Sekunden++;
+ if(!TimerWerteausgabe--)
+ {
+ TimerWerteausgabe = 49;
+
+ DebugOut.Analog[0] = MM3.NickGrad;
+ DebugOut.Analog[1] = MM3.RollGrad;
+ DebugOut.Analog[2] = Mittelwert_AccNick;
+ DebugOut.Analog[3] = Mittelwert_AccRoll;
+ DebugOut.Analog[4] = MesswertGier;
+ DebugOut.Analog[5] = HoehenWert;
+ DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);
+ DebugOut.Analog[7] = GasMischanteil;
+ DebugOut.Analog[8] = KompassValue;
+DebugOut.Analog[12] = MM3_heading();
+DebugOut.Analog[9] = MM3.x_axis;
+DebugOut.Analog[10] = MM3.y_axis;
+DebugOut.Analog[11] = MM3.z_axis;
+
+
+ }
+
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor;
+ MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor;
+ MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor;
+ // Maximalwerte abfangen
+ #define MAX_SENSOR 2048
+ if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR;
+ if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
+ if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR;
+ if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
+ if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR;
+ if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Höhenregelung
+// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+//OCR0B = 180 - (Poti1 + 120) / 4;
+//DruckOffsetSetting = OCR0B;
+ if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung
+ {
+ int tmp_int;
+ if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert
+ {
+ if(Parameter_MaxHoehe < 50)
+ {
+//Salvo 10.10.2007 Um Absacken beim Einschalten zu verhindern
+// SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters
+ SollHoehe = HoehenWert - 0; // Parameter_MaxHoehe ist der PPM-Wert des Schalters
+// Salvo End
+ HoehenReglerAktiv = 0;
+ }
+ else
+ HoehenReglerAktiv = 1;
+ }
+ else
+ {
+ SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20;
+ HoehenReglerAktiv = 1;
+ }
+
+ if(Notlandung) SollHoehe = 0;
+ h = HoehenWert;
+ if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln
+ { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil
+ h = GasMischanteil - h; // vom Gas abziehen
+ h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil
+ tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32;
+ if(tmp_int > 50) tmp_int = 50;
+ else if(tmp_int < -50) tmp_int = -50;
+ h -= tmp_int;
+ hoehenregler = (hoehenregler*15 + h) / 16;
+ if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN
+ {
+ if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas;
+ if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil;
+ }
+ if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas
+ GasMischanteil = hoehenregler;
+ }
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Mischer und PI-Regler
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gier-Anteil
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ GierMischanteil = MesswertGier - sollGier; // Regler für Gier
+ if(GierMischanteil > 100) GierMischanteil = 100;
+ if(GierMischanteil < -100) GierMischanteil = -100;
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Nick-Achse
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen
+ SummeNick += DiffNick; // I-Anteil
+ if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1;
+ if(SummeNick > 16000) SummeNick = 16000;
+ if(SummeNick < -16000) SummeNick = -16000;
+ pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick
+ // Motor Vorn
+ motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer
+ if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0;
+ else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
+ if (motorwert < MIN_GAS) motorwert = MIN_GAS;
+ Motor_Vorne = motorwert;
+ // Motor Heck
+ motorwert = GasMischanteil - pd_ergebnis + GierMischanteil;
+ if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0;
+ else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
+ if (motorwert < MIN_GAS) motorwert = MIN_GAS;
+ Motor_Hinten = motorwert;
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Roll-Achse
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen
+ SummeRoll += DiffRoll; // I-Anteil
+ if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1;
+ if(SummeRoll > 16000) SummeRoll = 16000;
+ if(SummeRoll < -16000) SummeRoll = -16000;
+ pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll
+ // Motor Links
+ motorwert = GasMischanteil + pd_ergebnis - GierMischanteil;
+ if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0;
+ else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
+ if (motorwert < MIN_GAS) motorwert = MIN_GAS;
+ Motor_Links = motorwert;
+ // Motor Rechts
+ motorwert = GasMischanteil - pd_ergebnis - GierMischanteil;
+ if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0;
+ else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
+ if (motorwert < MIN_GAS) motorwert = MIN_GAS;
+ Motor_Rechts = motorwert;
+ // +++++++++++++++++++++++++++++++++++++++++++++++
+
+}
+

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/fc.h
0,0 → 1,119
/*#######################################################################################
Flight Control
#######################################################################################*/
#ifndef _FC_H
#define _FC_H
extern unsigned char Parameter_UserParam1 ;
extern unsigned char Parameter_UserParam2 ;
extern unsigned char Parameter_UserParam3 ;
// Salvo End
extern volatile unsigned char Timeout;
extern unsigned char Sekunde,Minute;
extern volatile long IntegralNick,IntegralNick2;
extern volatile long IntegralRoll,IntegralRoll2;
extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
extern volatile long Mess_Integral_Hoch;
extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
extern volatile int KompassValue;
extern volatile int KompassStartwert;
extern volatile int KompassRichtung;
extern int HoehenWert;
extern int SollHoehe;
extern volatile int MesswertNick,MesswertRoll,MesswertGier;
extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
extern volatile float NeutralAccZ;
/*Salvo 2.9.2007 Ersatzkompass
extern volatile long GyroKomp_Int;
extern volatile int GyroKomp_Inc_Grad;
extern volatile int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass
Salvo End*/
void MotorRegler(void);
void SendMotorData(void);
void CalibrierMittelwert(void);
void Mittelwert(void);
void SetNeutral(void);
void Piep(unsigned char Anzahl);
void DefaultKonstanten1(void);
void DefaultKonstanten2(void);
unsigned char h,m,s;
volatile unsigned char Timeout ;
unsigned char CosinusNickWinkel, CosinusRollWinkel;
volatile long IntegralNick,IntegralNick2;
volatile long IntegralRoll,IntegralRoll2;
volatile long Integral_Gier;
volatile long Mess_IntegralNick,Mess_IntegralNick2;
volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
volatile long Mess_Integral_Gier;
volatile int DiffNick,DiffRoll;
extern int Poti1, Poti2, Poti3, Poti4;
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
unsigned char MotorWert[5];
volatile unsigned char SenderOkay;
int StickNick,StickRoll,StickGier;
char MotorenEin;
extern void DefaultKonstanten(void);
#define STRUCT_PARAM_LAENGE 58
struct mk_param_struct
{
unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
unsigned char Hoehe_MinGas; // Wert : 0-100
unsigned char Luftdruck_D; // Wert : 0-250
unsigned char MaxHoehe; // Wert : 0-32
unsigned char Hoehe_P; // Wert : 0-32
unsigned char Hoehe_Verstaerkung; // Wert : 0-50
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
unsigned char Stick_P; // Wert : 1-6
unsigned char Stick_D; // Wert : 0-64
unsigned char Gier_P; // Wert : 1-20
unsigned char Gas_Min; // Wert : 0-32
unsigned char Gas_Max; // Wert : 33-250
unsigned char GyroAccFaktor; // Wert : 1-64
unsigned char KompassWirkung; // Wert : 0-32
unsigned char Gyro_P; // Wert : 10-250
unsigned char Gyro_I; // Wert : 0-250
unsigned char UnterspannungsWarnung; // Wert : 0-250
unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
unsigned char UfoAusrichtung; // X oder + Formation
unsigned char I_Faktor; // Wert : 0-250
unsigned char UserParam1; // Wert : 0-250
unsigned char UserParam2; // Wert : 0-250
unsigned char UserParam3; // Wert : 0-250
unsigned char UserParam4; // Wert : 0-250
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
unsigned char Reserved[7];
char Name[12];
};
extern struct mk_param_struct EE_Parameter;
extern unsigned char Parameter_Luftdruck_D;
extern unsigned char Parameter_MaxHoehe;
extern unsigned char Parameter_Hoehe_P;
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
extern unsigned char Parameter_KompassWirkung;
extern unsigned char Parameter_Gyro_P;
extern unsigned char Parameter_Gyro_I;
extern unsigned char Parameter_Gier_P;
extern unsigned char Parameter_ServoNickControl;
#endif //_FC_H

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/flight-ctrl_mega644_v0_60.aws
0,0 → 1,0
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/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/flight.pnproj
0,0 → 1,0
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="math.c"></File><File path="math.h"></File><File path="compass.c"></File><File path="compass.h"></File></Project>

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/flight.pnps
0,0 → 1,0
<pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd>

