| /branches/MicroMag3_Nick666/trunc/gps.h |
|---|
| File deleted |
| /branches/MicroMag3_Nick666/trunc/GPS.c |
|---|
| File deleted |
| /branches/MicroMag3_Nick666/trunc/spi.c |
|---|
| File deleted |
| /branches/MicroMag3_Nick666/trunc/spi.h |
|---|
| File deleted |
| /branches/MicroMag3_Nick666/trunc/analog.c |
|---|
| 76,7 → 76,7 |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| UBat = (3 * UBat + ADC / 3) / 4; |
| kanal = 6; |
| break; |
| case 4: |
| 90,20 → 90,27 |
| kanal = 0; |
| break; |
| case 6: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
| else AdWertGier = ADC + gier1; |
| #if (PlatinenVersion == 10) |
| AdWertGier = (ADC + gier1) / 2; |
| #else |
| AdWertGier = ADC + gier1; |
| #endif |
| kanal = 1; |
| break; |
| case 7: |
| if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
| else AdWertRoll = ADC + roll1; |
| #if(PlatinenVersion == 10) |
| AdWertRoll = (ADC + roll1) / 2; |
| #else |
| AdWertRoll = ADC + roll1; |
| #endif |
| kanal = 2; |
| break; |
| case 8: |
| if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
| else AdWertNick = ADC + nick1; |
| //AdWertNick = 0; |
| //AdWertNick += Poti2; |
| #if (PlatinenVersion == 10) |
| AdWertNick = (ADC + nick1) / 2; |
| #else |
| AdWertNick = ADC + nick1; |
| #endif |
| kanal = 5; |
| break; |
| case 9: |
| /branches/MicroMag3_Nick666/trunc/compass.c |
|---|
| 194,20 → 194,18 |
| mm3_y_axis = MM3.y_axis; |
| mm3_z_axis = MM3.z_axis; |
| SREG = tmp_sreg; |
| /* |
| int temp = Aktuell_az-550; |
| DebugOut.Analog[2] = temp; |
| // Lage-Berechnung mittels Acc-Messwerte |
| tilt = atan2_i(temp,AdWertAccNick*64); |
| DebugOut.Analog[0] = tilt; |
| sin_nick = sin_i(tilt); |
| cos_nick = cos_i(tilt); |
| tilt = atan2_i(temp,AdWertAccRoll*64); |
| DebugOut.Analog[1] = tilt; |
| sin_roll = sin_i(tilt); |
| cos_roll = cos_i(tilt); |
| */ |
| /* |
| // Lage-Berechnung mittels Gyro-Integral |
| uint16_t div_faktor; |
| div_faktor = (uint16_t)EE_Parameter.UserParam3 *8; |
| 219,7 → 217,7 |
| tilt = (IntegralRoll /div_faktor); |
| sin_roll = sin_i(tilt); |
| cos_roll = cos_i(tilt); |
| */ |
| // Offset und Normalisierung |
| Hx = (((int32_t)(mm3_x_axis - MM3_calib.X_off)) *512) /MM3_calib.X_range; |
| Hy = (((int32_t)(mm3_y_axis - MM3_calib.Y_off)) *512) /MM3_calib.Y_range; |
| /branches/MicroMag3_Nick666/trunc/fc.c |
|---|
| 85,7 → 85,7 |
| float GyroFaktor; |
| float IntegralFaktor; |
| int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| uint8_t Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| 120,6 → 120,8 |
| unsigned char Parameter_AchsKopplung1 = 0; |
| unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| uint8_t Cam_Travel; |
| int8_t nick_tilt, roll_tilt; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| 175,7 → 177,7 |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| { |
| acc_neutral.X = 0; |
| acc_neutral.Y = 0; |
| acc_neutral.Z = 0; |
| 212,11 → 214,11 |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| ExternHoehenValue = 0; |
| Cam_Travel = EE_Parameter.ServoNickMax - EE_Parameter.ServoNickMin; |
| } |
| //############################################################################ |
| 270,16 → 272,17 |
| } |
| if(AdWertRoll < 15) MesswertRoll = -1000; |
| if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) |
| #if (PlatinenVersion == 10) |
| { |
| if(AdWertRoll > 1010) MesswertRoll = +1000; |
| if(AdWertRoll > 1017) MesswertRoll = +2000; |
| } |
| else |
| #else |
| { |
| if(AdWertRoll > 2020) MesswertRoll = +1000; |
| if(AdWertRoll > 2034) MesswertRoll = +2000; |
| } |
| #endif |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick -= tmpl2; |
| MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
| 297,16 → 300,17 |
| } |
| if(AdWertNick < 15) MesswertNick = -1000; |
| if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) |
| #if(PlatinenVersion == 10) |
| { |
| if(AdWertNick > 1010) MesswertNick = +1000; |
| if(AdWertNick > 1017) MesswertNick = +2000; |
| } |
| else |
| #else |
| { |
| if(AdWertNick > 2020) MesswertNick = +1000; |
| if(AdWertNick > 2034) MesswertNick = +2000; |
| } |
| #endif |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| 325,14 → 329,11 |
| 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; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 128 && Poti1 < 255) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 128 && Poti1 > 0) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 128 && Poti2 < 255) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 128 && Poti2 > 0) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 128 && Poti3 < 255) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 128 && Poti3 > 0) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 128 && Poti4 < 255) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 128 && Poti4 > 0) Poti4--; |
