| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/spi.c |
|---|
| 242,23 → 242,23 |
| if (MessungFertig == 0) |
| { |
| PORTD &= ~(1<<PB5); //SS auf low |
| PORTD &= ~(1<<PB3); //SS auf low |
| PORTD |= (1<<PB3); //Reset auf high |
| PORTD |= (1<<PB8); //Reset auf high |
| for(t=0;t<5;t++); //5 Zyklen warten |
| PORTD &= ~(1<<PB3); //Reset auf low |
| PORTD &= ~(1<<PB8); //Reset auf low |
| dontCare = (int)spiTransferByte(0x40+axis); // Achse + Mess. Kommando /512 |
| PORTD |= (1<<PB5); //SS auf high |
| PORTD |= (1<<PB3); //SS auf high |
| MessungFertig = 1; |
| } |
| if (bit_is_set(PIND,PINB4) && MessungFertig == 1) // Warten bis Messung fertig |
| { |
| PORTD &= ~(1<<PB5); //SS auf low |
| PORTD &= ~(1<<PB3); //SS auf low |
| Data=spiTransferWord(0x00); |
| PORTD |= (1<<PB5); //SS auf high |
| PORTD |= (1<<PB3); //SS auf high |
| MessungFertig = 0; |
| return (Data); |
| } |
| 279,18 → 279,18 |
| int Data=0; |
| char dontCare; // For a reading we don't care about |
| PORTD &= ~(1<<PB5); //SS auf low |
| PORTD &= ~(1<<PB3); //SS auf low |
| PORTD |= (1<<PB3); //Reset auf high |
| PORTD |= (1<<PB8); //Reset auf high |
| for(t=0;t<5;t++); //5 Zyklen warten |
| PORTD &= ~(1<<PB3); //Reset auf low |
| PORTD &= ~(1<<PB8); //Reset auf low |
| dontCare = (int)spiTransferByte(0x40+axis); // Achse + Mess. Kommando /512 |
| PORTD |= (1<<PB5); //SS auf high |
| PORTD |= (1<<PB3); //SS auf high |
| while(!bit_is_set(PIND,PINB4)) // Warten bis Messung fertig |
| PORTD &= ~(1<<PB5); //SS auf low |
| PORTD &= ~(1<<PB3); //SS auf low |
| Data=spiTransferWord(0x00); |
| PORTD |= (1<<PB5); //SS auf high |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/compass.c |
|---|
| 140,7 → 140,7 |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| 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 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/timer0.c |
|---|
| 48,8 → 48,15 |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| KompassValue = (MM3_heading()); |
| if (KompassValue < 0 ) { KompassValue = 360+MM3_heading();} |
| if (KompassValue > 359) { KompassValue = 359;} |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
| cntKompass = 320; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/compass.c |
|---|
| 140,7 → 140,9 |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| //x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| 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 |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/fc.c |
|---|
| 701,8 → 701,8 |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| DebugOut.Analog[7] = GasMischanteil; |
| DebugOut.Analog[8] = KompassRichtung; |
| DebugOut.Analog[9] = KompassValue; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = KompassRichtung; |
| DebugOut.Analog[10] = MM3_heading(); |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/timer0.c |
|---|
| 60,8 → 60,12 |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| // KompassValue += 180; |
| KompassValue = (MM3_heading()); |
| if (KompassValue < 0 ) { KompassValue = 380+MM3_heading();} |
| if (KompassValue > 359) { KompassValue = 359;} |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/compass.c |
|---|
| 14,6 → 14,7 |
| */ |
| #include "main.h" |
| #include "math.h" |
| MM3_struct MM3; |
| 63,8 → 64,8 |
| 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.NickGrad = IntegralNick/(120*8); |
| MM3.RollGrad = IntegralRoll/(120*8); |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| 134,10 → 135,10 |
| 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); |
| sin_nick = sin_f(MM3.NickGrad); |
| cos_nick = cos_f(MM3.NickGrad); |
| sin_roll = sin_f(MM3.RollGrad); |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/fc.c |
|---|
| 284,9 → 284,9 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| 328,9 → 328,9 |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| 702,12 → 702,17 |
| 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; |
| DebugOut.Analog[9] = KompassRichtung; |
| DebugOut.Analog[10] = MM3_heading(); |
| //DebugOut.Analog[9] = MM3.x_axis; |
| //DebugOut.Analog[10] = MM3.y_axis; |
| //DebugOut.Analog[11] = MM3.z_axis; |
| //DebugOut.Analog[13] = KompassRichtung; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/flight-ctrl_mega644_v0_60.aws |
|---|
| 1,0 → 0,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\main.c" Position="322 71 1034 624" LineCol="17 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\compass.c" Position="333 69 1045 622" LineCol="51 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\math.c" Position="381 136 931 508" LineCol="229 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\analog.c" Position="336 71 1182 830" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace> |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60SalvoKompassGyro\main.c" Position="320 71 1032 624" LineCol="116 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60SalvoKompassGyro\compass.c" Position="330 67 1396 826" LineCol="128 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60SalvoKompassGyro\math.c" Position="375 132 925 504" LineCol="161 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60SalvoKompassGyro\analog.c" Position="336 71 1182 830" LineCol="106 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/math.c |
|---|
| 182,8 → 182,12 |
| return u.f; |
| } |
| // Kosinusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| { |
| return (sin_f(90-winkel)); |
| } |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| { |
| 210,13 → 214,7 |
| 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 |
| 229,4 → 227,3 |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/timer0.c |
|---|
| 60,8 → 60,15 |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| KompassValue = (MM3_heading()); |
| if (KompassValue < 0 ) { KompassValue = 380+MM3_heading();} |
| if (KompassValue > 359) { KompassValue = 359;} |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
| cntKompass = 320; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/timer0.h |
|---|
| 16,3 → 16,4 |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/compass.c |
|---|
| 63,8 → 63,8 |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = asin_i((float)Aktuell_ax/EE_Parameter.UserParam1*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/EE_Parameter.UserParam2*200); |
| 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; |
| 140,7 → 140,9 |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| //x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| 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 |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/flight-ctrl_mega644_v0_64.aws |
|---|
| 1,0 → 0,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\main.c" Position="343 108 875 484" LineCol="155 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\compass.c" Position="333 69 1045 622" LineCol="25 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\compass.h" Position="368 130 914 498" LineCol="0 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\fc.c" Position="336 71 1182 830" LineCol="834 0" State="Maximized"/></Files></AVRWorkspace> |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\main.c" Position="344 108 876 484" LineCol="155 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\compass.c" Position="336 71 1048 624" LineCol="25 63" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\compass.h" Position="371 132 917 500" LineCol="0 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\fc.c" Position="330 67 1042 620" LineCol="834 0" State="Maximized"/><File00004 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\analog.c" Position="428 182 978 554" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/timer0.c |
|---|
| 3,11 → 3,16 |
| 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; |
| volatile unsigned int beeptime = 0; |
| unsigned int BeepMuster = 0xffff; |
| 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, |
| 23,16 → 28,17 |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 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) |
| 87,15 → 93,21 |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| KompassValue = (MM3_heading()); |
| if (KompassValue < 0 ) { KompassValue = 380+MM3_heading();} |
| if (KompassValue > 359) { KompassValue = 359;} |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
| cntKompass = 320; |
| } |
| } |
| } |
| //} |
| } |
| void Timer_Init(void) |
| 162,6 → 174,7 |
| 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; |
| } |