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/gps.h
0,0 → 1,132
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Peter Muehlenbrock ("Salvo")
// Definitionen fuer Modul GPS
// Stand 12.10.007
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
extern signed int GPS_Nick;
extern signed int GPS_Roll;
extern void GPS_Neutral(void);
extern void Get_Ublox_Msg(uint8_t rx) ;
//extern short int Get_GPS_data(void);
extern short int Get_Rel_Position(void);
extern void GPS_Save_Home(void);
extern short int GPS_CRTL(short int cmd);
typedef struct {
unsigned long utm_itow; // time of week
long utm_east; // UTM Ost in cm
long utm_north; // UTM Nord in cm
long utm_alt; // hoehe in cm
uint8_t utm_zone; //
uint8_t utm_hem; // Hemisphere Indicator
uint8_t status; // 0: kein gueltiges Paket 1: alles ok
} NAV_POSUTM_t;
typedef struct {
unsigned long itow; // time of week
uint8_t gpsfix_type;// 3=3D Fix
uint8_t nav_status_flag;
uint8_t nav_diff_status;
uint8_t nav_resevd;
long nav_tff; // Time to First Fix in ms
long nav_msss; // ms since startup
uint8_t status; // 0: kein gueltiges Paket 1: alles ok
} NAV_STATUS_t;
typedef struct {
unsigned long itow;
long speed_n; // in cm/s
long speed_e; // in cm/s
long speed_alt; // in cm/s
unsigned long speed_3d; // in cm/s
unsigned long speed_gnd; // V ueber Grund in cm/s
long heading; // Richtung in deg/10000
unsigned long sacc; // Speed Genauigkeit in cm/s
unsigned long cacc; // Richtungsgenauigkeit in deg
uint8_t status; // 0: kein gueltiges Paket 1: alles ok
} NAV_VELNED_t;
typedef struct {
long utm_east; // UTM Ost in 10 cm
long utm_north; // UTM Nord in 10 cm
long utm_alt; // hoehe in 10 cm
unsigned long speed_gnd; // V ueber Grund in 10cm/s
unsigned heading; // Richtung in Grad
uint8_t status; // 0: keine gueltigen Daten 1: alles ok
} GPS_ABS_POSITION_t;
typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position)
int utm_east; // UTM Ost in m
int utm_north; // UTM Nord in m
uint8_t status; // 0: keine gueltigen Daten 1: alles ok
} GPS_REL_POSITION_t;
extern GPS_ABS_POSITION_t gps_act_position;
extern GPS_ABS_POSITION_t gps_home_position;
extern GPS_REL_POSITION_t gps_rel_act_position;
extern GPS_REL_POSITION_t gps_rel_hold_position;
extern short int gps_state,gps_sub_state;
extern signed int GPS_hdng_abs_2trgt;
extern signed int GPS_hdng_rel_2trgt;
extern signed int GPS_dist_2trgt;
extern signed int gps_reg_x,gps_reg_y;
extern signed int GPS_dist_2trgt;
extern unsigned int gps_alive_cnt;
//nur provisorisch fuer Debugausgaben
extern signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
extern long int dist_flown;
// Zustaende der zentralen GPS statemachine
#define GPS_CRTL_IDLE 0 //
#define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv
#define GPS_CRTL_HOME_ACTIVE 2 // Rueckflug zur Basis Aktiv
#define GPS_HOME_FAST_IN_TOL 3 // Rueckflug: Aktuelle Position innerhalb der Toleranz
#define GPS_HOME_FAST_OUTOF_TOL 4 // Rueckflug: Aktuelle Position ausserhalb der Toleranz
#define GPS_HOME_RMPDWN_IN_TOL 5 // Rueckflug: beim Abbremsen Position innerhalb der Toleranz
#define GPS_HOME_RMPDWN_OUTOF_TOL 6 // Rueckflug: beim Abbremsen Position ausserhalb der Toleranz
#define GPS_HOME_IN_TOL 7 // Rueckflug: Nahe am Ziel innerhalb der Toleranz
#define GPS_HOME_OUTOF_TOL 8 // Rueckflug: Nahe am Ziel ausserhalb der Toleranz
#define GPS_HOME_FINISHED 9 // Rueckflug zur Basis abgeschlossen
// Kommandokonstanten fuer die zentrale GPS Statemachine
#define GPS_CMD_REQ_INIT 0 // Initialisierung
#define GPS_CMD_STOP 1 // Lageregelung soll deaktiviert werden
#define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden
#define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden
// Statusmeldungen der zentralen GPS statemachine
#define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen
#define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt
#define GPS_STST_ERR 2 // Fehler
// GPS Lageregler
#define GPS_NICKROLL_MAX 40 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll
#define GPS_DIST_MAX 400 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm)
#define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert
#define GPS_V 8 // Teilerfaktor Regelabweichung zu Ausgabewert
// Differenzierer Kennwerte fuer von Distanz abhaengige Verstaerkung, abhaengig vom Modus.
#define GPS_DIFF_NRML_MAX_V 20 //maximale Verstaerkung * 10
#define GPS_DIFF_NRML_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm
#define GPS_DIFF_FAST_MAX_V 15 //maximale Verstaerkung * 10 im Fast mode
#define GPS_DIFF_FAST_MAX_D 50 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm im Fast mode
// P-Regler Verstaerkung
#define GPS_PROP_NRML_V 2 //maximale Verstaerkung * 2
#define GPS_PROP_FAST_V 2 //maximale Verstaerkung * 2 im Fast mode
// GPS G2T /Go to Target Regler
#define GPS_G2T_DIST_MAX_STOP 50 // Ab dieser Entfernung vom Zielpunkt soll die Geschwindigkeit runtergeregelt werden( in 10 cm)
#define GPS_G2T_DIST_HOLD 30 // Ab dieser Entfernung vom Zielpunkt wird mit Minimaler Geschwindigkeit eingeregelt
#define GPS_G2T_V_MAX 12 // Maximale Geschwindigkeit (in 10cm/0.25 Sekunden) mit der der Sollpunkt geaendert wird.
#define GPS_G2T_V_RAMP_DWN 6 // Geschwindigkeit (in 10cm/0.25ekunden) in der Naehe der Home Position um abzubremsen
#define GPS_G2T_V_MIN 3 // Minimale (in 10cm/0.25 Sekunden) ganz nahe an Homeposition.
#define GPS_G2T_FAST_TOL 60 // Bei grosser Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht
#define GPS_G2T_NRML_TOL 40 // Bei kleiner Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/license_buss.txt
0,0 → 1,52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-profit use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be
// + clearly linked and named as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/main.c
0,0 → 1,215
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char EEPromArray[E2END+1] EEMEM;
// -- Parametersatz aus EEPROM lesen ---
// number [0..5]
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
if (number > 5) number = 5;
eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
}
// -- Parametersatz ins EEPROM schreiben ---
// number [0..5]
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
if (number > 5) number = 5;
eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
}
unsigned char GetActiveParamSetNumber(void)
{
return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]));
}
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
unsigned int timer;
unsigned int timer2 = 0;
DDRC = 0x01; // SCL
PORTC = 0xff; // Pullup SDA
DDRB = 0x1B; // LEDs und Druckoffset
PORTB |= (1<<PB0); // LED_Rot
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
DDRD |= (1<<PD7); // J7
PORTD = 0xF7;
MCUSR &=~(1<<WDRF);
WDTCSR |= (1<<WDCE)|(1<<WDE);
WDTCSR = 0;
beeptime = 2000;
StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
ROT_OFF;
Timer_Init();
UART_Init();
rc_sum_init();
ADC_Init();
i2c_init();
init_spi();
sei();
VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
VersionInfo.Nebenversion = VERSION_NEBENVERSION;
VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;
printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION);
printf("\n\r==============================");
GRN_ON;
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60
{
printf("\n\rInit. EEPROM: Generiere Default-Parameter...");
DefaultKonstanten1();
for (unsigned char i=0;i<6;i++)
{
if(i==2) DefaultKonstanten2();
WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
}
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1);
eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59);
}
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
printf("\n\rAbgleich Luftdrucksensor..");
timer = SetDelay(2500);
SucheLuftruckOffset();
while (!CheckDelay(timer));
printf("OK\n\r");
}
SetNeutral();
ROT_OFF;
beeptime = 2000;
DebugIn.Analog[1] = 1000;
DebugIn.Digital[0] = 0x55;
printf("\n\rSteuerung: ");
if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
else printf("Neutral");
printf("\n\n\r");
LcdClear();
while (1)
{
if (UpdateMotor) // ReglerIntervall
{
UpdateMotor=0;
MotorRegler();
SendMotorData();
ROT_OFF;
if(PcZugriff) PcZugriff--;
if(SenderOkay) SenderOkay--;
if (UBat < EE_Parameter.UnterspannungsWarnung)
{
beeptime = 2000;
}
if(!Timeout)
{
i2c_init();
}
else
{
ROT_OFF;
}
}
if(SIO_DEBUG)
{
DatenUebertragung();
BearbeiteRxDaten();
}
else BearbeiteRxDaten();
if(CheckDelay(timer2))
{
if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10;
timer = SetDelay(500);
}
}
return (1);
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/main.h
0,0 → 1,95
#ifndef _MAIN_H
#define _MAIN_H
//Hier die Quarz Frequenz einstellen
#if defined (__AVR_ATmega32__)
#define SYSCLK 20000000L //Quarz Frequenz in Hz
#endif
#if defined (__AVR_ATmega644__)
#define SYSCLK 20000000L //Quarz Frequenz in Hz
//#define SYSCLK 16000000L //Quarz Frequenz in Hz
#endif
// neue Hardware
#define ROT_OFF PORTB &=~0x01
#define ROT_ON PORTB |= 0x01
#define ROT_FLASH PORTB ^= 0x01
#define GRN_OFF PORTB &=~0x02
#define GRN_ON PORTB |= 0x02
#define GRN_FLASH PORTD ^= 0x02
//#ifndef F_CPU
//#error ################## F_CPU nicht definiert oder ungültig #############
//#endif
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define ANZ_MITTELWERT 4
#define EEPROM_ADR_VALID 1
#define EEPROM_ADR_ACTIVE_SET 2
#define EEPROM_ADR_PARAM_BEGIN 100
#define CFG_HOEHENREGELUNG 0x01
#define CFG_HOEHEN_SCHALTER 0x02
#define CFG_HEADING_HOLD 0x04
#define CFG_KOMPASS_AKTIV 0x08
#define CFG_KOMPASS_FIX 0x10
#define CFG_GPS_AKTIV 0x20
//#define SYSCLK
//extern unsigned long SYSCLK;
extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;
extern volatile unsigned char SenderOkay;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
extern unsigned char GetActiveParamSetNumber(void);
extern unsigned char EEPromArray[];
#include <stdlib.h>
#include <string.h>
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/eeprom.h>
#include <avr/boot.h>
#include <avr/wdt.h>
#include "old_macros.h"
#include "_Settings.h"
#include "printf_P.h"
#include "compass.h"
#include "timer0.h"
#include "uart.h"
#include "analog.h"
#include "twimaster.h"
#include "menu.h"
#include "rc.h"
#include "fc.h"
#include "math.h"
#include "gps.h"
#include "math.h"
#ifndef EEMEM
#define EEMEM __attribute__ ((section (".eeprom")))
#endif
#define DEBUG_DISPLAY_INTERVALL 123 // in ms
#define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU ))
#endif //_MAIN_H