| } |
| //############################################################################ |
| 349,15 → 350,10 |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| // 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; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 128 && Poti1 < 255) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 128 && Poti1 > 0) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 128 && Poti2 < 255) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 128 && Poti2 > 0) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 128 && Poti3 < 255) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 128 && Poti3 > 0) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 128 && Poti4 < 255) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 128 && Poti4 > 0) Poti4--; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| } |
| 499,6 → 495,7 |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 519,6 → 516,7 |
| } |
| if((PPM_in_gas > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 547,14 → 545,16 |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in_gas < 35-120) |
| if(PPM_in_gas < -85) |
| { |
| // Starten |
| if(PPM_in_gier < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 576,6 → 576,7 |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 614,7 → 615,7 |
| if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| IntegralFaktor = ((float)Parameter_Gyro_I) / 44000; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Digitale Steuerung per DubWise |
| 636,6 → 637,7 |
| StickNick += ExternStickNick / 8; |
| StickRoll += ExternStickRoll / 8; |
| StickGier += ExternStickGier; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 651,6 → 653,7 |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 712,7 → 715,6 |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 751,13 → 753,8 |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| //if(abs(PPM_in_gier) > 25) |
| // { |
| // tmp_long /= 3; |
| // tmp_long2 /= 3; |
| // } |
| #define AUSGLEICH 32 |
| #define AUSGLEICH 32 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| 923,7 → 920,7 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 20) // war 35 |
| if(abs(StickGier) > 20) |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| 939,9 → 936,9 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if (!updKompass--) // Aufruf mit ~10 Hz |
| if (!updKompass--) // Aufruf mit ~15 Hz |
| { |
| updKompass = 49; |
| updKompass = 33; |
| if ((MaxStickNick < 50) && (MaxStickRoll < 50)) // Bei extremen Flugmanövern keine Kompassauswertung |
| { |
| 963,9 → 960,8 |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| //DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| //DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| 1093,8 → 1089,8 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| 1118,8 → 1114,8 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| 1129,7 → 1125,6 |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| #define GRENZE Poti1 |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| /branches/MicroMag3_Nick666/trunc/fc.h |
|---|
| 41,7 → 41,7 |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern uint8_t Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern volatile unsigned char SenderOkay; |
| 141,7 → 141,7 |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| extern uint8_t Cam_Travel; |
| extern int8_t nick_tilt, roll_tilt; |
| #endif //_FC_H |
| /branches/MicroMag3_Nick666/trunc/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><File path="eeprom.c"></File><File path="compass.c"></File><File path="compass.h"></File><File path="mymath.c"></File><File path="mymath.h"></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="License.txt"></File><File path="eeprom.c"></File><File path="compass.c"></File><File path="compass.h"></File><File path="mymath.c"></File><File path="mymath.h"></File></Project> |
| /branches/MicroMag3_Nick666/trunc/main.c |
|---|
| 55,8 → 55,6 |
| unsigned char EEPromArray[10] EEMEM; |
| struct mk_param_struct EEParameterArray[5] EEMEM; |
| unsigned char PlatinenVersion = 10; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| 100,7 → 98,6 |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
| DDRC = 0x81; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| /branches/MicroMag3_Nick666/trunc/main.h |
|---|
| 11,8 → 11,10 |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| #define PlatinenVersion 10 |
| // neue Hardware |
| #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| 45,8 → 47,6 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| extern unsigned char PlatinenVersion; |
