| /trunk/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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-gdwarf-2 -Wstrict-prototypes -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -DVERSION_HAUPTVERSION=0 -DVERSION_NEBENVERSION=64 -DVERSION_KOMPATIBEL=5</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\Program Files\WinAVR\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\Program Files\WinAVR\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>uart.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>menu.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>timer0.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>fc.c</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>fc.h</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>menu.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>TWIMASTER.C</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>twimaster.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>uart.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>_Settings.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>analog.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>gps.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>main.h</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>old_macros.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>printf_P.h</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>rc.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>Settings.h</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>timer0.h</FileName><Status>1</Status></File00018></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio> |
| /trunk/analog.c |
|---|
| 74,7 → 74,7 |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| if(PlatinenVersion != 10) wert *= 2; |
| if(PlatinenVersion != 10) wert *= 2; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(Mess_IntegralRoll > 310000L) Mess_IntegralRoll = -290000L; |
| /trunk/analog.h |
|---|
| 14,9 → 14,9 |
| 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); |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| /trunk/fc.c |
|---|
| 495,7 → 495,6 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| unsigned char setting; |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| 504,6 → 503,7 |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| 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; |
| /trunk/fc.h |
|---|
| 29,25 → 29,29 |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern void DefaultKonstanten(void); |
| 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 unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Gier; |
| extern 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); |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| /trunk/flight.pnproj |
|---|
| 1,0 → 0,0 |
| <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></Project> |
| <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="spi.h"></File><File path="spi.c"></File></Project> |
| /trunk/gps.h |
|---|
| 1,4 → 1,14 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| void GPS_Neutral(void); |
| void GPS_BerechneZielrichtung(void); |
| /trunk/main.c |
|---|
| 93,7 → 93,7 |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| //unsigned int timer2 = 0; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| 123,6 → 123,7 |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| SPI_MasterInit(); |
| sei(); |
| 182,7 → 183,8 |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| SPI_TransmitByte(); |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| 220,7 → 222,8 |
| BeepMuster = 0x0300; |
| } |
| } |
| timer = SetDelay(100); |
| SPI_StartTransmitPacket(); |
| timer = SetDelay(100); |
| } |
| } |
| return (1); |
| /trunk/main.h |
|---|
| 19,6 → 19,7 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define F_CPU SYSCLK |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| 52,8 → 53,8 |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| 78,7 → 79,9 |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| /trunk/makefile |
|---|
| 65,7 → 65,7 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c |
| ########################################################################################################## |
| /trunk/menu.c |
|---|
| 115,4 → 115,4 |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| } |
| /trunk/menu.h |
|---|
| 1,5 → 1,7 |
| extern void Menu(void); |
| void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| extern unsigned char RemoteTasten; |
| /trunk/printf_P.h |
|---|
| 7,7 → 7,7 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| /trunk/spi.c |
|---|
| 0,0 → 1,86 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| unsigned char SPI_BufferIndex; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
| //------------------------------------------------------ |
| void SPI_MasterInit(void) |
| { |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| { |
| if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| DebugOut.Analog[16]++; |
| // -- Debug-Output --- |
| cli(); |
| DebugOut.Analog[20] = FromNaviCtrl.Comp; |
| DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
| DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
| DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
| sei(); |
| //---- |
| SPDR = ToNaviCtrl.Comp; // Start transmission |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| { |
| if (!(SPSR & (1 << SPIF))) return; |
| if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
| { SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
| //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { SPDR = Ptr_buffer[SPI_BufferIndex]; |
| } |
| else |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| unsigned char i; |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| } |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| cli(); |
| ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
| ToNaviCtrl.StickNick = (char) StickNick; |
| ToNaviCtrl.StickRoll = (char) StickRoll; |
| ToNaviCtrl.StickGier = (char) StickGier; |
| sei(); |
| } |
| /trunk/spi.h |
|---|
| 0,0 → 1,46 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #define SPI_PROTOCOL_COMP 1 |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| struct str_ToNaviCtrl |
| { |
| unsigned char Comp; |
| int IntegralNick; |
| int IntegralRoll; |
| char StickNick,StickRoll,StickGier; |
| }; |
| struct str_FromNaviCtrl |
| { |
| unsigned char Comp; |
| int GPS_Nick; |
| int GPS_Roll; |
| int CompassValue; |
| }; |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern void SPI_MasterInit(void); |
| extern void SPI_StartTransmitPacket(void); |
| extern void UpdateSPI_Buffer(void); |
| extern void SPI_TransmitByte(void); |
| #endif |
| /trunk/timer0.c |
|---|
| 90,7 → 90,7 |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| /trunk/twimaster.h |
|---|
| 23,7 → 23,7 |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_reset(void); |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| /trunk/uart.c |
|---|
| 178,12 → 178,12 |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| // 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]; |
| // unsigned char tmp_char_arr3[3]; |
| // unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| 317,10 → 317,10 |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) |
| { |
| SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| dis_zeile = -1; |
| } |
| else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| else SendOutData('0' + dis_zeile,0,(unsigned char *)&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| /trunk/uart.h |
|---|
| 4,6 → 4,9 |
| #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]; |
| /trunk/version.txt |
|---|
| 77,4 → 77,6 |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.65b I.BBusker 18.10.2007 |
| - SPI-Kommunikation für NaviCtrl implementiert |