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/makefile
0,0 → 1,392
#--------------------------------------------------------------------
# MCU name
MCU = atmega644
F_CPU = 20000000
#-------------------------------------------------------------------
HAUPT_VERSION = 0
NEBEN_VERSION = 60
VERSION_KOMPATIBEL = 4 # PC-Kompatibilität
#-------------------------------------------------------------------
ifeq ($(MCU), atmega32)
# FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m
HEX_NAME = MEGA32
endif
ifeq ($(MCU), atmega644)
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
#FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m
# -u bei neuen Controllern wieder einspielen
HEX_NAME = MEGA644
endif
ifeq ($(F_CPU), 16000000)
QUARZ = 16MHZ
endif
ifeq ($(F_CPU), 20000000)
QUARZ = 20MHZ
endif
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
# Target file name (without extension).
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
##########################################################################################################
# List C source files here. (C dependencies are automatically generated.)
SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c compass.c math.c
SRC += twimaster.c rc.c fc.c GPS.c
##########################################################################################################
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC =
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS =
# Optional compiler flags.
# -g: generate debugging information (for GDB, or for COFF conversion)
# -O*: optimization level
# -f...: tuning, see gcc manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create assembler listing
CFLAGS = -O$(OPT) \
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
-Wall -Wstrict-prototypes \
-mtiny-stack -mcall-prologues \
-Wa,-adhlns=$(<:.c=.lst) \
$(patsubst %,-I%,$(EXTRAINCDIRS))
# Set a "language standard" compiler flag.
# Unremark just one line below to set the language standard to use.
# gnu99 = C99 + GNU extensions. See GCC manual for more information.
#CFLAGS += -std=c89
#CFLAGS += -std=gnu89
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL)
# Optional assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create listing
# -gstabs: have the assembler create line number information; note that
# for use in COFF files, additional information about filenames
# and function names needs to be present in the assembler source
# files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
# Optional linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
# Additional libraries
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
# -lm = math library
LDFLAGS += -lm
##LDFLAGS += -T./linkerfile/avr5.x
# Programming support using avrdude. Settings and variables.
# Programming hardware: alf avr910 avrisp bascom bsd
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
#
# Type: avrdude -c ?
# to get a full listing.
#
#AVRDUDE_PROGRAMMER = stk200
AVRDUDE_PROGRAMMER = dt006
#AVRDUDE_PROGRAMMER = ponyser
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
#AVRDUDE_PORT = com1 # programmer connected to serial device
AVRDUDE_PORT = lpt1 # programmer connected to parallel port
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS)
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE += -y
# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
AVRDUDE_FLAGS += -V
# Increase verbosity level. Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
# to submit bug reports.
#AVRDUDE_FLAGS += -v -v
# ---------------------------------------------------------------------------
# Define directories, if needed.
DIRAVR = c:/winavr
DIRAVRBIN = $(DIRAVR)/bin
DIRAVRUTILS = $(DIRAVR)/utils/bin
DIRINC = .
DIRLIB = $(DIRAVR)/avr/lib
# Define programs and commands.
SHELL = sh
CC = avr-gcc
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
# Programming support using avrdude.
AVRDUDE = avrdude
REMOVE = rm -f
COPY = cp
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -A $(TARGET).elf
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = -------- begin --------
MSG_END = -------- end --------
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
# Define all listing files.
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
# Combine all necessary flags and optional flags.
# Add target processor to flags.
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
# Default target.
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).lss $(TARGET).sym sizeafter finished end
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
@echo
@echo $(MSG_BEGIN)
finished:
@echo $(MSG_ERRORS_NONE)
end:
@echo $(MSG_END)
@echo
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
sizeafter:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
# Display compiler version information.
gccversion :
@$(CC) --version
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000
coff: $(TARGET).elf
@echo
@echo $(MSG_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
extcoff: $(TARGET).elf
@echo
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
# Program the device.
program: $(TARGET).hex $(TARGET).eep
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
@echo
@echo $(MSG_FLASH) $@
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
%.eep: %.elf
@echo
@echo $(MSG_EEPROM) $@
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
# Create extended listing file from ELF output file.
%.lss: %.elf
@echo
@echo $(MSG_EXTENDED_LISTING) $@
$(OBJDUMP) -h -S $< > $@
# Create a symbol table from ELF output file.
%.sym: %.elf
@echo
@echo $(MSG_SYMBOL_TABLE) $@
avr-nm -n $< > $@
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
@echo
@echo $(MSG_LINKING) $@
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
# Compile: create object files from C source files.
%.o : %.c
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(ALL_CFLAGS) $< -o $@
# Compile: create assembler files from C source files.
%.s : %.c
$(CC) -S $(ALL_CFLAGS) $< -o $@
# Assemble: create object files from assembler source files.
%.o : %.S
@echo
@echo $(MSG_ASSEMBLING) $<
$(CC) -c $(ALL_ASFLAGS) $< -o $@
# Target: clean project.
clean: begin clean_list finished end
clean_list :
@echo
@echo $(MSG_CLEANING)
# $(REMOVE) $(TARGET).hex
$(REMOVE) $(TARGET).eep
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).cof
$(REMOVE) $(TARGET).elf
$(REMOVE) $(TARGET).map
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).a90
$(REMOVE) $(TARGET).sym
$(REMOVE) $(TARGET).lnk
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRC:.c=.d)
# Automatically generate C source code dependencies.
# (Code originally taken from the GNU make user manual and modified
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
set -e; $(CC) -MM $(ALL_CFLAGS) $< \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
[ -s $@ ] || rm -f $@
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:.c=.d)
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
clean clean_list program