| 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); |
| 71,8 → 71,7 |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "fc.h" |
| #include "compass.h" |
| #include "mymath.h" |
| /branches/MicroMag3_Nick666/trunc/makefile |
|---|
| 75,7 → 75,7 |
| ########################################################################################################## |
| # 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 |
| SRC += compass.c mymath.c |
| ########################################################################################################## |
| /branches/MicroMag3_Nick666/trunc/menu.c |
|---|
| 78,18 → 78,19 |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| #if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier); |
| } |
| else |
| #else |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll/2); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2); |
| } |
| #endif |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| /branches/MicroMag3_Nick666/trunc/rc.c |
|---|
| 21,13 → 21,7 |
| 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; |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| 63,8 → 57,7 |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| if(abs(signal - PPM_in[index]) < 6) {if(SenderOkay < 200) SenderOkay += 10;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| 71,8 → 64,8 |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| } |
| 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/MicroMag3_Nick666/trunc/timer0.c |
|---|
| 5,9 → 5,10 |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int beeptime = 0; |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| uint8_t ServoValue = 0; |
| enum { |
| enum |
| { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| 22,7 → 23,7 |
| SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
| { |
| static uint8_t cnt_1ms = 1,cnt = 0; |
| uint8_t pieper_ein = 0; |
| uint8_t pieper_ein; |
| if(!cnt--) |
| { |
| 31,11 → 32,9 |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| } |
| PORTD |= (1<<PD4); |
| if(beeptime > 1) |
| if(beeptime > 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| 44,7 → 43,7 |
| } |
| else pieper_ein = 0; |
| } |
| else |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| 51,15 → 50,21 |
| } |
| if(pieper_ein) |
| if(pieper_ein) |
| { |
| if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| else PORTC |= (1<<7); // Speaker an PORTC.7 |
| #if (PlatinenVersion == 10) |
| PORTD |= (1<<2); // Speaker an PORTD.2 |
| #else |
| PORTC |= (1<<7); // Speaker an PORTC.7 |
| #endif |
| } |
| else |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| #if (PlatinenVersion == 10) |
| PORTD &= ~(1<<2); |
| #else |
| PORTC &= ~(1<<7); |
| #endif |
| } |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
| 82,7 → 87,6 |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| 89,17 → 93,13 |
| 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); |
| } |
| // ----------------------------------------------------------------------- |
| 122,17 → 122,18 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| static uint8_t 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; |
| //ServoValue = Parameter_ServoNickControl; |
| ServoValue = (((uint16_t)Parameter_ServoNickControl * Cam_Travel) /255) + EE_Parameter.ServoNickMin; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((uint16_t)EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((uint16_t)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; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| 139,7 → 140,7 |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| TCCR2A = 3; |
| PORTD &=~ 0x80; |
| } |
| } |
| /branches/MicroMag3_Nick666/trunc/timer0.h |
|---|
| 11,5 → 11,5 |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern int ServoValue; |
| extern uint8_t ServoValue; |
| extern unsigned int BeepMuster; |
| /branches/MicroMag3_Nick666/trunc/twimaster.c |
|---|
| 12,8 → 12,8 |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| 35,19 → 35,19 |
| void i2c_reset(void) |
| //############################################################################ |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| //############################################################################ |
| 64,7 → 64,7 |
| void i2c_receive_byte(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| //############################################################################ |
| 72,7 → 72,7 |
| void i2c_receive_last_byte(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| //############################################################################ |