| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/compass.h |
|---|
| 35,6 → 35,6 |
| // Die Werte der Kompasskalibrierung |
| // OFFSET: (Maximaler Wert + minimaler Wert) / 2 |
| #define OFF_X 0 |
| #define OFF_Y 0 |
| #define OFF_Z 0 |
| #define OFF_X -11 |
| #define OFF_Y 30 |
| #define OFF_Z 18 |
| /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\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> |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v064JokoGPSNick666Acc\main.c" Position="341 108 873 484" LineCol="155 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v064JokoGPSNick666Acc\compass.c" Position="327 65 1039 618" LineCol="25 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v064JokoGPSNick666Acc\compass.h" Position="362 126 908 494" LineCol="0 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v064JokoGPSNick666Acc\fc.c" Position="336 71 1182 830" LineCol="834 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/timer0.c |
|---|
| 3,16 → 3,11 |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned int cntKompass = 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, |
| 28,17 → 23,16 |
| 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) |
| 68,27 → 62,15 |
| else PORTC &= ~(1<<7); |
| } |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| // if(PINC & 0x10) |
| // { |
| // cntKompass++; |
| // } |
| // else |
| // { |
| // if((cntKompass) && (cntKompass < 4000)) |
| // { |
| // KompassValue = cntKompass; |
| // } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| // KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| // cntKompass = 0; |
| // } |
| // } |
| // |
| // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| // { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| MM3_timer0(); // Kompass auslesen |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| 101,14 → 83,11 |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
| cntKompass = 320; |
| } |
| } |
| cntKompass = 640; |
| } |
| } |
| } |
| } |
| void Timer_Init(void) |
| 175,7 → 154,6 |
| 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; |
| } |