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/math.c
0,0 → 1,232
/*
This program (files math.c and math.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License and GNU Lesser General Public License for more details.
You should have received a copy of GNU General Public License (License_GPL.txt) and
GNU Lesser General Public License (License_LGPL.txt) along with this program.
If not, see <http://www.gnu.org/licenses/>.
Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de
*/
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Peter Muehlenbrock
Winkelfunktionen sin, cos und arctan in
brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend
get_dist Funktion fuer Entfernungsermittlung
Stand 12.10.2007
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
#include "main.h"
// arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad
int arctan_i( signed int x, signed int y)
{
short int change_xy = 0;
signed int i;
long signed int wert;
int return_value;
if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt
{
change_xy = 1;
i = x;
x = y;
y = i;
}
// Quadranten ermitteln
// Wert durch lineare Interpolation ermitteln
if ((y == 0) && (x == 0)) wert =1; // Division durch 0 nicht erlaubt
else wert= abs(((long)x*1000)/((long)y));
if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad
{
return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0;
}
else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad
{
return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15;
}
else //0,568...1 entsprechend 30..45 Grad
{
return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30;
}
if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad
if ((x >= 0) && (y <0)) return_value = - return_value;
else if ((x < 0) && (y >= 0)) return_value = - return_value;
return return_value;
}
// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000
signed int cos_i(signed int winkel)
{
winkel = sin_i(90-winkel);
return winkel;
}
const unsigned int pgm_sinus[91] PROGMEM = {0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000};
//von Nick666, Stand 28.9.2007
// sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000
signed int sin_i(signed int winkel)
{
short int m,n;
if (abs(winkel) >=360) winkel = winkel % 360;
if (winkel < 0)
{
m = -1;
winkel = abs(winkel);
}
else m = +1;
n =1;
// Quadranten auswerten
if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel;
else if ((winkel > 180 ) && (winkel <= 270))
{
winkel = winkel -180;
n = -1;
}
else if ((winkel > 270) && (winkel <= 360))
{
winkel = 360 - winkel;
n = -1;
}
// else //0 - 90 Grad
winkel = pgm_read_word(&pgm_sinus[winkel]);
return (winkel*m*n);
}
// Aus x,y und Winkel Distanz ermitteln
long get_dist(signed int x, signed int y, signed int phi)
{
long dist;
if (abs(x) > abs(y) )
{
dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen
dist = abs((dist *1000) / (long) sin_i(phi));
}
else
{
dist = (long) y;
dist = abs((dist *1000) / (long) cos_i(phi));
}
return dist;
}
// noch mehr von Nick666
const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
// Arkustangens2 im Gradmaß
signed int atan2_i(signed int x, signed int y)
{
int i,angle;
int8_t m;
if (!x && !y) return 0; //atan2 = 0 für x und y = 0
if (y < 0) m=-1;
else m=1;
if (x==0) return (90*m); // atan2 = 90° für x = 0
i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79°
else if (i>5750) angle = 90; // Grenzwert ist 90°
else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche
else if (i>=1150) angle = 88;
else if (i>=820) angle = 87;
else if (i>=640) angle = 86;
else if (i>=520) angle = 85;
else if (i>=440) angle = 84;
else if (i>=380) angle = 83;
else if (i>=335) angle = 82;
else if (i>=299) angle = 81;
else angle = 80; // (i>=270)
if (x > 0) return (angle*m); // Quadrant I und IV
else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II
else return (angle - 180); // x < 0 && y < 0 Quadrant III
}
const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000};
inline float pgm_read_float(const float *addr)
{
union
{
uint16_t i[2]; // 2 16-bit-Worte
float f;
} u;
u.i[0]=pgm_read_word((PGM_P)addr);
u.i[1]=pgm_read_word((PGM_P)addr+2);
return u.f;
}
// Sinusfunktion im Gradmaß
float sin_f(signed int winkel)
{
short int m,n;
float sinus;
//winkel = winkel % 360;
if (winkel < 0)
{
m = -1;
winkel = abs(winkel);
}
else m = +1;
// Quadranten auswerten
if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;}
else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;}
else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;}
else n = 1; //0 - 90 Grad
sinus = pgm_read_float(&pgm_sinus_f[winkel]);
return (sinus*m*n);
}
// Kosinusfunktion im Gradmaß
float cos_f(signed int winkel)
{
return (sin_f(90-winkel));
}
const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90};
// Akurssinusfunktion im Gradmaß
int8_t asin_i(signed int i)
{
signed char m;
if (i < 0) {m=-1;i=abs(i);}
else m=1;
return (pgm_read_byte(&pgm_asin[i]) * m);
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/math.h
0,0 → 1,15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Peter Muehlenbrock
// Definitionen fuer Modul math
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
extern signed int sin_i(signed int winkel);
extern signed int cos_i(signed int winkel);
extern signed int arctan_i(signed int x, signed int y);
extern long get_dist(signed int x, signed int y, signed int phi);
extern signed int atan2_i(signed int x, signed int y);
extern float cos_f(signed int winkel);
extern float sin_f(signed int winkel);
extern int8_t asin_i(signed int i);

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/menu.c
0,0 → 1,118
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned int TestInt = 0;
#define ARRAYGROESSE 10
unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10};
char DisplayBuff[80] = "Hallo Welt";
unsigned char DispPtr = 0;
unsigned char RemoteTasten = 0;
#define KEY1 0x01
#define KEY2 0x02
#define KEY3 0x04
#define KEY4 0x08
#define KEY5 0x10
void LcdClear(void)
{
unsigned char i;
for(i=0;i<80;i++) DisplayBuff[i] = ' ';
}
void Menu(void)
{
static unsigned char MaxMenue = 10,MenuePunkt=0;
if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); }
if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); }
if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0;
LCD_printfxy(17,0,"[%i]",MenuePunkt);
switch(MenuePunkt)
{
case 0:
LCD_printfxy(0,0,"++ MikroKopter ++");
// LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION);
LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber());
LCD_printfxy(0,3,"(c) Holger Buss");
// if(RemoteTasten & KEY3) TestInt--;
// if(RemoteTasten & KEY4) TestInt++;
break;
case 1:
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert);
LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe);
LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck);
LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting);
}
else
{
LCD_printfxy(0,1,"Keine ");
LCD_printfxy(0,2,"Höhenregelung");
}
break;
case 2:
LCD_printfxy(0,0,"akt. Lage");
LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024);
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024);
LCD_printfxy(0,3,"Kompass: %5i",KompassValue);
break;
case 3:
LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]);
LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]);
LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]);
LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]);
break;
case 4:
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);
LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]);
LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]);
break;
case 5:
LCD_printfxy(0,0,"Gyro - Sensor");
LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick);
LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll);
LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier);
break;
case 6:
LCD_printfxy(0,0,"ACC - Sensor");
LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX);
LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY);
LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ);
break;
case 7:
LCD_printfxy(0,1,"Spannung: %5i",UBat);
LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay);
break;
case 8:
LCD_printfxy(0,0,"Kompass ");
LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung);
LCD_printfxy(0,2,"Messwert: %5i",KompassValue);
LCD_printfxy(0,3,"Start: %5i",KompassStartwert);
break;
case 9:
LCD_printfxy(0,0,"Poti1: %3i",Poti1);
LCD_printfxy(0,1,"Poti2: %3i",Poti2);
LCD_printfxy(0,2,"Poti3: %3i",Poti3);
LCD_printfxy(0,3,"Poti4: %3i",Poti4);
break;
case 10:
LCD_printfxy(0,0,"Servo " );
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl);
LCD_printfxy(0,2,"Stellung: %3i",ServoValue);
LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
break;
default: MaxMenue = MenuePunkt - 1;
MenuePunkt = 0;
break;
}
RemoteTasten = 0;
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/menu.h
0,0 → 1,7
void LcdClear(void);
extern void Menu(void);
extern char DisplayBuff[80];
extern unsigned char DispPtr;
unsigned char RemoteTasten;

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/old_macros.h
0,0 → 1,47
/*
For backwards compatibility only.
Ingo Busker ingo@mikrocontroller.com
*/
#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 inb
#define inb(sfr) _SFR_BYTE(sfr)
#endif
#ifndef outb
#define outb(sfr, val) (_SFR_BYTE(sfr) = (val))
#endif
#ifndef inw
#define inw(sfr) _SFR_WORD(sfr)
#endif
#ifndef outw
#define outw(sfr, val) (_SFR_WORD(sfr) = (val))
#endif
#ifndef outp
#define outp(val, sfr) outb(sfr, val)
#endif
#ifndef inp
#define inp(sfr) inb(sfr)
#endif
#ifndef BV
#define BV(bit) _BV(bit)
#endif
#ifndef PRG_RDB
#define PRG_RDB pgm_read_byte
#endif

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/printf_P.c
0,0 → 1,480
// Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt
/*
Copyright (C) 1993 Free Software Foundation
This file is part of the GNU IO Library. This library is free
software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the
Free Software Foundation; either version 2, or (at your option)
any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this library; see the file COPYING. If not, write to the Free
Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
As a special exception, if you link this library with files
compiled with a GNU compiler to produce an executable, this does not cause
the resulting executable to be covered by the GNU General Public License.
This exception does not however invalidate any other reasons why
the executable file might be covered by the GNU General Public License. */
/*
* Copyright (c) 1990 Regents of the University of California.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. [rescinded 22 July 1999]
* 4. Neither the name of the University nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*/
/******************************************************************************
This file is a patched version of printf called _printf_P
It is made to work with avr-gcc for Atmel AVR MCUs.
There are some differences from standard printf:
1. There is no floating point support (with fp the code is about 8K!)
2. Return type is void
3. Format string must be in program memory (by using macro printf this is
done automaticaly)
4. %n is not implemented (just remove the comment around it if you need it)
5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the
folowing specifiers are disabled :
space # * . - + p s o O
6. A function void uart_sendchar(char c) is used for output. The UART must
be initialized before using printf.
Alexander Popov
sasho@vip.orbitel.bg
******************************************************************************/
/*
* Actual printf innards.
*
* This code is large and complicated...
*/
#include <string.h>
#ifdef __STDC__
#include <stdarg.h>
#else
#include <varargs.h>
#endif
#include "main.h"
//#define LIGHTPRINTF
char PrintZiel;
char Putchar(char zeichen)
{
if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);}
else return(uart_putchar(zeichen));
}
void PRINT(const char * ptr, unsigned int len)
{
for(;len;len--) Putchar(*ptr++);
}
void PRINTP(const char * ptr, unsigned int len)
{
for(;len;len--) Putchar(pgm_read_byte(ptr++));
}
void PAD_SP(signed char howmany)
{
for(;howmany>0;howmany--) Putchar(' ');
}
void PAD_0(signed char howmany)
{
for(;howmany>0;howmany--) Putchar('0');
}
#define BUF 40
/*
* Macros for converting digits to letters and vice versa
*/
#define to_digit(c) ((c) - '0')
#define is_digit(c) ((c)<='9' && (c)>='0')
#define to_char(n) ((n) + '0')
/*
* Flags used during conversion.
*/
#define LONGINT 0x01 /* long integer */
#define LONGDBL 0x02 /* long double; unimplemented */
#define SHORTINT 0x04 /* short integer */
#define ALT 0x08 /* alternate form */
#define LADJUST 0x10 /* left adjustment */
#define ZEROPAD 0x20 /* zero (as opposed to blank) pad */
#define HEXPREFIX 0x40 /* add 0x or 0X prefix */
void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */
{
va_list ap;
register const char *fmt; /* format string */
register char ch; /* character from fmt */
register int n; /* handy integer (short term usage) */
register char *cp; /* handy char pointer (short term usage) */
const char *fmark; /* for remembering a place in fmt */
register unsigned char flags; /* flags as above */
signed char width; /* width from format (%8d), or 0 */
signed char prec; /* precision from format (%.3d), or -1 */
char sign; /* sign prefix (' ', '+', '-', or \0) */
unsigned long _ulong=0; /* integer arguments %[diouxX] */
#define OCT 8
#define DEC 10
#define HEX 16
unsigned char base; /* base for [diouxX] conversion */
signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */
signed char dpad; /* extra 0 padding needed for integers */
signed char fieldsz; /* field size expanded by sign, dpad etc */
/* The initialization of 'size' is to suppress a warning that
'size' might be used unitialized. It seems gcc can't
quite grok this spaghetti code ... */
signed char size = 0; /* size of converted field or string */
char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */
char ox[2]; /* space for 0x hex-prefix */
PrintZiel = ziel; // bestimmt, LCD oder UART
va_start(ap, fmt0);
fmt = fmt0;
/*
* Scan the format for conversions (`%' character).
*/
for (;;) {
for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++)
/* void */;
if ((n = fmt - fmark) != 0) {
PRINTP(fmark, n);
}
if (ch == '\0')
goto done;
fmt++; /* skip over '%' */
flags = 0;
dprec = 0;
width = 0;
prec = -1;
sign = '\0';
rflag: ch = PRG_RDB(fmt++);
reswitch:
#ifdef LIGHTPRINTF
if (ch=='o' || ch=='u' || (ch|0x20)=='x') {
#else
if (ch=='u' || (ch|0x20)=='x') {
#endif
if (flags&LONGINT) {
_ulong=va_arg(ap, unsigned long);
} else {
register unsigned int _d;
_d=va_arg(ap, unsigned int);
_ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d;
}
}
#ifndef LIGHTPRINTF
if(ch==' ') {
/*
* ``If the space and + flags both appear, the space
* flag will be ignored.''
* -- ANSI X3J11
*/
if (!sign)
sign = ' ';
goto rflag;
} else if (ch=='#') {
flags |= ALT;
goto rflag;
} else if (ch=='*'||ch=='-') {
if (ch=='*') {
/*
* ``A negative field width argument is taken as a
* - flag followed by a positive field width.''
* -- ANSI X3J11
* They don't exclude field widths read from args.
*/
if ((width = va_arg(ap, int)) >= 0)
goto rflag;
width = -width;
}
flags |= LADJUST;
flags &= ~ZEROPAD; /* '-' disables '0' */
goto rflag;
} else if (ch=='+') {
sign = '+';
goto rflag;
} else if (ch=='.') {
if ((ch = PRG_RDB(fmt++)) == '*') {
n = va_arg(ap, int);
prec = n < 0 ? -1 : n;
goto rflag;
}
n = 0;
while (is_digit(ch)) {
n = n*10 + to_digit(ch);
ch = PRG_RDB(fmt++);
}
prec = n < 0 ? -1 : n;
goto reswitch;
} else
#endif /* LIGHTPRINTF */
if (ch=='0') {
/*
* ``Note that 0 is taken as a flag, not as the
* beginning of a field width.''
* -- ANSI X3J11
*/
if (!(flags & LADJUST))
flags |= ZEROPAD; /* '-' disables '0' */
goto rflag;
} else if (ch>='1' && ch<='9') {
n = 0;
do {
n = 10 * n + to_digit(ch);
ch = PRG_RDB(fmt++);
} while (is_digit(ch));
width = n;
goto reswitch;
} else if (ch=='h') {
flags |= SHORTINT;
goto rflag;
} else if (ch=='l') {
flags |= LONGINT;
goto rflag;
} else if (ch=='c') {
*(cp = buf) = va_arg(ap, int);
size = 1;
sign = '\0';
} else if (ch=='D'||ch=='d'||ch=='i') {
if(ch=='D')
flags |= LONGINT;
if (flags&LONGINT) {
_ulong=va_arg(ap, long);
} else {
register int _d;
_d=va_arg(ap, int);
_ulong = flags&SHORTINT ? (long)(short)_d : (long)_d;
}
if ((long)_ulong < 0) {
_ulong = -_ulong;
sign = '-';
}
base = DEC;
goto number;
} else
/*
if (ch=='n') {
if (flags & LONGINT)
*va_arg(ap, long *) = ret;
else if (flags & SHORTINT)
*va_arg(ap, short *) = ret;
else
*va_arg(ap, int *) = ret;
continue; // no output
} else
*/
#ifndef LIGHTPRINTF
if (ch=='O'||ch=='o') {
if (ch=='O')
flags |= LONGINT;
base = OCT;
goto nosign;
} else if (ch=='p') {
/*
* ``The argument shall be a pointer to void. The
* value of the pointer is converted to a sequence
* of printable characters, in an implementation-
* defined manner.''
* -- ANSI X3J11
*/
/* NOSTRICT */
_ulong = (unsigned int)va_arg(ap, void *);
base = HEX;
flags |= HEXPREFIX;
ch = 'x';
goto nosign;
} else if (ch=='s') { // print a string from RAM
if ((cp = va_arg(ap, char *)) == NULL) {
cp=buf;
cp[0] = '(';
cp[1] = 'n';
cp[2] = 'u';
cp[4] = cp[3] = 'l';
cp[5] = ')';
cp[6] = '\0';
}
if (prec >= 0) {
/*
* can't use strlen; can only look for the
* NUL in the first `prec' characters, and
* strlen() will go further.
*/
char *p = (char*)memchr(cp, 0, prec);
if (p != NULL) {
size = p - cp;
if (size > prec)
size = prec;
} else
size = prec;
} else
size = strlen(cp);
sign = '\0';
} else
#endif /* LIGHTPRINTF */
if(ch=='U'||ch=='u') {
if (ch=='U')
flags |= LONGINT;
base = DEC;
goto nosign;
} else if (ch=='X'||ch=='x') {
base = HEX;
/* leading 0x/X only if non-zero */
if (flags & ALT && _ulong != 0)
flags |= HEXPREFIX;
/* unsigned conversions */
nosign: sign = '\0';
/*
* ``... diouXx conversions ... if a precision is
* specified, the 0 flag will be ignored.''
* -- ANSI X3J11
*/
number: if ((dprec = prec) >= 0)
flags &= ~ZEROPAD;
/*
* ``The result of converting a zero value with an
* explicit precision of zero is no characters.''
* -- ANSI X3J11
*/
cp = buf + BUF;
if (_ulong != 0 || prec != 0) {
register unsigned char _d,notlastdigit;
do {
notlastdigit=(_ulong>=base);
_d = _ulong % base;
if (_d<10) {
_d+='0';
} else {
_d+='a'-10;
if (ch=='X') _d&=~0x20;
}
*--cp=_d;
_ulong /= base;
} while (notlastdigit);
#ifndef LIGHTPRINTF
// handle octal leading 0
if (base==OCT && flags & ALT && *cp != '0')
*--cp = '0';
#endif
}
size = buf + BUF - cp;
} else { //default
/* "%?" prints ?, unless ? is NUL */
if (ch == '\0')
goto done;
/* pretend it was %c with argument ch */
cp = buf;
*cp = ch;
size = 1;
sign = '\0';
}
/*
* All reasonable formats wind up here. At this point,
* `cp' points to a string which (if not flags&LADJUST)
* should be padded out to `width' places. If
* flags&ZEROPAD, it should first be prefixed by any
* sign or other prefix; otherwise, it should be blank
* padded before the prefix is emitted. After any
* left-hand padding and prefixing, emit zeroes
* required by a decimal [diouxX] precision, then print
* the string proper, then emit zeroes required by any
* leftover floating precision; finally, if LADJUST,
* pad with blanks.
*/
/*
* compute actual size, so we know how much to pad.
*/
fieldsz = size;
dpad = dprec - size;
if (dpad < 0)
dpad = 0;
if (sign)
fieldsz++;
else if (flags & HEXPREFIX)
fieldsz += 2;
fieldsz += dpad;
/* right-adjusting blank padding */
if ((flags & (LADJUST|ZEROPAD)) == 0)
PAD_SP(width - fieldsz);
/* prefix */
if (sign) {
PRINT(&sign, 1);
} else if (flags & HEXPREFIX) {
ox[0] = '0';
ox[1] = ch;
PRINT(ox, 2);
}
/* right-adjusting zero padding */
if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD)
PAD_0(width - fieldsz);
/* leading zeroes from decimal precision */
PAD_0(dpad);
/* the string or number proper */
PRINT(cp, size);
/* left-adjusting padding (always blank) */
if (flags & LADJUST)
PAD_SP(width - fieldsz);
}
done:
va_end(ap);
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/printf_P.h
0,0 → 1,19
#ifndef _PRINTF_P_H_
#define _PRINTF_P_H_
#include <avr/pgmspace.h>
#define OUT_V24 0
#define OUT_LCD 1
extern void _printf_P (char, char const *fmt0, ...);
extern char PrintZiel;
#define printf_P(format, args...) _printf_P(OUT_V24,format , ## args)
#define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args)
#define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);}
#define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);}
#endif

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/rc.c
0,0 → 1,85
/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "rc.h"
#include "main.h"
volatile int PPM_in[11];
volatile int PPM_diff[11]; // das diffenzierte Stick-Signal
volatile unsigned char NewPpmData = 1;
//############################################################################
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
//Capture Funktion benutzt:
void rc_sum_init (void)
//############################################################################
{
TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
// PWM
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10);
//TCCR1B |= (1 << WGM12);
//OCR1B = 55;
TIMSK1 |= _BV(ICIE1);
AdNeutralGier = 0;
AdNeutralRoll = 0;
AdNeutralNick = 0;
return;
}
//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
SIGNAL(SIG_INPUT_CAPTURE1)
//############################################################################
{
static unsigned int AltICR=0;
signed int signal = 0;
static int index;
signal = (unsigned int) ICR1 - AltICR;
AltICR = ICR1;
//Syncronisationspause?
if ((signal > 1500) && (signal < 8000))
{
index = 1;
NewPpmData = 0; // Null bedeutet: Neue Daten
// OCR2A = Poti2/2 + 80;
}
else
{
if(index < 10)
{
if((signal > 250) && (signal < 687))
{
signal -= 466;
// Stabiles Signal
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
signal = (3 * (PPM_in[index]) + signal) / 4;
//373 entspricht ca. 1.5ms also Mittelstellung
PPM_diff[index] = signal - PPM_in[index];
PPM_in[index] = signal;
}
index++;
/* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen
if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen
if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */
}
}
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/rc.h
0,0 → 1,29
/*#######################################################################################
Derkodieren eines RC Summen Signals
#######################################################################################*/
#ifndef _RC_H
#define _RC_H
#if defined (__AVR_ATmega32__)
#define TIMER_TEILER CK64
#define TIMER_RELOAD_VALUE 250
#endif
#if defined (__AVR_ATmega644__)
//#define TIMER_TEILER CK64
#define TIMER_RELOAD_VALUE 250
//#define TIMER_TEILER CK256 // bei 20MHz
//#define TIMER_RELOAD_VALUE -78 // bei 20MHz
#endif
#define GAS PPM_in[2]
extern void rc_sum_init (void);
extern volatile int PPM_in[11];
extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal
extern volatile unsigned char NewPpmData;
#endif //_RC_H

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/timer0.c
0,0 → 1,146
#include "main.h"
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int beeptime = 0;
volatile unsigned int cntKompass = 0;
int ServoValue = 0;
/*Salvo 8.9.2007
volatile uint8_t Kompass_Neuer_Wert= 0;
volatile unsigned int Kompass_Value_Old = 0;
// Salvo End
//Salvo 21.9.2007
short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist
// Salvo End */
enum {
STOP = 0,
CK = 1,
CK8 = 2,
CK64 = 3,
CK256 = 4,
CK1024 = 5,
T0_FALLING_EDGE = 6,
T0_RISING_EDGE = 7
};
// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007
/*
Driftkompensation fuer Gyros verbessert
Linearsensor mit fixem Neutralwert
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
*/
SIGNAL (SIG_OVERFLOW0) // 8kHz
{
static unsigned char cnt_1ms = 1,cnt = 0;
// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
if(!cnt--)
{
// if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden
cnt = 9;
cnt_1ms++;
cnt_1ms %= 2;
if(!cnt_1ms) UpdateMotor = 1;
CountMilliseconds++;
if(Timeout) Timeout--;
}
if(beeptime > 1)
{
beeptime--;
PORTD |= (1<<PD2);
}
else
PORTD &= ~(1<<PD2);
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
MM3_timer0(); // Kompass auslesen
if (!cntKompass--) // Aufruf mit 25 Hz
{
KompassValue = MM3_heading();
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
cntKompass = 320;
}
}
}
void Timer_Init(void)
{
tim_main = SetDelay(10);
TCCR0B = CK8;
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
OCR0A = 0;
OCR0B = 120;
TCNT0 = -TIMER_RELOAD_VALUE; // reload
//OCR1 = 0x00;
TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
// TIMSK2 |= _BV(TOIE2);
TIMSK2 |= _BV(OCIE2A);
TIMSK0 |= _BV(TOIE0);
OCR2A = 10;
TCNT2 = 0;
}
// -----------------------------------------------------------------------
unsigned int SetDelay (unsigned int t)
{
// TIMSK0 &= ~_BV(TOIE0);
return(CountMilliseconds + t + 1);
// TIMSK0 |= _BV(TOIE0);
}
// -----------------------------------------------------------------------
char CheckDelay(unsigned int t)
{
// TIMSK0 &= ~_BV(TOIE0);
return(((t - CountMilliseconds) & 0x8000) >> 9);
// TIMSK0 |= _BV(TOIE0);
}
// -----------------------------------------------------------------------
void Delay_ms(unsigned int w)
{
unsigned int akt;
akt = SetDelay(w);
while (!CheckDelay(akt));
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Servo ansteuern
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SIGNAL(SIG_OUTPUT_COMPARE2A)
{
static unsigned char timer = 10;
if(!timer--)
{
TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;
ServoValue = Parameter_ServoNickControl;
if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
//DebugOut.Analog[10] = ServoValue;
OCR2A = ServoValue;// + 75;
timer = EE_Parameter.ServoNickRefresh;
}
else
{
TCCR2A =3;
PORTD&=~0x80;
}
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/timer0.h
0,0 → 1,18
#define TIMER_TEILER CK8
#define TIMER_RELOAD_VALUE 250
// Salvo Kompassoffset 31.8.2007 ***********
//#define KOMPASS_OFFSET 135 // Winkel zwischen Nordachse Kopter und Nordachse Kompass
// Salvo End
void Timer_Init(void);
void Delay_ms(unsigned int);
unsigned int SetDelay (unsigned int t);
char CheckDelay (unsigned int t);
extern volatile unsigned int CountMilliseconds;
extern volatile unsigned char UpdateMotor;
extern volatile unsigned int beeptime;
extern volatile unsigned int cntKompass;
extern int ServoValue;

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/twimaster.c
0,0 → 1,131
/*############################################################################
############################################################################*/
#include "main.h"
unsigned char twi_state = 0;
unsigned char motor = 0;
unsigned char motorread = 0;
unsigned char motor_rx[8];
//############################################################################
//Initzialisieren der I2C (TWI) Schnittstelle
void i2c_init(void)
//############################################################################
{
TWSR = 0;
TWBR = ((SYSCLK/SCL_CLOCK)-16)/2;
}
//############################################################################
//Start I2C
char i2c_start(void)
//############################################################################
{
TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);
return(0);
}
//############################################################################
//Start I2C
void i2c_stop(void)
//############################################################################
{
TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);
}
//############################################################################
//Start I2C
char i2c_write_byte(char byte)
//############################################################################
{
TWSR = 0x00;
TWDR = byte;
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);
return(0);
}
//############################################################################
//Start I2C
SIGNAL (TWI_vect)
//############################################################################
{
switch (twi_state++)
{
case 0:
i2c_write_byte(0x52+(motor*2));
break;
case 1:
switch(motor++)
{
case 0:
i2c_write_byte(Motor_Vorne);
break;
case 1:
i2c_write_byte(Motor_Hinten);
break;
case 2:
i2c_write_byte(Motor_Rechts);
break;
case 3:
i2c_write_byte(Motor_Links);
break;
}
break;
case 2:
i2c_stop();
if (motor<4) twi_state = 0;
else motor = 0;
i2c_start();
break;
//Liest Daten von Motor
case 3:
i2c_write_byte(0x53+(motorread*2));
break;
case 4:
switch(motorread)
{
case 0:
i2c_write_byte(Motor_Vorne);
break;
case 1:
i2c_write_byte(Motor_Hinten);
break;
case 2:
i2c_write_byte(Motor_Rechts);
break;
case 3:
i2c_write_byte(Motor_Links);
break;
}
break;
case 5: //1 Byte vom Motor lesen
motor_rx[motorread] = TWDR;
case 6:
switch(motorread)
{
case 0:
i2c_write_byte(Motor_Vorne);
break;
case 1:
i2c_write_byte(Motor_Hinten);
break;
case 2:
i2c_write_byte(Motor_Rechts);
break;
case 3:
i2c_write_byte(Motor_Links);
break;
}
break;
case 7: //2 Byte vom Motor lesen
motor_rx[motorread+4] = TWDR;
motorread++;
if (motorread>3) motorread=0;
i2c_stop();
twi_state = 0;
}
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/twimaster.h
0,0 → 1,32
/*############################################################################
############################################################################*/
#ifndef _I2C_MASTER_H
#define _I2C_MASTER_H
//############################################################################
// I2C Konstanten
#define SCL_CLOCK 200000L
#define I2C_TIMEOUT 30000
#define I2C_START 0x08
#define I2C_REPEATED_START 0x10
#define I2C_TX_SLA_ACK 0x18
#define I2C_TX_DATA_ACK 0x28
#define I2C_RX_SLA_ACK 0x40
#define I2C_RX_DATA_ACK 0x50
//############################################################################
extern unsigned char twi_state;
extern unsigned char motor;
extern unsigned char motorread;
extern unsigned char motor_rx[8];
void i2c_init (void); // I2C initialisieren
char i2c_start (void); // Start I2C
void i2c_stop (void); // Stop I2C
char i2c_write_byte (char byte); // 1 Byte schreiben
#endif

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/uart.c
0,0 → 1,330
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
#include "uart.h"
unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF];
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0;
unsigned volatile char PC_DebugTimeout = 0;
unsigned char PcZugriff = 100;
unsigned char MotorTest[4] = {0,0,0,0};
unsigned char MeineSlaveAdresse;
struct str_DebugOut DebugOut;
struct str_Debug DebugIn;
struct str_VersionInfo VersionInfo;
int Debug_Timer;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Sende-Part der Datenübertragung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SIGNAL(INT_VEC_TX)
{
static unsigned int ptr = 0;
unsigned char tmp_tx;
if(!UebertragungAbgeschlossen)
{
ptr++; // die [0] wurde schon gesendet
tmp_tx = SendeBuffer[ptr];
if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
{
ptr = 0;
UebertragungAbgeschlossen = 1;
}
UDR = tmp_tx;
}
else ptr = 0;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SIGNAL(INT_VEC_RX)
{
static unsigned int crc;
static unsigned char crc1,crc2,buf_ptr;
static unsigned char UartState = 0;
unsigned char CrcOkay = 0;
SioTmp = UDR;
//Salvo 11.9.2007 GPS Daten holen
Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen
// Salvo End
if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0;
if(SioTmp == '\r' && UartState == 2)
{
UartState = 0;
crc -= RxdBuffer[buf_ptr-2];
crc -= RxdBuffer[buf_ptr-1];
crc %= 4096;
crc1 = '=' + crc / 64;
crc2 = '=' + crc % 64;
CrcOkay = 0;
if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
{
NeuerDatensatzEmpfangen = 1;
AnzahlEmpfangsBytes = buf_ptr;
RxdBuffer[buf_ptr] = '\r';
if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando
}
}
else
switch(UartState)
{
case 0:
if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet
buf_ptr = 0;
RxdBuffer[buf_ptr++] = SioTmp;
crc = SioTmp;
break;
case 1: // Adresse auswerten
UartState++;
RxdBuffer[buf_ptr++] = SioTmp;
crc += SioTmp;
break;
case 2: // Eingangsdaten sammeln
RxdBuffer[buf_ptr] = SioTmp;
if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
else UartState = 0;
crc += SioTmp;
break;
default:
UartState = 0;
break;
}
}
// --------------------------------------------------------------------------
void AddCRC(unsigned int wieviele)
{
unsigned int tmpCRC = 0,i;
for(i = 0; i < wieviele;i++)
{
tmpCRC += SendeBuffer[i];
}
tmpCRC %= 4096;
SendeBuffer[i++] = '=' + tmpCRC / 64;
SendeBuffer[i++] = '=' + tmpCRC % 64;
SendeBuffer[i++] = '\r';
UebertragungAbgeschlossen = 0;
UDR = SendeBuffer[0];
}
// --------------------------------------------------------------------------
void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
{
unsigned int pt = 0;
unsigned char a,b,c;
unsigned char ptr = 0;
SendeBuffer[pt++] = '#'; // Startzeichen
SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...)
SendeBuffer[pt++] = cmd; // Commando
while(len)
{
if(len) { a = snd[ptr++]; len--;} else a = 0;
if(len) { b = snd[ptr++]; len--;} else b = 0;
if(len) { c = snd[ptr++]; len--;} else c = 0;
SendeBuffer[pt++] = '=' + (a >> 2);
SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
SendeBuffer[pt++] = '=' + ( c & 0x3f);
}
AddCRC(pt);
}
// --------------------------------------------------------------------------
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer
{
unsigned char a,b,c,d;
unsigned char ptr = 0;
unsigned char x,y,z;
while(len)
{
a = RxdBuffer[ptrIn++] - '=';
b = RxdBuffer[ptrIn++] - '=';
c = RxdBuffer[ptrIn++] - '=';
d = RxdBuffer[ptrIn++] - '=';
if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
if(len--) ptrOut[ptr++] = x; else break;
if(len--) ptrOut[ptr++] = y; else break;
if(len--) ptrOut[ptr++] = z; else break;
}
}
// --------------------------------------------------------------------------
void BearbeiteRxDaten(void)
{
if(!NeuerDatensatzEmpfangen) return;
//unsigned int tmp_int_arr1[1];
//unsigned int tmp_int_arr2[2];
//unsigned int tmp_int_arr3[3];
unsigned char tmp_char_arr2[2];
//unsigned char tmp_char_arr3[3];
//unsigned char tmp_char_arr4[4];
//if(!MotorenEin)
PcZugriff = 255;
switch(RxdBuffer[2])
{
case 'c':// Debugdaten incl. Externe IOs usw
Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes);
/* for(unsigned char i=0; i<4;i++)
{
EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]);
EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8);
}*/
RemoteTasten |= DebugIn.RemoteTasten;
DebugDataAnforderung = 1;
break;
case 'h':// x-1 Displayzeilen
Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
RemoteTasten |= tmp_char_arr2[0];
DebugDisplayAnforderung = 1;
break;
case 't':// Motortest
Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);
break;
case 'v': // Version-Anforderung und Ausbaustufe
GetVersionAnforderung = 1;
break;
case 'g':// "Get"-Anforderung für Debug-Daten
// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
DebugGetAnforderung = 1;
break;
case 'q':// "Get"-Anforderung für Settings
// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
if(tmp_char_arr2[0] != 0xff)
{
if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5;
ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
}
else
SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
break;
case 'l':
case 'm':
case 'n':
case 'o':
case 'p': // Parametersatz speichern
Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes);
WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken
Piep(GetActiveParamSetNumber());
break;
}
// DebugOut.AnzahlZyklen = Debug_Timer_Intervall;
NeuerDatensatzEmpfangen = 0;
}
//############################################################################
//Routine für die Serielle Ausgabe
int uart_putchar (char c)
//############################################################################
{
if (c == '\n')
uart_putchar('\r');
//Warten solange bis Zeichen gesendet wurde
loop_until_bit_is_set(USR, UDRE);
//Ausgabe des Zeichens
UDR = c;
return (0);
}
// --------------------------------------------------------------------------
void WriteProgramData(unsigned int pos, unsigned char wert)
{
//if (ProgramLocation == IN_RAM) Buffer[pos] = wert;
// else eeprom_write_byte(&EE_Buffer[pos], wert);
// Buffer[pos] = wert;
}
//############################################################################
//INstallation der Seriellen Schnittstelle
void UART_Init (void)
//############################################################################
{
//Enable TXEN im Register UCR TX-Data Enable & RX Enable
UCR=(1 << TXEN) | (1 << RXEN);
// UART Double Speed (U2X)
USR |= (1<<U2X);
// RX-Interrupt Freigabe
UCSRB |= (1<<RXCIE);
// TX-Interrupt Freigabe
UCSRB |= (1<<TXCIE);
//Teiler wird gesetzt
UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1);
//UBRR = 33;
//öffnet einen Kanal für printf (STDOUT)
//fdevopen (uart_putchar, 0);
//sbi(PORTD,4);
Debug_Timer = SetDelay(200);
}
//---------------------------------------------------------------------------------------------
void DatenUebertragung(void)
{
static char dis_zeile = 0;
if(!UebertragungAbgeschlossen) return;
if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
{
SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn));
DebugGetAnforderung = 0;
}
if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen)
{
SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));
DebugDataAnforderung = 0;
Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
}
if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
{
Menu();
DebugDisplayAnforderung = 0;
if(++dis_zeile == 4) dis_zeile = 0;
SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen
}
if(GetVersionAnforderung && UebertragungAbgeschlossen)
{
SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));
GetVersionAnforderung = 0;
}
}

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/uart.h
0,0 → 1,95
#ifndef _UART_H
#define _UART_H
#define MAX_SENDE_BUFF 150
#define MAX_EMPFANGS_BUFF 150
void BearbeiteRxDaten(void);
extern unsigned char DebugGetAnforderung;
extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
extern unsigned volatile char UebertragungAbgeschlossen;
extern unsigned volatile char PC_DebugTimeout;
extern unsigned volatile char NeueKoordinateEmpfangen;
extern unsigned char MeineSlaveAdresse;
extern unsigned char PcZugriff;
extern int Debug_Timer;
extern void UART_Init (void);
extern int uart_putchar (char c);
extern void boot_program_page (uint32_t page, uint8_t *buf);
extern void DatenUebertragung(void);
extern void DecodeNMEA(void);
extern unsigned char MotorTest[4];
struct str_DebugOut
{
unsigned char Digital[13];
unsigned int AnzahlZyklen;
unsigned int Zeit;
unsigned char Sekunden;
unsigned int Analog[16]; // Debugwerte
};
extern struct str_DebugOut DebugOut;
struct str_Debug
{
unsigned char Digital[2];
unsigned char RemoteTasten;
unsigned int Analog[4];
};
extern struct str_Debug DebugIn;
struct str_VersionInfo
{
unsigned char Hauptversion;
unsigned char Nebenversion;
unsigned char PCKompatibel;
unsigned char Rserved[7];
};
extern struct str_VersionInfo VersionInfo;
//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud
//#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle
//#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle
//#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle
//#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle
#define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle
//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird
#if defined (__AVR_ATmega128__)
# define USR UCSR0A
# define UCR UCSR0B
# define UDR UDR0
# define UBRR UBRR0L
# define EICR EICRB
#endif
#if defined (__AVR_ATmega32__)
# define USR UCSRA
# define UCR UCSRB
# define UBRR UBRRL
# define EICR EICRB
# define INT_VEC_RX SIG_UART_RECV
# define INT_VEC_TX SIG_UART_TRANS
#endif
#if defined (__AVR_ATmega644__)
# define USR UCSR0A
# define UCR UCSR0B
# define UDR UDR0
# define UBRR UBRR0L
# define EICR EICR0B
# define TXEN TXEN0
# define RXEN RXEN0
# define RXCIE RXCIE0
# define TXCIE TXCIE0
# define U2X U2X0
# define UCSRB UCSR0B
# define UDRE UDRE0
# define INT_VEC_RX SIG_USART_RECV
# define INT_VEC_TX SIG_USART_TRANS
#endif
#endif //_UART_H

/branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/version.txt
0,0 → 1,49
-------
V0.53 27.04.2007 H.Buss
- erste öffentliche Version
V0.53b 29.04.2007 H.Buss
- der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft
V0.53c 29.04.2007 H.Buss
- es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind.
Die angezeigten Werte waren nicht die Werte der Funke
V0.54 01.05.2007 H.Buss
- die Paramtersätze können jetzt vor dem Start ausgewählt werden
Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt:
2 3 4
1 x 5
- - -
Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw.
- der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt
V0.55 14.05.2007 H.Buss
- es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden
V0.56 14.05.2007 H.Buss
- es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren
- Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen
V0.57 24.05.2007 H.Buss
- Der Höhenregler kann nun auch mittels Schalter bedient werden
- Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat
- Kompass-Einfluss dämpfen bei Neigung
- Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen
- Der Motortest vom Kopter-Tool geht jetzt
- Man kann den Parametersätzen einen Namen geben
- Das Kamerasetting ist unter Setting 2 defaultmässig integriert
V0.58 30.05.2007 H.Buss
- Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist
V0.60 17.08.2007 H.Buss
- "Schwindel-Bug" behoben
- Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft
- Poti4 zugefügt
- Es werden jetzt 8 Kanäle ausgewertet
- Kamera-Servo (an J7)
- Die Settings müssen überschrieben werden